JP3333277B2 - 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 relates to an automatic setting system for automatically driving a vehicle at a set speed without operating an accelerator pedal by automatically maintaining the running speed of the vehicle at an arbitrarily set value. The present invention relates to a high 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 calculates the deviation between the current vehicle speed signal generated by the vehicle speed sensor and the stored vehicle speed that has already been stored. Current is supplied to the actuator so that the current vehicle speed is made to match the stored vehicle speed by performing calculations as needed to change 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 switch is turned on and off to generate a resume command signal, the current vehicle speed converges to the stored vehicle speed before the control was stopped, and the control of the constant speed traveling is resumed. Then, 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 a tap-up command signal or a tap-down command signal is generated, the controller taps up. A predetermined vehicle speed is added or subtracted from the current vehicle speed or the stored vehicle speed according to the generation of the command signal or the tap-down command signal, and the stored vehicle speed is updated with the resulting value so that the current vehicle speed matches the stored vehicle speed. Is known to supply current to an actuator.

[0003]

In the above-described conventional automatic constant-speed traveling device, when the vehicle is traveling at a constant speed, the resume acceleration switch or the set coast switch is turned on and off within a predetermined time. When done,
The controller adds or subtracts a predetermined vehicle speed to or from the current vehicle speed or the stored vehicle speed according to the generation of the tap-up command signal or the tap-down command signal, updates the stored vehicle speed with the resulting value, and updates the stored vehicle speed to the current vehicle speed. Since the current was supplied to the actuator to match the vehicle speed, a tap-down command signal was generated when the tap-up command signal was generated, and a tap-up command signal was generated when the tap-down command signal was generated. Or when a tap-up command signal and a tap-down command signal are alternately generated due to the occurrence of a tap-up command signal, a predetermined vehicle speed corresponding to the occurrence of the tap-up command signal at that time. The current vehicle speed or the stored vehicle speed is added to update the stored vehicle speed. In response to the generation of the pull-down command signal, the predetermined vehicle speed is subtracted from the current vehicle speed to update the stored vehicle speed, and when the set coast switch or the resume acceleration switch is turned on, the occupant Recognizing to what extent the speed is increased or decelerated while looking at the speedometer, a tap down command signal is generated by the set coast switch, and before the current vehicle speed converges to the stored vehicle speed, the tap is performed by the resume acceleration switch. When an up command signal is generated or a tap-up command signal is generated by the resume acceleration switch and a tap-down command signal is generated by the set coast switch before the current vehicle speed converges to the stored vehicle speed, the update is performed each time. Occupants are aware of the stored vehicle speed Preparative there is concern that has the potential to occupant or the stored vehicle speed where to find the no longer know without matching.

[0004]

SUMMARY OF THE INVENTION This inventions is, there was a generation of tap-down command signal when the tap-up command signal is generated
In this case, when this tap-down command signal occurs,
Update the vehicle speed signal as the stored vehicle speed signal, whereas, if there is occurrence of a tap-up command signal when a tap-down command signal is generated, the tap-up command signal
The vehicle speed signal at the time of occurrence of the
Depending on the Turkey, and its object is to provide an automatic constant speed running apparatus performs control to a value that can be recognized multiply membered storage speed.

[0005]

Configuration of the Invention

[0006]

An automatic constant-speed traveling device according to the present invention generates a vehicle speed sensor that generates a vehicle speed signal proportional to the current vehicle speed of a vehicle, generates a cruise command signal by operating an occupant, and generates a cruise command signal. corresponding to when it is turned off on-operation time after being turned on a predetermined time or more by riding membered while traveling down the current vehicle speed, vehicle speed when it is turned off
Thereby occurs a coast command signal for updating the signal as the stored vehicle speed signal, in the passenger for a predetermined time during the constant speed running on operation and by the off operation Riki憶車speed signal or these predetermined
A set coast switch for generating a tap-down command signal for subtracting the value updates the stored vehicle speed signal and is turned off after being turned on a predetermined time or more by personnel riding in the constant-speed running on operation time The current vehicle speed is increased according to the vehicle speed, and the vehicle speed signal when the vehicle is turned off is stored as the stored vehicle speed signal.
Generating an accelerated rate command signal for updating converting mechanism, by adding a predetermined value to by Riki憶車speed signal ON operation and OFF operation in a predetermined time occupant stored vehicle during constant speed running
And resume accelerate switch the tap Ru-up command signal origination eggplant <br/> for updating the speed signal, an actuator for driving the throttle valve to the open-side or closing side by the actuator driving current, power before Symbol actuator the actuator drive current is supplied from, or a switching means for interrupting the current that, in response to a cruise command signal the set coast switch occurs, the serial憶車speed signal stores the vehicle speed signal in which the vehicle speed sensor has occurred a vehicle speed storing means for generating, responsive to cruise command signal
To compares the memory vehicle speed signal is a vehicle speed signal and said vehicle speed storing means for vehicle speed sensor is generated occurs in the stored vehicle speed signal
Performs constant speed running control for converging the vehicle speed signal, a predetermined value to the serial憶車speed signal in response to the tap up command signal
The updating an addition and storing vehicle speed signal, or control with data-down updates to that microcomputer storage wheel speed signal by subtracting a predetermined value to the serial憶車speed signal in response to a command signal an automatic constant speed running apparatus which includes a means, control means, during constant speed running, the resume accelerate switch to occur a tap up command signal, the stored vehicle speed in response to generation of the tap-up command signal signal to a Jo Tokoro value
Was updated by adding the vehicle speed signal to the update the stored vehicle speed signal
No. is the came as a set coast switch before convergence occurs a tap-down command signal, a predetermined value to the stored vehicle speed signal
Stops updating the memorized vehicle speed signal by subtracting
Stores the vehicle speed signal when the pull-down command signal is generated
Update as a signal, or the set coast switch occurs a tap-down command signal, by subtracting the value of Jo Tokoro to the stored vehicle speed signal in response to the occurrence of a tap-down command signal
Update, if the resume accelerate switch before the vehicle speed signal to the update the stored wheel speed signal is converged occurs a tap up command signal, a predetermined value to the stored vehicle speed signal
Stop updating the adding and storing the vehicle speed signal, motor Tsu <br/>-up and the command signal occurs Kino speed signal the serial憶車speed
It is configured to be updated as a signal.

