JP3965803B2 - Vehicle speed control device for vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To prevent a sense of incompatibility due to a shortage of acceleration by suiting acceleration feeling and acceleration performance during vehicle speed control to a driving situation. SOLUTION: A vehicle speed control device for automatically controlling a vehicle speed on the basis of a road situation, comprises an acceleration detecting means (step S2) for detecting acceleration after passing through a vehicle speed restricted area, a distance detecting means (step S3) for detecting the distance from the vehicle speed restricted area to the next vehicle speed restricted area, and a target acceleration setting means (steps S4, S5) for setting a target acceleration at acceleration after passing through the vehicle speed restricted area on the basis of the distance detected by the distance detecting means (step S3).

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a vehicle speed control device called cruise control or auto drive, and more particularly to a device capable of controlling the vehicle speed according to road conditions such as corners, uphill roads, urban areas, and traffic jams.
[0002]
[Prior art]
Vehicle speed control devices called cruise control and auto drive control engine output so as to maintain the vehicle speed at a target vehicle speed set by switch operation between a predetermined lower limit vehicle speed and an upper limit vehicle speed. It is configured. The control can prevent the vehicle speed from dropping even if you do not perform the accelerator operation especially on uphill roads, but since it is control based only on the target vehicle speed until it gets tired, like corners and traffic jams, In a road situation where the road structure itself does not exert an acceleration / deceleration action on the vehicle and is required to travel at a lower speed than a straight road, it is necessary to manually perform a braking operation. In that case, since it is impossible to detect the degree of continuation of the situation where the vehicle decelerates, the vehicle speed control is generally stopped, and when the resume operation is performed, the control to maintain the target vehicle speed again is executed. It is configured to do.
[0003]
Therefore, when traveling under vehicle speed control, it is necessary to perform a braking operation every time the vehicle reaches a road environment where the vehicle speed is restricted, and after passing through the road environment, it is necessary to perform an operation to restore the released vehicle speed control. is there. As described above, vehicle speed control devices such as cruise control and auto drive are frequently controlled by man-made operations depending on the road environment, even if the vehicle speed is automatically controlled, and this is improved in terms of convenience. There was room.
[0004]
Conventionally, in order to improve such an inconvenience, an apparatus configured to detect road corners and reflect them in vehicle speed control is described in Japanese Patent Laid-Open No. 7-125565. In other words, the device described in this publication detects the front corner by a navigation device or the like when the vehicle speed is controlled so as to maintain the set vehicle speed, and the maximum target vehicle speed at the corner is detected. Deceleration control is automatically executed when the current vehicle speed is high, and when the current vehicle speed is lower than the set vehicle speed and the maximum target vehicle speed at the corner, the set vehicle speed and the maximum target vehicle speed are The vehicle speed is maintained or accelerated based on the deviation between the vehicle speed on the low speed side and the current actual vehicle speed.
[0005]
[Problems to be solved by the invention]
According to the above-described conventional apparatus, when approaching a corner that is difficult to pass at the current vehicle speed, the vehicle can be decelerated without performing an artificial braking operation, and the vehicle speed can be reduced without any artificial braking operation. The control is not released, and therefore, the resume operation after deceleration, which was conventionally required, is not necessary. In other words, since the vehicle speed can be set to be suitable for cornering and at the same time, the vehicle speed control can be continued, the frequency of intervention by human operations is reduced, and the convenience is improved.
[0006]
However, in the above-mentioned conventional device, the vehicle speed control is continued before and after the corner passage. Therefore, after the corner passage, the vehicle speed control is performed with the vehicle speed set before entering the corner as the target vehicle speed. become. In that case, if the difference between the target vehicle speed and the actual vehicle speed is more than a certain level, the vehicle speed is increased at a preset acceleration, so the road after exiting the corner is a straight road, and the vehicle Even in a vacant state with a small amount of traffic, the vehicle cannot accelerate beyond a predetermined acceleration. That is, there is a difference between the desired acceleration and the actual acceleration that the occupant has based on the road conditions, which may cause a feeling of stickiness or lack of power performance. On the other hand, when there is a corner that needs to be decelerated in a relatively forward position on the straight road after exiting the corner, the vehicle accelerates to reach the target acceleration at a predetermined acceleration. The actual acceleration is greater than the desired acceleration of the passenger, which may give the passenger a sense of incongruity.
[0007]
The present invention has been made against the background of the above circumstances, and it is possible to avoid giving the passenger a sense of incongruity by executing acceleration after deceleration according to road conditions according to road conditions. The object is to provide a control device.
