JP3508432B2 - Vehicle travel control device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To reduce the burden of a driver by making improvements in the handleability of constant speed traveling. SOLUTION: In this car traveling controller, setting the travel speed of a constant speed travel device 1 by both accelerator and brake operations, it is equipped with an accelerator pedal manipulated variable detecting means 3 detecting the manipulated variable of an accelerator pedal during constant speed traveling, and a standard deviation calculating means 2 calculating a standard deviation in this manipulated variable of the accelerator pedal, and when the calculated value of this standard deviation is larger than the preset value, constant speed traveling is released.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a traveling control device for controlling the traveling speed of a vehicle.

[0002]

2. Description of the Related Art There is a constant speed traveling device which keeps the traveling speed of a vehicle constant, but a traveling control device as shown in FIG. 8 is considered in order to simplify the operation for entering the constant speed traveling. (See JP-A-6-255389).

This is provided with an accelerator pedal sensor 51 for detecting the operation of the accelerator pedal and a brake pedal sensor 52 for detecting the operation of the brake pedal. When the driver depresses the accelerator pedal, accelerates and releases the accelerator pedal. The traveling control unit 53 enters the constant speed traveling control at the vehicle speed when the accelerator pedal is released, and the constant speed traveling operation is performed. When the brake pedal is depressed, the speed is reduced, and the brake pedal is released, the traveling control unit 53 enters the constant speed traveling control at the vehicle speed when the brake pedal is released, and the constant speed traveling operation is performed. The constant-speed traveling control drives the throttle actuator 54, activates the engine brake when the speed is reduced on a downhill, and drives the brake device 55. Since such a control system does not need to give a constant speed instruction by a switch operation, the driver's operation can be simplified, there is no need to move the line of sight, and a safe function is provided.

[0004]

When such a traveling control device is used for actual traveling, there are the following problems.

When the vehicle is running at a constant speed and there is no road more than 100 m in front of the vehicle, the driver can drive at a constant speed without anxiety, and does not touch the accelerator pedal.

However, in Japan, although there are situations where the traffic density is low as described above in a very narrow range even at night or daytime, in most cases, the situation where the traffic density is high is normal and a constant speed is used. During traveling, there are many cases where a vehicle exists within 50 m in front of the vehicle and the vehicle follows the vehicle.

In such a case, approach the vehicle ahead,
When the inter-vehicle distance reaches around 40 m (about 80 km / h traveling), which is not enough to press the brake, the driver wants to control the speed of the vehicle based on the inter-vehicle distance and the speed relationship with the preceding vehicle. On the other hand, knowing that they are traveling at a constant speed, the driver begins preparing to change the speed, and as a result, the driver moves his foot to the vicinity of the accelerator pedal or brake pedal, and sometimes pedals his foot. There is a case to ride on gently.

That is, as the vehicle ahead approaches,
The driver moves his / her foot to the pedal to try to operate the pedal. In such a situation, traveling at a constant speed is a burden on the driver. Further, unless the brake pedal is depressed, the speed cannot be changed, which imposes a burden on the operation and thus stresses the driver.

The present invention has been made in view of the above-mentioned problems of the conventional example, and analyzes how the accelerator is operated after shifting to constant speed running, and the result indicates that it is better not to run at constant speed. An object of the present invention is to provide a traveling control device that is easy for the driver to handle by determining whether or not the situation is preferable for the driver and canceling the constant speed traveling based on the determination.

[0010]

According to a first aspect of the present invention, there is provided a travel control device for a vehicle which sets a travel speed of a constant speed traveling device by an accelerator operation and a brake operation, and detects an operation amount of an accelerator pedal during constant speed traveling. And a standard deviation calculating means for calculating a standard deviation of the operation amount of the accelerator pedal, and when the calculated value of the standard deviation is larger than a preset set value , the driver determines
The constant-speed driving is canceled as an indication of the intention to cancel the high-speed driving .