[0007]

SUMMARY OF THE INVENTION In an automatic constant speed running apparatus according to the present invention, during the constant-speed running, the resume accelerate switch to occur a tap up command signal, Tokoro the storage vehicle speed signal in response to the occurrence of the tap up command signal Add constant value
To to updated, the vehicle speed signal to the update the stored vehicle speed signal
If conflicting tap down command signal from the command direction of the tap up command signal prior to Scheme 13 flux is generated from the set coast switch, depending on the generation of the tap-up command signal
Further <br/> control means that new storage wheel speed signal by adding the Jo Tokoro value to the stored vehicle speed signal Te is tapped down command signals are conflicting command direction relative to the tap up command signal is generated in when, its Re storage vehicle speed signal which has been updated to
And discard the current vehicle speed signal as a stored vehicle speed signal.
New, whereas, during the constant-speed running, the set coast switch occurs a tap-down command signal, by subtracting the value of Jo Tokoro to the stored vehicle speed signal in response to the occurrence of the tap down command signal
Although update, the conflicting tap up command signal is generated from the resume accelerate switch to the command direction of the tap-down command signal before the vehicle speed signal to the update the stored wheel speed signal is yield <br/> bundle , subtracts the value of Jo Tokoro to the stored vehicle speed signal in response to the occurrence of the tap-down command signal stored vehicle speed signal
Signal control means for updating the can, at the time when the tap up command signal are conflicting command direction relative to data-down command signal is generated, stored vehicle which has been updated until it
A fast signal Dispose a storage vehicle speed signal of the vehicle speed signal at that time
And update. That is, the resume accelerate switch generates a tap up command signal, is contradictory set coast switch and re <br/> jeux arm accelerate switch before this vehicle speed signal to The updated stored wheel speed signal by converges when generating a tap-down command signal and the set coast switch generates a tap-down command signal, thereby updated vehicle speed signal to the storage vehicle speed signal
Conflicting when the resume accelerate switch occurs a tap up command signal, the vehicle at that time is likely values most recognized occupant storage speed in the current vehicle speed but the cell Tsu preparative coast switch before converging update is performed <br/> Re Rukoto.

[0008]

1 to 3 show an embodiment of an automatic constant speed traveling apparatus according to the present invention. FIG. 1 is a circuit diagram, FIG. 2 is a flowchart for explaining a control operation, and FIG.
6 is a time chart for explaining a control operation that follows the time when a tap-down command signal and a tap-up command signal are generated alternately.

An automatic constant-speed traveling device 1 according to the present invention comprises:
Mainly, vehicle speed sensor 2, set coast switch 3,
The resume acceleration switch 4, the cancel switch 5 a forming a part of the cancellation element 5, the actuator 7 whose output side is connected to the throttle valve 6, the vehicle speed sensor 2, the set coast switch 3, the resume acceleration switch 4 and the cancellation element 5 are generated. Control means 8 for processing the respective signals and controlling the operation of the actuator 7. The control means 8 includes a vehicle speed storage means 9 a, a calculation means 9 b, a speed increase means 9 c, and a speed reduction means 9 d. A computer 9 is built in.

The vehicle speed sensor 2 is built in the speedometer and constantly generates a vehicle speed signal proportional to the current vehicle speed as a pulse signal when the vehicle is running. The vehicle speed signal from the 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 5a are all automatic return switches mounted on the steering wheel, and are turned on by the operation of the occupant.

The set coast switch 3 generates a cruise command signal by the occupant's on operation and off operation after the main switch 15 is turned on while the vehicle is running. The data is converted through an interface C provided in the microcomputer 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-down command signal for updating the stored vehicle speed by subtracting a predetermined vehicle speed from the current vehicle speed or the stored vehicle speed by an occupant's on operation and off operation within a predetermined time during constant speed driving control. And the generated coast command signal and tap-up command signal are converted through the interface C of the control means 8 and transferred to the microcomputer 9.