[0008]
[Means for Solving the Problem and Action]
In order to achieve the above object, an invention according to claim 1 is a vehicle speed control device for a vehicle that automatically controls the vehicle speed based on road conditions, and an acceleration detection means for detecting acceleration after passing through a restricted area of the vehicle speed. A distance detection means for detecting a distance from the vehicle speed restriction area to the next vehicle speed restriction area, and a target for acceleration after passing through the vehicle speed restriction area based on the distance detected by the distance detection means Target acceleration setting means for setting the acceleration, and during vehicle speed control to make the vehicle speed coincide with the target vehicle speed Acceleration The target acceleration I will It is characterized by being comprised.
[0009]
The invention of claim 2 is characterized in that the target acceleration setting means in claim 1 has a function of increasing the target acceleration as the distance detected by the distance detection means is longer. It is.
[0010]
Therefore Lever According to the invention, after passing through the vehicle speed restriction area while reducing the vehicle speed, the reduced vehicle speed To match the target vehicle speed by vehicle speed control. When the vehicle speed is increased to the previous vehicle speed, acceleration for acceleration is set according to the distance to the next vehicle speed restriction area. As a way of setting, it is possible to make it closer to the acceleration held by the passenger from the distance. Therefore, the feeling of acceleration after passing through the vehicle speed restricted area is close to the feeling of acceleration that the passenger has, so that the uncomfortable feeling can be eliminated beforehand.
[0011]
In addition, if the distance to the next vehicle speed restriction area is long after passing through the vehicle speed restriction area, the acceleration for increasing the target vehicle speed increases, so that a lack of acceleration can be prevented in advance. .
[0012]
DETAILED DESCRIPTION OF THE INVENTION
Next, the present invention will be described based on specific examples shown in the drawings. An overall control system of the vehicle speed control apparatus according to the present invention is shown in FIG. The subject vehicle includes an engine 1 as a power unit and an automatic transmission (A / T) 2 connected to the output side thereof. The engine 1 is a general internal combustion engine whose output changes depending on the throttle opening, and is provided with a throttle actuator 3 for changing the throttle opening.
[0013]
The throttle actuator 3 is of a type that displaces the diaphragm by a differential pressure between the pressure based on the negative pressure generated in the engine 1 and the atmospheric pressure, and transmits the operation of the diaphragm to a throttle valve (not shown) via a link. And a motor that directly drives a throttle valve. In the former diaphragm type actuator, the solenoid valve that opens and closes the negative pressure hole is electrically controlled to change the throttle opening. In the latter type of electronic throttle valve that uses a motor, the rotation of the motor The throttle opening is changed by directly electrically controlling the amount.
[0014]
On the other hand, the automatic transmission 2 is a stepped automatic transmission as an example, and is parked (P), reverse (R), neutral (N), drive (D) by a shift device 5 having a shift lever 4. , “2”, L, etc., are selected so that the gear position is set according to each position or is in an operating state. The drive for forward travel, “2”, and L positions may be selected by a switch 7 provided on the steering wheel 6, for example, and the forward gear may be directly selected by switch operation or shift lever operation. It can also be configured.
[0015]
An electronic control unit (cruise control ECU) 8 that controls the throttle actuator 3 is provided so as to maintain the vehicle speed at the target vehicle speed. This electronic control unit 8 is mainly composed of a so-called microcomputer, and executes, stops, returns, and sets the target vehicle speed for throttle opening degree control (ie, vehicle speed control) for maintaining the vehicle speed at the target vehicle speed. It is configured to perform control such as setting and change thereof, and setting of acceleration when increasing to the target vehicle speed.
[0016]
The electronic control device 8 includes a cruise control operation input device 9, a navigation system 10, an inter-vehicle distance sensor 11, a vehicle speed sensor 12, an accelerator opening sensor 13, and a throttle opening sensor 14 in order to perform these controls. Signals are input from the brake contact sensor 15 and the shift position sensor 16, respectively.
[0017]
Among these, the cruise control operation input device 9 includes, for example, a lever switch and a push / push switch attached to the steering column. For example, as shown in FIG. A main switch 18 is provided, and each time the main switch 18 is pressed, the cruise control device is turned on / off. Further, return or acceleration control is performed while the lever 17 is pushed up (in the direction of arrow A in FIG. 6), and setting or deceleration control is performed while the lever 17 is pushed down further (in the direction of arrow B in FIG. 6). It is configured as follows. The vehicle speed control (cruise control control) is canceled (cancelled) by pulling the lever 17 toward the front side (in the direction of arrow C in FIG. 6). These signals such as acceleration / deceleration, set, return, and cancel are input to the electronic control unit 8.