According to a second aspect of the present invention, in a vehicle travel control device for setting a traveling speed of a constant speed traveling device by an accelerator operation and a brake operation, accelerator pedal depressing force detecting means for detecting an accelerator pedal depressing force during constant speed traveling, A standard deviation calculating means for calculating a standard deviation of the accelerator pedal depression force, and when the calculated value of the standard deviation is larger than a preset value , the driver indicates the intention to cancel the constant speed running.
To cancel the constant speed running as of.

In a third aspect based on the first and second aspects, the standard deviation is calculated every predetermined unit time.

According to a fourth aspect of the present invention, in the first and second aspects of the present invention, an inter-vehicle distance measuring means for measuring an inter-vehicle distance with a preceding vehicle during traveling at a constant speed, and a constant-speed traveling release according to the inter-vehicle distance. And setting value changing means for changing the setting value set in advance.

[0014]

[Effects of the Invention] While approaching a vehicle in front while traveling at a constant speed, the driver wants to change the vehicle speed, and it is better to change his / her distance to an accelerator pedal or the like to change from the inter-vehicle distance to normal traveling. The vehicle travels while judging whether or not the vehicle will continue traveling at a constant speed.

In the first aspect of the present invention, in this case, if the standard deviation is larger than the set value by observing the delicate operation of the accelerator pedal, that is, when the driver moves his foot to the accelerator pedal and starts moving the accelerator pedal, the driver operates. Decides that he intends to intervene in constant speed driving and cancels constant speed driving.

Therefore, it is possible to quickly shift from the constant speed running to the normal running, and whether the driver shifts to an accelerator pedal or the like to change to the normal running or to continue the constant running as the vehicle distance decreases. It is possible to reduce the burden of traveling while judging. Further, since the vehicle can be switched to the normal running without depressing the brake pedal, the operation load can be reduced, the usability is good, and the good running can be performed.

According to the second aspect of the present invention, the driver's attempt to intervene in the constant speed running can be quickly determined by the accelerator pedal stepping force capable of detecting a more delicate operation than the operation amount of the accelerator pedal, and the constant speed running is quickly released. it can.

According to the third aspect of the present invention, by calculating the standard deviation for each predetermined unit time, it is possible to accurately determine whether or not the driver is going to intervene in constant speed running.

In the fourth aspect of the invention, if the inter-vehicle distance to the vehicle in front is large, the set value is increased to decrease the sensitivity for canceling the constant speed traveling, and when the inter-vehicle distance is decreased, the set value is decreased to the constant speed. Increase the sensitivity for canceling driving. Therefore, in a situation where a shift to normal traveling is required, constant-speed traveling can be canceled accurately, and usability is further enhanced.

[0020]

BEST MODE FOR CARRYING OUT THE INVENTION Embodiments of the present invention will be described below with reference to the drawings.

FIG. 1 shows a first embodiment.
Is a constant speed running controller, 2 is an accelerator opening analysis device,
Reference numeral 3 is an accelerator opening sensor that detects the amount of operation of the accelerator pedal (accelerator opening), 4 is a vehicle speed sensor, and 5 is a brake oil pressure sensor that detects the brake oil pressure of the brake device 6.

Signals from the accelerator opening sensor 3 and the vehicle speed sensor 4 are input to the constant speed traveling controller 1 and the accelerator opening analysis device 2. Signals from the brake oil pressure sensor 5 and the accelerator opening analysis device 2 are input to the constant speed traveling controller 1.

To the output side of the constant speed running controller 1, a throttle actuator 7 for driving a throttle valve of the engine, a voice monitor 8, an operation indicator 9 and the like are connected.