The resume accelerated switch 4 comprises:
During the control of the constant speed traveling, an acceleration command signal for updating the stored vehicle speed by increasing the current vehicle speed in accordance with the ON operation time by generating an OFF operation after being turned ON by the occupant for a predetermined time or more is generated. At the same time, during the control of the constant speed traveling, by the ON operation and the OFF operation of the occupant for a predetermined time, a predetermined vehicle speed is added to the current vehicle speed or the stored vehicle speed to generate a tap-up command signal for updating the stored vehicle speed, In addition, when the control of the constant speed traveling is canceled, a resume command signal for returning to the constant speed traveling before the cancellation is generated by the on operation of the occupant. 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 cancel element 5, generates a cancel command signal when the occupant turns on during the control of constant speed traveling. As the canceling element 5, the brake switch 10 is turned on by operating a brake pedal (not shown) or the actuator power cutoff switch 17 is turned off by operating a brake pedal (not shown) in addition to turning on the cancel switch 5a during the control of the constant speed traveling. When the automatic transmission (not shown) is switched to the neutral range or the parking range, the actuator power cutoff switch 17 is turned off, the current vehicle speed is extremely reduced, or the clutch pedal of the manual transmission (not shown) is operated. Actuator power cutoff switch 1
7 is turned off, and a cancel command signal is 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) provided in the actuator 7. Actuator 7
When the negative pressure level in the negative pressure chamber increases, the throttle valve 6 is driven to the open side against the elastic force of a return spring (not shown), and when the negative pressure level in the negative pressure chamber decreases, the throttle valve 6 opens. Do not drive. 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. When the vacuum valve 7b is replaced with 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 to the negative pressure. It has a function that can be taken into a room. 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, so that the vent valve 7a and the safety valve 7c are turned off and the vacuum valve 7b is turned off. This lowers the negative pressure level in the negative pressure 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. One end of the reset circuit 12 and the constant voltage circuit 13 are connected to the power supply 50 via the main switch 15 and the other end is connected to the microcomputer 9, and 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 driving current 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 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 by connecting to the contacts RL1-2 and RL1-3, respectively.

Switching section 14 for actuator power supply
When the microcomputer 9 receives an actuator drive current for the transistor TR2 provided in the vacuum valve switching unit 14b while the transistor TR3 of c is turned on, the vacuum valve 7b
Is turned on, and the microcomputer 9 supplies the transistor T provided in the vent valve switching section 7a.
When there is an actuator driving current for R1, the vent valve 7a is turned on, and when there is an actuator driving current for the transistor TR4 provided in the safety valve switching unit 7d from the microcomputer 9, the safety valve 7c is turned on.

The microcomputer 9 is provided with a vehicle speed storing means 9a, a switch operation determining means 9b, a switch operating time monitoring means 9c, a calculating means 9d, a speed increasing means 9e, and a decelerating means 9f. When the set coast switch 3 is first turned on and then turned off after the main switch 15 is turned on to generate a cruise command signal, the vehicle speed signal generated by the vehicle speed sensor 2 when the set coast switch 3 is turned off. Is stored when the speed is within the speed setting range, and a stored vehicle speed signal is generated. The stored vehicle speed is set by the set coast switch 3 during the constant speed running control.
Is turned on by the occupant for a certain period of time and then turned off to generate a coast command signal. When the set coast switch 3 is turned off, the vehicle speed sensor 2 updates the vehicle with the vehicle speed signal generated by the occupant. When the set coast switch 3 generates a tap-down command signal by the on-operation and the off-operation of the occupant within a predetermined time during the traveling control, only a predetermined value (D) predetermined for each on-operation of the set coast switch 3 Updated by the subtracted vehicle speed signal.

The vehicle speed storage means 9a stores the vehicle speed when the resume acceleration switch 4 is turned on for a certain period of time and then turned off during the constant speed running control to generate an accelerator command signal. 4 when the vehicle speed sensor 2 is turned off
When the resume acceleration switch 4 generates a tap-up command signal due to the ON operation and the OFF operation of the occupant within a predetermined time during the control of the constant speed traveling, the resume acceleration switch 4 It is updated by a vehicle speed signal obtained by adding a predetermined constant value (U) for each ON operation.

The vehicle speed stored in the vehicle speed storage means 9a is
The set coast switch 3 generates a tap-down command signal by the operation of the occupant during the control of the constant-speed running, and each time the tap-down command signal is generated, the current vehicle speed or the stored vehicle speed is subtracted by a certain value (D) and updated. When the resume acceleration switch 4 generates a tap-up command signal by the occupant before the vehicle speed converges to the stored vehicle speed, the stored vehicle speed updated every time the tap-down command signal is generated is discarded and the tap-down command signal is discarded. The stored vehicle speed is updated with the current vehicle speed at the time when the tap-up command symbol contradicting the above occurs.

The vehicle speed stored in the vehicle speed storage means 9a is stored in the resume acceleration switch 4 according to the operation of the occupant during the control of the constant speed traveling. If the set coast switch 3 generates a tap-down command signal by an occupant before converging to the updated stored vehicle speed by adding a fixed value (U) to the vehicle speed or the stored vehicle speed, the tap-up command signal is generated. The stored vehicle speed is discarded, and the stored vehicle speed is updated with the current vehicle speed when the tap-down command symbol opposite to the tap-up command signal is generated.