[0018]
In addition, the navigation system 10 is a system for detecting the surroundings of the host vehicle and the situation of the planned travel route, and is digitized by autonomous navigation using a GPS (Global Positioning System), a geomagnetic sensor, or a gyro sensor. A system that shows the location of the vehicle on the map and guides it to the destination, as well as various road traffic and traffic information including traffic congestion information from beacons and sign posts installed on the ground. Includes an information system. More specifically, as shown in FIG. 7, the navigation system 10 is loaded with an information recording medium 19 such as an optical disk or a magnetic disk, and a player 20 that reads information stored in the information recording medium 19. And a display unit 21 for displaying the information read by the player 20 in two or three dimensions.
[0019]
The navigation system 10 also includes a first position detection unit 22 and a second position detection unit 23 for detecting the current position of the vehicle and road conditions, and a speaker 24 that informs the driver of the road conditions by voice. . The display unit 21 uses a liquid crystal display provided on the side of an indoor instrument panel or glove box, a CRT, or the like, or an image projection unit provided at a location that does not affect the field of view of the front window. Is possible.
[0020]
The player 20, the display unit 21, the first position detection unit 22 and the second position detection unit 23, and the speaker 24 are controlled by the electronic control device 25. The electronic control unit 25 is composed of a central processing unit (CPU), a storage device (RAM, ROM), and a microcomputer mainly including an input / output interface.
[0021]
The information recording medium 19 stores information necessary for driving the vehicle, such as maps, place names, roads, main buildings around the roads, etc., and specific road conditions such as straight roads, curves, corners, and climbing slopes. Alternatively, the slopes, the respective slopes, ordinary roads, highways, unpaved roads, gravel roads, deserts, river beds, forest roads, agricultural roads, low friction coefficient roads, and the like are stored.
[0022]
The first position detector 22 also includes a geomagnetic sensor 26 that detects the direction in which the vehicle travels, a vehicle speed sensor 27, a steering sensor 28 that detects the steering angle of the steering wheel, and a distance that detects the distance between the vehicle and surrounding objects. The sensor 29, the acceleration sensor 30, etc. are provided. Further, the second position detection unit 23 includes a GPS antenna 32 that receives radio waves from the artificial satellite 31, an amplifier 33 connected to the GPS antenna 32, and a GPS receiver 34 connected to the amplifier 33. .
[0023]
The second position detection unit 23 is installed on the roadside, traffic lights, road surfaces of intersections, and the like, a ground detection system that detects and transmits objects, a beacon or a sign post that outputs road information, a VICS (vehicle Information & Communication System), SSVS (Super Smart Vehicle System), etc., an antenna 36 that receives radio waves transmitted from a ground installation information transmission system 35, an amplifier 37 connected to the antenna 36, and an amplifier 37 And a ground information receiver 38 connected thereto.
[0024]
By the first position detection unit 22 and the second position detection unit 23, the current position is detected and a travel inhibition state existing on the planned road to be traveled, such as a traffic jam, a faulty vehicle, under construction, snow, landslide, river increase, road closure, It can detect falling rocks, fallen trees, vehicles stopped at intersections, and the presence of people and animals.
[0025]
In order to improve the safety during traveling, the vehicle control device informs the driver by an ASV (Advanced Safety Vehicle) function, for example, by vibrating the seat when the vehicle approaches a surrounding object. It is also possible to add a function or a function of deploying an airbag when the vehicle contacts a surrounding object.
[0026]
As the inter-vehicle distance sensor 11, a radar cruise system can be used. The radar cruise system will be described. As shown in FIG. 8, the radar cruise system 40 is mainly composed of a radar sensor 41 and a distance control computer 42. The radar sensor 41 is composed of an oscillator such as an infrared laser, a receiver, a microcomputer, and the like. The electromagnetic wave emitted from the oscillator is reflected on the vehicle body or reflector of the vehicle ahead, and the reflected wave. Is calculated by a microcomputer, and data such as the presence / absence of a preceding vehicle on the traveling line of the host vehicle, the distance between the preceding vehicle and the relative speed are stored in the distance control computer 42. It is configured to output. The distance control computer 42 mainly performs control related to follow-up driving, and requests for target acceleration, downshift, approach warning buzzer, and the like based on data such as the inter-vehicle distance and relative speed input from the radar sensor 41. The signal is output to the engine electronic control unit 43. Further, an inter-vehicle distance signal with the preceding vehicle is output to the electronic control unit 8 for vehicle speed control.