To explain constant-speed running, when the driver depresses the accelerator pedal to accelerate and then releases the accelerator pedal, the constant-speed running controller 1 detects the accelerator opening signal.
Recognizing that the accelerator pedal has been released, the vehicle speed at that time is set as the set vehicle speed, and the throttle actuator 7 and the like are driven to perform constant speed traveling. Further, when the driver releases the brake pedal after depressing the brake pedal during traveling and decelerating, the constant speed traveling controller 1 recognizes from the brake hydraulic pressure signal that the brake pedal has been released, and the vehicle speed at that time is set to the set vehicle speed. As a result, the throttle actuator 7 and the like are driven to run at a constant speed.

When entering or leaving constant speed running,
The voice monitor 8 and the operation indicator 9 output [displayed in constant speed running mode] and [finished in constant speed running mode] so that the driver can recognize the change in the operating mode.

When the driver operates the accelerator pedal during the constant speed traveling and the accelerator opening is larger than a preset set value a, the constant speed traveling controller 1 recognizes that the constant speed traveling speed has changed. Then, the set vehicle speed in constant speed traveling is updated, but in the other cases, the following processing is started.

This is as shown in FIG.
At 3, the accelerator opening analysis device 2 examines the accelerator opening signal to determine whether the accelerator opening is changing (whether the driver is moving to the accelerator pedal) or whether the change is less than or equal to the set value a. .

If the accelerator opening is changing and the change is less than or equal to the set value a, in steps 4 to 6, the accelerator opening is changed every predetermined unit time (for example, 1 to 2 seconds) from the accelerator opening signal. Calculate the standard deviation.

In step 7, the calculated standard deviation of the accelerator opening is compared with a preset value b, and if the standard deviation is greater than the preset value b, the accelerator opening analyzer 2 determines in step 8 Issue a command to cancel constant speed running,
The constant speed traveling controller 1 releases the constant speed traveling.

In step 9, the constant speed traveling controller 1
Outputs and displays the voice monitor 8 and the operation indicator 9 to notify the driver that the constant speed traveling is released.

When the vehicle is not running at a constant speed, or when the change in the accelerator opening exceeds the set value a during the calculation of the standard deviation,
If the standard deviation is equal to or less than the set value b, the standard deviation is cleared in step 10.

If the standard deviation is larger than the set value b while observing a slight change in the accelerator opening during traveling at a constant speed, the driver moves his foot to the accelerator pedal to move the accelerator pedal. When it is determined that the driver intends to intervene in constant speed driving, the constant speed driving is canceled.

With this configuration, when a vehicle ahead comes close to the vehicle while traveling at a constant speed (inter-vehicle distance that is not enough to press the brake), the driver wants to change the vehicle speed, and the foot is changed to the accelerator pedal or the like. After that, the vehicle is driven while judging whether it is better to change to normal driving from the distance between vehicles or to continue constant speed driving.In this case, move the foot to the accelerator pedal and start moving, the accelerator The constant speed traveling is released by the change in the opening degree, and the normal traveling is switched.

Therefore, when it is desired to change the vehicle speed,
By operating the accelerator pedal, it is possible to quickly shift to normal running and control the vehicle speed, and as the distance between vehicles decreases, the driver moves to the accelerator pedal etc. to change to normal running or constant speed running. It is possible to reduce the burden of traveling while determining whether to continue.

Further, since the vehicle speed can be lowered and the vehicle can be switched to the normal running without depressing the brake pedal, the operation load can be reduced.

Therefore, the driver is not stressed, and it is easy to use and safe driving can be obtained.

When the driver moves his / her foot to the brake pedal and depresses the vehicle, the vehicle speed decreases, and the vehicle starts to run at a constant speed at the reduced vehicle speed. There is no.

FIG. 3 and FIG. 4 show the second embodiment. In addition to the accelerator opening sensor 3 for detecting the operation amount (accelerator opening) of the accelerator pedal, the accelerator for detecting the pedaling force of the accelerator pedal is also provided. A pedal depression force sensor 15 is provided.