The switch operation discriminating means 9b provided in the microcomputer 9 stores that the operation has shifted to the set coast switch operation or the tap-down control or the tap-up control by the resume acceleration switch, and the current vehicle speed is compared with the stored vehicle speed. When the convergence is made within a predetermined value (R) or when the cancel element 5 generates a cancel command signal, the memory is erased.
Based on b, it is determined whether or not the ON operation and the OFF operation of the set coast switch 3 or the resume acceleration switch 4 during the constant speed traveling control are under tap-down control or up-up control.

The switch operation time monitoring means 9c provided in the microcomputer 9 detects the ON time of the set coast switch 3 and the resume acceleration switch 4 based on a program cycle (for example, one cycle is 0.5 seconds) described later. Is measured and monitored by a switch counter (not shown) set in the ram area.

The switch operation determining means 9b and the switch operation time monitoring means 9c determine in advance the ON time of the set coast switch 3 which has been turned on during the non-tap down control during the constant speed running control after the generation of the cruise command signal. If it is shorter than a predetermined value (for example, 1 second), it is recognized that the signal is the first tap-down command signal, and after the cruise command signal is generated, the tap operation is turned on during the non-tap-up control during the constant speed traveling control. If the ON time of the resume acceleration switch 4 is shorter than a predetermined value (for example, 1 second), it is recognized that this is the first tap-up command signal, and after the first time is recognized, the tap-down command signal is received. And that the tap-up command signal is the second time or later.

The computing means 9d provided in the microcomputer 9 performs computations for tap-down computation and tap-up computation. The computing means 9d is operated by the switch operation discriminating means 9b and the switch operation time monitoring means 9c. When the down command signal is recognized, a predetermined value is subtracted from the current vehicle speed when the set coast switch 3 is turned on, and a tap-up command is issued by the switch operation determining means 9b and the switch operation time monitoring means 9c. When the signal is recognized, a predetermined value is added to the current vehicle speed when the resume acceleration switch 4 is turned on. The numerical value calculated by the subtraction processing of the predetermined value by the arithmetic means 9d and the numerical value calculated by the addition processing of the predetermined value are stored in the vehicle speed storage means 9a described later with respect to the stored vehicle speed at that time. Will be updated.

Here, when the vehicle is running, the control means 8 turns on the main switch 15 and turns on the set coast switch 3 by the occupant from the constant speed running cancel state, whereby the actuator power supply switching unit is turned on. When the transistor TR3 of the switch 14c is turned on and the set coast switch 3 is turned off, the microcomputer 9 turns on the cruise lamp 16, turns on the transistor TR3 of the actuator power supply switching unit 14c, and turns off the set coast switch. When the cruise command signal is generated, the speed increasing means 9e is operated by the amount of the initialization set, and the vent valve switch is driven by the speed increasing actuator driving current generated by operating the speed increasing means 9e by the amount of the initialization set. Transistor of the ring portion 14a TR1
Since the transistor TR2 of the vacuum valve switching unit 14b and the transistor TR4 of the safety valve switching unit 14d are turned on, the vent valve 7a and the safety valve 7c are both closed and only the vacuum valve 7b is opened. The vacuum valve switching unit 7 operates the throttle valve 6 at the time when the negative pressure level of the negative pressure chamber is increased and the throttle valve 6 is opened to the initializing set opening side.
After turning off the transistor TR2 of 4b and ending the initialization set, 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 when the cruise command signal is generated by turning on and off the set coast switch 3 by the occupant. When a predetermined calculation result performed between the deviation calculated by the comparison of the above and the acceleration obtained by the rate of change of the vehicle speed signal within a certain period of time becomes a negative value, the speed increasing means 9e is activated by the time corresponding to the calculation result. When activated, an actuator drive current for speed increase is generated, and the transistor T of the vacuum valve switching unit 14b is switched from the initial set state.
Since R2 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.

Further, the difference between the deviation calculated by comparing the stored vehicle speed signal of the vehicle speed storage means 9a with the vehicle speed signal generated by the vehicle speed sensor 2 and the acceleration obtained from the rate of change of the vehicle speed signal within a certain period of time. When a predetermined calculation result to be performed becomes a positive value, the microcomputer 9 activates the deceleration means 9f at a time corresponding to the calculation result to generate an actuator drive current for deceleration. The transistor TR2 is turned off and the vent valve switching unit 14
Since the transistor TR1 is turned off, the negative pressure level of the negative pressure chamber of the actuator 7 decreases, and the throttle valve 6
Is driven to the closing side to control the vehicle speed signal generated by the vehicle speed sensor 2 to coincide with the stored vehicle speed of the stored vehicle speed means 9a.

The automatic constant speed traveling apparatus 1 having such a structure performs the control operation shown in FIGS.