[0027]
The engine electronic control device 43 is connected to an electronic throttle valve (not shown), a transmission electronic control device (not shown), or a skid control computer 44 that controls the output of the engine 1 based on these request signals. A command signal is output. An approach warning buzzer 45 is connected to the skid control computer 44.
[0028]
As the vehicle speed sensor 12, the output shaft rotational speed sensor of the automatic transmission 2 can be diverted, or a speed signal input to a speedometer can be used. Further, the accelerator opening sensor 13 is a sensor that detects a depression amount of the accelerator pedal and outputs a signal, and can detect a driver's acceleration request or deceleration request.
[0029]
The brake contact sensor 15 is a sensor for detecting that a braking operation by a braking device such as a foot brake has been performed. For example, a stop lamp switch can be used. Further, the shift position sensor 16 is a sensor for detecting the shift position selected by the switch 7 provided on the shift lever 4 or the steering wheel 6.
[0030]
The electronic control device 8 controls the throttle actuator 3 so that the vehicle speed matches the target vehicle speed based on signals input from these systems or sensors or devices. The outline of the control will be described. When the main switch 18 is ON and the vehicle speed is between the predetermined lower limit vehicle speed and the upper limit vehicle speed, when the lever 17 is pushed down in the direction of arrow B in FIG. Thus, the vehicle speed at that time is stored as the target vehicle speed (set vehicle speed). Then, the throttle opening is controlled so that the difference between the actual vehicle speed detected by the vehicle speed sensor 12 and the target vehicle speed becomes small. That is, the throttle actuator 3 is controlled to the speed increasing side or the speed reducing side.
[0031]
If the lever 17 is pushed up in the direction of the arrow A in FIG. 6 while the vehicle speed control is being performed in this way, the target vehicle speed is increased in the range of the upper limit vehicle speed, on the contrary, in the direction of the arrow B When pushed down, the target vehicle speed is lowered within the range of the lower limit vehicle speed. In this way, the throttle actuator 3 is controlled so that the actual vehicle speed matches the newly set target vehicle speed.
[0032]
In addition, when the vehicle is running with vehicle speed control, the accelerator pedal is depressed to increase the accelerator opening obtained by the accelerator opening sensor 13, or the brake pedal (not shown) is depressed to generate a brake contact sensor. When 15 outputs a signal, the vehicle speed control for maintaining the actual vehicle speed at the target vehicle speed is stopped at that time. That is, the throttle opening is set to an accelerator opening, that is, an opening corresponding to the amount of depression of the accelerator pedal. When the lever 17 is pushed up in the direction of the arrow A in FIG. 6 in that state, that is, when the resume (return) operation is performed, the target vehicle speed immediately before the vehicle speed control is temporarily stopped is again adopted, and the actual vehicle speed becomes the target vehicle speed. The throttle actuator 3 is controlled to coincide with the above.
[0033]
In addition, the navigation system 10 can be used to determine the distance from the current position of the host vehicle to a vehicle speed limit area such as a corner or a construction section ahead, or after passing through the vehicle speed limit area when traveling in the vehicle speed limit area. The distance to the vehicle speed limit area is input to the electronic control unit 8. For example, when a corner at the front of the vehicle is input, the electronic control device 8 that performs vehicle speed control sets a target vehicle speed corresponding to the corner based on the input data. The throttle actuator 3 is controlled so that the actual vehicle speed matches the set target vehicle speed. Thereafter, when the vehicle exits the corner, the target vehicle speed is set to the target vehicle speed before entering the corner.
[0034]
In general, the vehicle speed allowed at the corner is smaller than the allowable vehicle speed on a straight road, so that the target vehicle speed increases when the vehicle exits the corner, and thus the throttle opening increases and the vehicle is accelerated. In that case, the vehicle speed control device according to the present invention executes the acceleration control as follows.
[0035]
FIG. 1 shows an example of the control. First, it is determined whether or not the vehicle speed is being controlled (during cruise control: during C / C) (step S1). This can be determined by the fact that the main switch 18 is turned on and the electronic control device 8 is in an active state, and that the electronic control device 8 outputs a control signal to the throttle actuator 3. it can.