The accelerator pedal depression force sensor 15 is installed on the surface of the accelerator pedal and can detect the depression state of the accelerator pedal which does not appear in the change in the accelerator opening. Other configurations and basic control of constant speed traveling are the same as those in the first embodiment.

During constant speed running, as shown in FIG. 4, step 2
At 2 and 23, the accelerator opening analysis device 2 and the constant speed running controller 1 examine the accelerator pedaling force signal and the accelerator pedaling signal to determine whether the accelerator pedaling force is changing (whether the driver is moving to the accelerator pedal). It is determined whether the change in the accelerator opening is equal to or less than the set value a.

If the accelerator pedal effort is changing and the accelerator opening change is less than or equal to the set value a, a predetermined unit time (for example, 1 to 2) is calculated from the accelerator pedal effort signal in steps 24 to 26.
The standard deviation of the accelerator pedal force is calculated every second).

In step 27, the calculated standard deviation of the accelerator pedal force is compared with a preset value b, and if the standard deviation is greater than the preset value b, the accelerator opening analysis device 2 determines in step 28. A constant speed traveling controller 1 releases the constant speed traveling by issuing a command to cancel the high speed traveling.

In step 29, the constant speed traveling controller 1 outputs and displays the voice monitor 8 and the operation indicator 9 to notify the driver of the cancellation of the constant speed traveling.

When the vehicle is not traveling at a constant speed, when the change in the accelerator opening exceeds the set value a during the calculation of the standard deviation,
If the standard deviation is less than or equal to the set value b, the standard deviation is cleared in step 30.

If the standard deviation is larger than the set value b, that is, if the standard deviation is larger than the set value b, that is, the driver shifts his foot to the accelerator pedal and depresses the accelerator pedal delicately while traveling at a constant speed. For example, it is determined that the driver intends to intervene in the constant speed driving, and the constant speed driving is canceled.

According to this, the driver can make a slight movement of the accelerator pedal to shift from the constant speed running to the normal running. Therefore, during constant-speed traveling, the situation in which the driver is trying to intervene in constant-speed traveling can be quickly judged, and the normal traveling can be quickly shifted.

FIGS. 5 and 6 show the third embodiment, in which the criterion for judging the situation in which the driver is trying to intervene in constant speed traveling is changed according to the distance between the vehicle ahead and the vehicle.

In this case, the laser radar 20 for measuring the inter-vehicle distance to the vehicle ahead is provided, and its signal is input to the accelerator opening analysis device 2. Other configurations and basic control of constant speed traveling are the same as those in the first embodiment.

During constant speed running, as shown in FIG. 6, step 4
At 2, 43, the accelerator opening analysis device 2 examines the accelerator opening signal to determine whether the accelerator opening is changing (whether the driver is moving to the accelerator pedal) or whether the change is the set value a or less. judge.

If the accelerator opening is changing and the change is equal to or less than the set value a, in steps 44 to 46, the accelerator opening is changed every predetermined unit time (for example, 1 to 2 seconds) from the accelerator opening signal. Calculate the standard deviation.

When the standard deviation of the accelerator opening is calculated in step 47, the set value b at that time is calculated according to the inter-vehicle distance measured by the laser radar 20.

In this case, the set value b takes a large value when the inter-vehicle distance is large as shown in FIG. 7, but when the inter-vehicle distance becomes a certain amount or less, the value is rapidly reduced and the inter-vehicle distance is small (the temporal change is large. ) Has been set to take a small value.

In step 48, the calculated standard deviation of the accelerator opening is compared with the set value b. If the standard deviation is larger than the set value b, the accelerator opening analyzer 2 runs at a constant speed in step 49. A constant speed traveling controller 1 releases the constant speed traveling.

In step 50, the constant speed traveling controller 1 outputs and displays the voice monitor 8 and the operation indicator 9 to notify the driver of the cancellation of the constant speed traveling.

When the vehicle is not traveling at a constant speed, or when the change in the accelerator opening exceeds the set value a while the standard deviation is being calculated,
If the standard deviation is less than or equal to the set value b, the standard deviation is cleared in step 51.