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

When the set coast switch 3 is turned on while the vehicle is running at the vehicle speed desired by the occupant during cruise cancellation, the actuator power supply switching unit 14c is turned on, and the set coast switch 3 is turned off. By operation, the vehicle speed storage means 9a stores the vehicle speed signal generated by the vehicle speed sensor 2 at that time and generates a stored vehicle speed signal, and the vehicle speed sensor 2 increases the speed by an initialization set corresponding to the vehicle speed signal sequentially generated. The means 9e is operated and the switching means 14 operates the actuator 7 to operate the throttle valve 6 to the open side. After the throttle valve 6 is operated to the opening side for the initialization set, 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 calculation means 9d, and if the calculation result is a negative value, the switching means 14 opens the throttle valve 6 by the switching means 14 using the speed-up actuator driving current from the speed-up means 9e. The actuator 7 is operated to drive the throttle valve 6 to the closing side by the switching means 14 with the actuator driving current for deceleration from the speed reducing means 9f if the calculation result is a positive value. , The control of the constant speed running is performed so that the current vehicle speed follows the stored vehicle speed.

At this time, as shown in FIG.
In step 61, it is determined whether or not the automatic constant-speed traveling device 1 is stopped.
In step 61, 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 are obtained. Whether the current vehicle speed and the stored vehicle speed have a predetermined deviation is recognized by the tap-down or tap-up convergence determination of whether or not the current vehicle speed is within the range, and the current vehicle speed is within the predetermined range. When it is recognized that there is
In step 62, the tap-down flag is reset, and in step 63, the tap-up flag is reset, the initial setting of the constant speed traveling control is performed, and the process proceeds to step 64. If the current vehicle speed is not within the predetermined range, the process proceeds to step 61. Then, the process skips steps 62 and 63 and proceeds to step 64. In step 64, it is determined whether or not the set coast switch 3 is turned on. Since the set coast switch 3 is not turned on, the process proceeds to step 65, and in step 65, it is determined whether or not the resume acceleration switch 4 is turned on. Then, since the resume acceleration switch 4 is not turned on, the process proceeds to step 66, the switch counter is reset, and the process proceeds to step 68.
Since it is determined in step 8 whether or not the cancel element 5a has generated the cancel command signal, the cancel element 5a has not generated the cancel command signal.
Then, the control of the constant speed traveling is continued, and
This routine is repeatedly performed until the value returns to 0 and the set coast switch 3 or the resume acceleration switch 4 is turned on.

If the current vehicle speed is within the predetermined range during the constant-speed running, the tap-down flag is reset in step 62 and the tap-up flag is reset in step 63 every cycle of the routine. When the stored vehicle speed is updated immediately after the set coast switch 3 or the resume acceleration switch 4 is operated during high-speed running, the current vehicle speed is out of a predetermined range.
The process skips steps 62 and 63 and proceeds to step 64.

Therefore, during traveling at a constant speed, the occupant sets the set coast switch 3 from time A1 to time A shown in FIG.
2. When the on operation and the off operation are continuously performed within a predetermined time from time B1 to time B2 and time C1 to time C2,
At time A1, the process proceeds to step 71 in the determination at step 64, so that the switch counter is incremented by one in step 71 and the process proceeds to step 73, where the count of the switch counter is set to a predetermined value (step 73). T2) is determined, and the count of the switch counter is within a predetermined value (T2). Therefore, the process proceeds to step 74 to determine whether the tap-up flag is set. Since the tap-up flag has not been set, the process proceeds to step 75, where it is determined whether or not the tap-down flag has been set.
Since the tap-down flag has not been set, the flow proceeds to step 76, where the stored vehicle speed is updated with a value obtained by subtracting a predetermined numerical value (D) from the current vehicle speed at that time, and the flow proceeds to step 77. Then, the tap-down flag is set, and the process returns to step S60.

When the tap-down flag is set, control is performed to match the current vehicle speed with the stored vehicle speed updated with a value obtained by subtracting a predetermined numerical value (D) from the current vehicle speed at that time. Therefore, the deceleration means 9f is operated, and the actuator 7 is operated to drive the throttle valve 6 to the closing side by the switching means 14, so that the vehicle is decelerated corresponding to the numerical value (D). Immediately after the stored vehicle speed is updated, the current vehicle speed is out of the predetermined range with respect to the stored vehicle speed. Therefore, in the determination in step 61, steps 62 and 63 are skipped, and the tap-down flag is reset and the tap-up flag is reset. Not even done.

The set coast switch 3 which has been turned on at time A1 is immediately turned off at time A2.
The process proceeds to step 66 according to the determination in step 65, the switch counter is reset, the process proceeds from step 67 to step 68, and the process proceeds from step 68 to step 70 to continue the constant speed traveling. .