[0036]
If the determination in step S1 is negative, the process returns without performing any particular control. If the determination is positive, on the other hand, it is determined whether the vehicle passes through a corner and acceleration control is in progress. (Step S2). As described above, when passing through a vehicle speed restricted area such as a corner, the target vehicle speed is lowered based on the road information input from the navigation system 10 and the target vehicle speed is returned to the original after the passage. May be increased and acceleration controlled. In step S2, it is determined whether or not the acceleration control executed in this way is in progress. Whether or not the vehicle has passed the corner can be determined based on the position information and map information of the host vehicle by the navigation system 10, and whether or not the acceleration control is being performed determines whether or not the throttle opening is increased. It can be judged by.
[0037]
If the determination in step S2 is negative, the process returns without performing any particular control, and if the determination is negative, the distance Lc to the corner, which is an example of the next vehicle speed restriction area. And a base acceleration Ab set in advance as the target acceleration At is read (step S3). Here, as shown in FIG. 2, the corner includes a corner formed by turning an intersection Is on a planned traveling road and a corner formed by bending the road Wy itself. The section between the vehicle speed restricted areas, that is, the distance Lc to the next corner is generally the length of the road that can be regarded as the immediately preceding road or the straight road. The base acceleration Ab is an acceleration that is normally set when the vehicle speed is increased during vehicle speed control. For example, when the vehicle speed control is started while traveling on a straight road, or when the vehicle speed control is resumed by a resume operation. It is set as an acceleration suitable for acceleration.
[0038]
In step S4, it is determined whether or not the so-called linear portion distance Lc is longer than a predetermined value L1. For example, the distance L1 as a reference for the determination is set as the shortest distance that does not cause frequent acceleration / deceleration when the vehicle is accelerated at the base acceleration Ab. Therefore, if the detected distance Lc is not more than the predetermined value, that is, if a negative determination is made in step S4, the process immediately returns. That is, the target acceleration is set to the base acceleration Ab.
[0039]
On the other hand, if an affirmative determination is made in step S4, that is, if the detected distance Lc is longer than the predetermined value L1, an acceleration obtained by adding the predetermined value A1 to the base acceleration Ab is set as the target acceleration At (step S5). ). That is, the target acceleration At is set larger than the normal case. The predetermined value A1 added to the base acceleration Ab is determined in advance as a value that does not make the acceleration steep and can provide a sufficient acceleration feeling. The value may be a value set based on the driving orientation of the driver detected by a neural network or the like, and each driver detected by inputting information obtained from the image, weight, seat position, ID number, or the like. It may be a unique value for each.
[0040]
FIG. 3 is a time chart showing changes in the vehicle speed when the acceleration change control is executed. In FIG. 3, when the vehicle passes through the corner at time t1, acceleration starts from that point due to the increase in the target vehicle speed. When the distance to the front corner is short, the base acceleration Ab is set as the target acceleration At. Therefore, as shown by the solid line, the change in the vehicle speed becomes gradual. This is a normal acceleration during the vehicle speed control and a general acceleration in the conventional vehicle speed control. On the other hand, when the front straight portion after passing the corner is long, the target acceleration At increases, so that the vehicle speed increases as shown by the broken line in FIG. Therefore, according to the control device of the present invention, a sufficient acceleration feeling (acceleration performance) can be obtained according to the road conditions.
[0041]
By the way, when entering a vehicle speed restricted area such as a corner, a brake operation is often performed immediately before that to decelerate. In such a case, the vehicle speed control by the electronic control unit 8 is stopped, and a so-called standby state is entered, so control is performed as shown in FIG. That is, in FIG. 4, first, at step 11, it is determined whether or not the vehicle speed control is on standby (C / C standby) and a resume operation has been performed.
[0042]
If the determination in step 11 is negative, either the vehicle speed control has already been executed or the vehicle speed control itself has not been executed. In this case, the control shown in FIG. To return. On the other hand, if the determination in step 11 is affirmative, the vehicle speed control is restored, and the target vehicle speed immediately before entering the vehicle speed restriction area such as a corner is set as the target vehicle speed. Will be performed. Therefore, in this case, it is determined whether the vehicle passes through the corner and is accelerating (step S12). This is a determination process similar to step S2 in FIG. 1 described above, and hereinafter, the control up to step S15 is performed in the same manner as the control up to step S5 shown in FIG.
[0043]
Therefore, even when the control shown in FIG. 4 is executed, if the distance to the next speed limit zone such as the next corner is long, the target acceleration becomes large and is accelerated as shown by the broken line in FIG. Therefore, sufficient acceleration feeling (acceleration performance) can be obtained.