During the constant speed running, a slight change in the accelerator opening is examined, and if the standard deviation is larger than the set value b, it is judged that the driver intends to intervene in the constant speed running. The constant-speed traveling is canceled. At this time, if the inter-vehicle distance to the vehicle ahead is large, the set value b is increased, and if the inter-vehicle distance is small, the set value b is decreased.

That is, if the inter-vehicle distance to the vehicle ahead is large, the sensitivity for canceling the constant speed traveling is lowered, and if the inter-vehicle distance is small, the sensitivity for canceling the constant speed traveling is increased.

In this way, the constant speed running can be released accurately in the situation where the transition to the normal running is required, while the driver does not want to release the constant speed running. It is possible to avoid an unnecessary releasing operation such as when the foot is shaking. Therefore, usability is further enhanced.

Although this embodiment is shown as being applied to the first embodiment, it is of course applicable to the second embodiment. In this case, the set value b with respect to the standard deviation of the accelerator pedal force is changed.

[Brief description of drawings]

FIG. 1 is a configuration diagram showing a first embodiment.

FIG. 2 is a flowchart showing control contents.

FIG. 3 is a configuration diagram showing a second embodiment.

FIG. 4 is a flowchart showing control contents.

FIG. 5 is a configuration diagram showing a third embodiment.

FIG. 6 is a flowchart showing control contents.

FIG. 7 is a characteristic diagram showing a relationship between a set value and an inter-vehicle distance.

FIG. 8 is a configuration diagram of a conventional example.

[Explanation of symbols]

1 Constant speed running controller 2 Accelerator position analyzer 3 Accelerator position sensor 4 vehicle speed sensor 5 Brake oil pressure sensor 6 Brake device 7 Throttle actuator 8 voice monitor 9 Motion indicator 15 Accelerator pedal force sensor 20 laser radar

Continuation of front page (56) Reference JP-A-8-150854 (JP, A) JP-A-57-153934 (JP, A) JP-A-62-218238 (JP, A) JP-A-8-72591 (JP , A) JP-A-5-296072 (JP, A) JP-A-7-164917 (JP, A) JP-A-63-162339 (JP, A) (58) Fields investigated (Int.Cl. ⁷ , DB) Name) B60K 31/00 B60K 41/00 F02D 11/10 F02D 29/02 301

Claims (4)

(57) [Claims] 1. A travel control device for a vehicle for setting a traveling speed of a constant speed traveling device by accelerator operation and brake operation, and accelerator pedal operation amount detecting means for detecting an operation amount of an accelerator pedal during constant speed traveling, A standard deviation calculating means for calculating the standard deviation of the accelerator pedal operation amount, and the calculated value of the standard deviation is larger than a preset value.
In addition, the vehicle travel control device is characterized in that the driver releases the constant-speed traveling by indicating that the driver intends to cancel the constant-speed traveling. 2. A travel control device for a vehicle for setting a traveling speed of a constant speed traveling device by an accelerator operation and a brake operation, and accelerator pedal depressing force detecting means for detecting an accelerator pedal depressing force during constant speed traveling, and the accelerator pedal depressing force. A standard deviation calculating means for calculating the standard deviation of the driver, and when the calculated value of the standard deviation is larger than a preset set value , the driver
A traveling control device for a vehicle, characterized in that the vehicle deactivates the constant-speed traveling as an indication of the intention to cancel the constant-speed traveling . 3. The vehicle running control device according to claim 1, wherein the standard deviation is calculated every predetermined unit time. 4. An inter-vehicle distance measuring means for measuring an inter-vehicle distance with a preceding vehicle during traveling at a constant speed, and a set value for changing a preset value for canceling the constant speed traveling according to the inter-vehicle distance. The traveling control device for a vehicle according to claim 1, further comprising a changing unit.