Before the decelerated current vehicle speed falls within a predetermined range with respect to the updated stored vehicle speed, the set coast switch 3 is immediately turned on at time B1 after time A2 and then at time B2. Since the turning-off operation is performed, the reset of the tap-down flag in step 62 and the step 6
In step 3, the tap-up flag is not reset, and the process proceeds to step 71 according to the determination in step 64. In step 71, the switch counter is incremented by one, and the process proceeds to step 73. It is determined whether or not the number is within a predetermined value (T2), and the count number of the switch counter is determined by the predetermined value (T2).
Since it is within 2), the flow shifts to step 74 to determine whether or not the tap-up flag is set. Since the tap-up flag is not set, step 7 is performed.
In step 75, it is determined whether or not the tap-down flag is set in step 75, and the tap-down flag is set, and it is recognized that the tap-down command signal is under tap-down control.
8 and a predetermined numerical value (D) for the stored vehicle speed at which the previous storage was updated in step 78
, The stored vehicle speed is updated with the value obtained by subtracting, and the process proceeds to step 77 to reset the tap-down flag.
Returns to 0. Then, control is performed to match the current vehicle speed with the stored vehicle speed that has been updated by subtracting a predetermined numerical value (D) from the stored vehicle speed for which the previous storage has been updated, and the deceleration means 9f operates. Then, the actuator 7 is operated to drive the throttle valve 6 to the closing side by the switching means 14, and the vehicle is decelerated by the stored numerical value (D).

Since the set coast switch 3 which has been turned on again at time B1 is immediately turned off at time B2, the process proceeds to step 65 at time B2 according to the determination in step 64.
The process proceeds to step 66, the process proceeds from step 66 to step 68, and the process proceeds from step 68 to step 70 to continue the constant speed running. Immediately thereafter, the set coast switch 3 is turned on at time C1. Since the switch is turned off at time C2, the count-up of the switch counter is repeated while the tap-down flag is set, and the previous memory is updated each time the set coast switch 3 is turned on and off. The stored vehicle speed is updated with a value obtained by subtracting a predetermined numerical value (D) from the stored vehicle speed, and control is performed to match the current vehicle speed with the updated stored vehicle speed.

Until the current vehicle speed coincides with the updated stored vehicle speed, the current vehicle speed is out of the range for the stored vehicle speed. No flags are set.

Therefore, before the current vehicle speed coincides with the stored vehicle speed, the resume acceleration switch 4, which is opposite to the set coast switch 3, is switched from time D1 to time D2, time E1 to time E2, and time F1 to time shown in FIG. F2
When the ON operation and the OFF operation are continuously performed for a short period of time, at time D1, the process proceeds to step 65 by the determination at step 64, and to step 80 by the determination at step 65. Is counted up by one, and the routine goes to step 82. At step 82, it is determined whether or not the count of the switch counter is within the predetermined value (T1), and the count of the switch counter is predetermined. Value (T1), the step 83
Then, it is determined whether or not the tap-down flag is set. Since the tap-down flag is set, the process proceeds to step 88, and at step 88, the stored vehicle speed is updated to the current vehicle speed at that time. Then, in step 89, the tap-down flag is reset, and the process returns to step 60. Here, the stored vehicle speed updated each time the set coast switch 3 generates the tap-down command signal is discarded, and the stored vehicle speed is updated to the current vehicle speed at that time. Make recognition very easy.

When the current vehicle speed enters a convergence range within a predetermined value R with respect to the updated stored vehicle speed, step 61 is executed.
If the tap-down flag is reset and the tap-up flag is reset in steps 62 and 63, and the tap-down flag is not within the convergence range, steps 62 and 63 are skipped, and the process proceeds to step 80 in the determination in step 65. Then, the switch counter is counted up, and the process proceeds to step 82. In step 82, it is determined whether or not the count number of the switch counter is within a predetermined value (T1). Since it is within the predetermined value (T1), the flow shifts to step 83 to determine whether or not the tap-down flag is set.
Since the tap-down flag has not been set, the process proceeds to step 84. Since the tap-up flag has not been set in the determination at step 84, the process proceeds to step 85, where a predetermined numerical value (U ) Is added to update the stored vehicle speed, and the routine proceeds to step 86, where a tap-up flag is set, and the routine returns to step 60.

When the tap-up flag is set, the tap-up command signal is recognized, and a predetermined value (U) for the current vehicle speed at that time is recognized.
Is controlled to match the current vehicle speed with the stored vehicle speed updated with the numerical value obtained by adding, the actuator 7 is operated to drive the throttle valve 6 to the open side by the switching means 14 by operating the speed increasing means 9e, The speed of the vehicle is increased according to the value (U). Immediately after the stored vehicle speed is updated, the current vehicle speed is out of the predetermined range with respect to the stored vehicle speed.
Steps 2 and 63 are skipped, and neither the tap-down flag nor the tap-up flag is reset.

Since the resume acceleration switch 4 turned on at time D1 is immediately turned off at time D2, the process proceeds to step 66 according to the determination at step 65, the switch counter is reset at step 66, and the steps from step 66 to step 66 are performed. Then, the routine proceeds to step 68, and the routine proceeds from step 68 to step 70, where the continuation processing of the constant speed traveling is performed.