[0044]
Here, the relationship between the above specific example and the present invention will be described. The function of step S2 in FIG. 1 and step 12 in FIG. 4 corresponds to the acceleration detecting means of the present invention, and in step S3 in FIG. 1 and in FIG. The function of step S13 corresponds to the distance detecting means in the present invention, and the functions of steps S4 and S5 in FIG. 1 and steps S14 and S15 in FIG. 4 correspond to the target acceleration setting means of the present invention.
[0045]
In the above specific example, an example in which the target acceleration is increased has been shown. However, in the present invention, when accelerating by vehicle speed control (cruise control), the acceleration depends on the distance to the vehicle speed limit area ahead. It is sufficient not only to add a predetermined value to the base acceleration, but also to change the value to be added in various ways, or to reduce the target acceleration to suit the driver's intention. It is good also as a structure to perform. Since the present invention includes such a configuration, the acceleration feeling after passing through the vehicle speed limit area is close to the acceleration feeling of the driver according to the road conditions, so that the driver is prevented from feeling uncomfortable. can do.
[0046]
In addition, the vehicle speed limit area in the present invention is an area where it is necessary to travel with the vehicle speed constantly or temporarily reduced based on the structure of the road or the traffic state of the vehicle. Other than that, it may be an area where the lane is restricted, an area where the road surface is rough, etc. Therefore, if the area is a straight road or an equivalent road, change the target acceleration when accelerating on a straight road Will be controlled. Furthermore, in the present invention, means for processing the image obtained by photographing the front of the vehicle, means for processing the signal from the radar sign post, etc. are adopted as means for detecting the road condition in addition to the above navigation system. You can also.
[0047]
Further, in the above specific example, the vehicle is a vehicle using an engine as a power source, but the present invention is a vehicle such as an electric vehicle using a motor as a power source, a hybrid vehicle using a motor as a power source and an internal combustion engine as a power source. Can be implemented as Further, the transmission mounted on the vehicle may be a continuously variable transmission, a manual transmission, or may not have a transmission other than the stepped automatic transmission.
[0048]
【The invention's effect】
As described above, according to the present invention, when the vehicle travels by executing the vehicle speed control, the vehicle speed is reduced after passing through the restricted area of the vehicle speed with the vehicle speed reduced. To match the target vehicle speed by vehicle speed control. When the vehicle speed is increased to the previous vehicle speed, the acceleration for acceleration is set according to the distance to the next vehicle speed restriction area, so an acceleration feeling close to the acceleration feeling the passenger has based on the distance occurs. As a result, the feeling of acceleration after passing through the vehicle speed restriction area is close to the feeling of acceleration that the passenger has, so that the sense of incongruity can be eliminated in advance. In particular, according to the invention of claim 2, when the distance to the next vehicle speed restriction area is long after passing through the vehicle speed restriction area, the acceleration for increasing the speed to the target vehicle speed increases. Can be prevented in advance.
[Brief description of the drawings]
FIG. 1 is a flowchart for explaining an example of control by a control device of the present invention.
FIG. 2 is a schematic diagram for explaining a distance in a vehicle speed restricted area.
FIG. 3 is a time chart showing changes in vehicle speed when the control shown in FIG. 1 is performed.
FIG. 4 is a flowchart for explaining another control example by the control device of the present invention;
FIG. 5 is a block diagram showing an example of a vehicle speed control device according to the present invention.
FIG. 6 is a perspective view showing an example of a lever switch constituting the cruise control operation input device.
FIG. 7 is a block diagram for explaining a navigation system.
FIG. 8 is a block diagram schematically showing an example of a radar cruise system.
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 1 ... Engine, 3 ... Throttle actuator, 8 ... Electronic control unit (cruise control ECU), 9 ... Cruise control operation input device, 10 ... Navigation system.

Claims (2)

In a vehicle speed control device for a vehicle that automatically controls the vehicle speed based on road conditions,
Acceleration detecting means for detecting acceleration after passing through the restricted area of the vehicle speed;
Distance detecting means for detecting a distance from the vehicle speed restriction area to the next vehicle speed restriction area;
A target acceleration setting means for setting a target acceleration at the time of acceleration after passing through the restricted area of the vehicle speed based on the distance detected by the distance detection means;
Speed control apparatus for a vehicle, characterized in that been configured to the target acceleration acceleration during the vehicle speed control to match the vehicle speed to the target vehicle speed.   The vehicle speed control device according to claim 1, wherein the target acceleration setting unit has a function of increasing the target acceleration as the distance detected by the distance detection unit is longer.

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