Before the increased vehicle speed falls within a predetermined range with respect to the stored vehicle speed, the resume acceleration switch 4 is turned on immediately at time E1 after time D2 and then turned off at time E2. Since the deviation between the current vehicle speed and the stored vehicle speed is increased, the tap-down flag is not reset in step 62 and the tap-up flag is reset in step 63 at time E1. Then, at step 80, the switch counter is counted up by one, and the routine goes to step 82. At step 82, it is determined whether or not the count number of the switch counter is within a predetermined value (T1). The count number of the switch counter is a predetermined value Since it within T1) and proceeds to step 83 is judged whether or not a tap down flag has been set is made, the tap down flag, the process proceeds to step 84 because it is not set, step 84
The tap-up flag is set by judging whether or not the tap-up flag has been set in step, and it is recognized that the tap-up command signal is under the tap-up control.
In step, the stored vehicle speed is updated with a value obtained by adding a predetermined numerical value (U) to the stored vehicle speed for which the previous storage has been updated, and the routine proceeds to step 87, where the tap-up flag is reset, and step 60 is performed. Return to. Then, control is performed to match the current vehicle speed with the stored vehicle speed that has been updated by subtracting a predetermined numerical value (U) from the previously stored memory vehicle speed, so that the speed increasing means 9e
Is operated, the actuator 7 is operated to drive the throttle valve 6 to the open side by the switching means 14, and the speed of the vehicle is increased by the stored numerical value (U).

The resume acceleration switch 3 which has been turned on again at time E1 is immediately turned off at time E2.
The process proceeds to step 66, the process proceeds from step 66 to step 68, and the process proceeds from step 68 to step 70 to continue the constant speed running. Immediately thereafter, the set coast switch 3 is turned on at time F1. Is turned off at time F2,
In step 1, the switch counter counts up while the tap-up flag is set, and a predetermined value is set in advance for each of the ON and OFF operations of the resume acceleration switch 4 with respect to the stored vehicle speed at which the previous storage was updated. The stored vehicle speed is updated with the value obtained by adding the obtained numerical value (U), and control is performed to match the current vehicle speed with the updated stored vehicle speed.

Immediately after the stored vehicle speed is updated, since the deviation between the current vehicle speed and the updated stored vehicle speed is equal to or larger than a predetermined value (R), the tap-down flag in step 62 is also set in step No tap-up flag is set at 63 as well.

Before the current vehicle speed matches the stored vehicle speed updated with the generation of the tap-up command signal by the resume acceleration switch 4, the occupant sets the set coast switch 3, which is opposite to the resume acceleration switch 4, from time G 1. When the on operation and the off operation are performed within a predetermined time between time G2, at time G1, the tap-up flag is kept set, and the process proceeds to step 71 in the determination at step 64. After counting up, the process proceeds to step 73. In step 73, it is determined whether the count number of the set coast switch counter is within a predetermined value (T2) or not, and the count number of the set coast switch counter is determined. Is a predetermined value ( Step 74 because it is 2) within
Then, it is determined whether or not the tap-up flag has been set. Since the tap-up flag has been set, the process proceeds to step 90, and the stored vehicle speed updated in step 90 every time a tap-up command signal is generated. Is discarded, the stored vehicle speed is updated with the current vehicle speed at time G1, and the process proceeds to step 79. In step 79, the tap-up flag is reset and the process returns to step 60.

Here, the stored vehicle speed updated by the tap-up command signal from the resume acceleration switch 4 is discarded by the tap-down command signal generated by the set coast switch 3 that is opposite to the resume acceleration switch 4, and the stored vehicle speed is discarded. Are updated based on the current vehicle speed at the time when the tapdown command signal from the conflicting set coast switch 3 is generated.

At this time, after the resume acceleration switch 4 is operated, the set coast switch 3
Since the stored vehicle speed is updated based on the speed of the vehicle at the time of operating the vehicle, the occupant can easily recognize the stored vehicle speed.

When the set coast switch 3 is turned on during the constant speed running, and the on-operation time is a predetermined time or more, if the current vehicle speed is within the convergence range as determined in step 61, In steps 62 and 63, the tap-down flag and the tap-up flag are reset, and if the current vehicle speed exists outside the convergence range, step 6
Steps 2 and 63 are skipped, and the process proceeds to step 71 in the determination in step 64, counts up in step 71 and proceeds to step 73, and proceeds to step 94 in the determination in step 73 to reset the tap-down flag. Then, the process proceeds to step 95, where the coast command signal is recognized, and this routine is repeated while the set coast switch 3 is being turned on, and the speed is decelerated at a time corresponding to the ON operation time of the set coast switch 3. The actuator 9 is actuated to activate the means 9f and drive the throttle valve 6 to the closing side by the switching means 14, and the memory is stored in a deceleration amount corresponding to the time from when the set coast switch 3 is turned on to when it is turned off. Updates made and vehicle set coast It is decelerated in response to the on time of the switch 3.

If the resume acceleration switch 4 is turned on during constant speed running, and the on-operation time is longer than a predetermined time, the current vehicle speed is within the convergence range as determined in step 61. Time step 62
When the tap-down flag and the tap-up flag are reset and are outside the convergence range in steps 63 and 63, steps 62 and 63 are skipped, and the process proceeds to step 65 in the determination in step 64, and proceeds to step 65 in the determination in step 65. The process proceeds to step 80, where the count is incremented at step 80, the process proceeds to step 82, the process proceeds to step 96 in the determination at step 82, the tap-up flag is reset, and the process proceeds to step 97. This routine is repeated while the resume acceleration switch 4 is on, and the speed increasing means 9e is operated at a time corresponding to the on operation time of the resume acceleration switch 4, and the switching means 14 is turned on. By throttle valve The actuator 7 is actuated to drive the resume accelerator 6 to the open side, and the memory is updated with the deceleration corresponding to the time from when the resume accelerator switch 4 is turned on to when it is turned off. The speed is increased according to the on-time.

If a cancel command signal is generated by the cancel element 5 during such constant speed control, the process proceeds to step 91.
Reset the tap-up flag at
In step 92, the tap-down flag is reset, and the routine proceeds to step 93. In step 93, the control for stopping the constant speed traveling is performed, and the routine returns to step 60. When a cancel command signal is generated from the cancel element 5, this routine is repeated until the set coast switch 3 or the resume accelerate switch 4 is turned on.

[0055]

As has been described above, according to the present invention, an automatic constant speed running apparatus according to the invention, since it has a structure as described above, further by setting coast switch is <br/> onset producing a tap-down command signal the vehicle speed signal to the new is the storage vehicle speed signal is Osamu
When conflicting resume accelerate switch has generated the tap-up command signal and the set coast switch before following the bunch and, update has been stored vehicle speed signal that the resume accelerate switch to occur a tap-up command signal when conflicting set coast switch occurs a tap-down command signal and the resume accelerate switch to previously the vehicle speed signal converges to, it is in the passenger
Memorize the vehicle speed signal at that time, which is the most easily understood value
To update as a vehicle speed signal, i.e., an excellent effect that ride for updating of the stored vehicle speed in the current vehicle speed at that time is the most meaningful value to personnel, can occupant clearly recognize the value of the stored vehicle speed Things.

[Brief description of the drawings]

FIG. 1 is a circuit configuration diagram of an automatic constant-speed traveling device using one 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 time chart for explaining a control operation over time 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 Set coast switch 4 Resume acceleration switch 6 Throttle valve 7 Actuator 8 Control means 9 Microcomputer 9a Vehicle speed storage means 14 Switching means

Continuation of the front page (58) Field surveyed (Int. Cl. ⁷ , DB name) B60K 31/00 B60T 7/12 F02D 29/02 301

Claims (1)

(57) [Claims] A vehicle speed sensor for generating a vehicle speed signal as claimed in claim 1] is proportional to the current speed of the vehicle, as well as generating a cruise command signal by the passenger operation off after a predetermined time or more on-operated by personnel riding in the constant-speed running When operated, the current vehicle speed is reduced according to the ON operation time, and the vehicle speed signal when the OFF operation is performed is stored.
When it occurs the coast command signal for further new as No.
Both the tap-down for updating the stored <br/> wheel speed signal by subtracting the occupant on operation and off by Riki憶車speed signal or al a predetermined value in operation within a predetermined time during the constant speed running raise the set coast switch for generating a command signal, the current vehicle speed in response to when it is turned off on-operation time after being turned on a predetermined time or more by personnel riding in the constant speed running, when it is turned off Store vehicle speed signal and vehicle speed signal
Thereby generating an accelerated rate command signal for update and, by adding a predetermined value to Riki憶車speed signal by the occupant on operation and off operation within a predetermined time period during constant speed running and stored < br /> occur a tap-up command signal for updating the vehicle speed signal
And resume accelerate switch you, and switching means for blocking the actuator for driving the throttle valve to the open-side or closing side by the actuator driving current, before Symbol actuator drive current supplied from the power source to the actuator, or the current thereof, in response to a cruise command signal the set coast switch occurs, the vehicle speed sensor has a vehicle speed storing means for generating a memory to serial憶車speed signal of the vehicle speed signal generated, click <br/> loose command signal in response to, together with the constant speed running control for converging the vehicle speed signal to the comparator and storing the vehicle speed signal and the stored vehicle speed signal is a vehicle speed signal and said vehicle speed storing means for vehicle speed sensor is generated occurs, the tap up command signal by adding a predetermined value to the serial <br/>憶車speed signal in response to update the stored vehicle speed signal to the degree or data-down command signal, In response to the serial憶車HayaShin
An automatic constant speed running device is equipped with a control means having a update to that microcomputer subtraction and store vehicle speed signal a predetermined value to No., the control means, during constant speed running, the resume acceleration When rate switch occurs a tap up command signal, corresponding to the occurrence of a tap-up command signal stored vehicle speed signal to a Jo Tokoro of
Update by adding the value, the vehicle speed to the update the stored vehicle speed signal
Signal is come with a set coast switch before convergence occurs a tap-down command signal, the predetermined in the stored vehicle speed signal
Stop updating the stored speed signal by subtracting the
Stores the vehicle speed signal when the up-down command signal is generated
Update the fast signal, or set the coast switch occurs a tap-down command signal, subtracts the value of the Jo Tokoro the storage vehicle speed signal in response to the occurrence of a tap-down command signal
Update Te, the vehicle speed signal to the update the stored wheel speed signal when the resume accelerate switch before convergence occurs a tap up command signal is given to the stored vehicle speed signal
Stop updating the stored vehicle speed signal by adding a value, data <br/> Ppuappu the command signal is generated Kino speed signal the serial憶車
Automatic constant speed running apparatus according to claim of updating itself as fast signal.