JP4046085B2 - Vehicle speed control device - Google Patents

Vehicle speed control device Download PDF

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JP4046085B2
JP4046085B2 JP2004012874A JP2004012874A JP4046085B2 JP 4046085 B2 JP4046085 B2 JP 4046085B2 JP 2004012874 A JP2004012874 A JP 2004012874A JP 2004012874 A JP2004012874 A JP 2004012874A JP 4046085 B2 JP4046085 B2 JP 4046085B2
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vehicle speed
vehicle
reduction amount
curved road
control device
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JP2005205979A (en
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綾子 松本
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Nissan Motor Co Ltd
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Description

本発明は、車速が予め設定した車速となるように自動調整する車速制御装置に関する。   The present invention relates to a vehicle speed control device that automatically adjusts a vehicle speed to be a preset vehicle speed.

ナビゲーション装置からの情報に基づいて曲線路の手前で適切な車速まで減速するようにした車速制御装置が知られている（例えば、特許文献１参照）。   There is known a vehicle speed control device that decelerates to an appropriate vehicle speed before a curved road based on information from a navigation device (see, for example, Patent Document 1).

この出願の発明に関連する先行技術文献としては次のものがある。
特許第３２６９８９７号公報 Prior art documents related to the invention of this application include the following.
Japanese Patent No. 3269897

しかしながら、上述した従来の車速制御装置では、曲線路の手前でナビゲーション装置からの情報に基づいて減速しているので、乗員が満足するような減速が得られないことがある。   However, in the conventional vehicle speed control device described above, the vehicle is decelerating on the basis of information from the navigation device before the curved road, so that the vehicle may not be able to achieve a deceleration that satisfies the passenger.

また、上記車速制御装置の他に、単に車速を予め設定された車速（設定車速）に一致させる車速制御装置もある。この装置には運転者が設定車速を低減するための操作部材としてセット／コーストスイッチが設けられており、曲線路の手前でこのセット／コーストスイッチを操作すると設定車速を低減することができる。
ところが、このセット／コーストスイッチの操作による設定車速の低減量は予め設定されており、曲線路の曲率半径などの道路状況によっては運転者が満足する低減量が得られないことがある。 In addition to the vehicle speed control device, there is also a vehicle speed control device that simply matches the vehicle speed to a preset vehicle speed (set vehicle speed). This device is provided with a set / coast switch as an operating member for the driver to reduce the set vehicle speed. When the set / coast switch is operated before the curved road, the set vehicle speed can be reduced.
However, the reduction amount of the set vehicle speed by the operation of the set / coast switch is set in advance, and the reduction amount that satisfies the driver may not be obtained depending on the road conditions such as the curvature radius of the curved road.

請求項１の発明は、車速検出値が設定車速に一致するように車両の制駆動力を制御する際、車両前方の曲線路を検出し、車両前方に曲線路が検出されたときにその曲線路を通過可能な車速まで第１の低減量だけ設定車速を低減するとともに、曲線路で設定車速を低減しているときに設定車速を低減するための操作部材が操作された場合には、第１の低減量よりも大きな第２の低減量だけ設定車速を低減する車速制御装置であって、先行車との車間距離を検出し、検出された車間距離が小さいほど第２の低減量を大きくする。
また、請求項６の発明は、車速検出値が設定車速に一致するように車両の制駆動力を制御する車速制御装置であって、車両前方に曲線路が検出されていないときに設定車速を低減するための操作部材が操作されると第１の低減量だけ設定車速を低減し、車両前方に曲線路が検出されているときに前記操作部材が操作されると、第１の低減量よりも大きな第２の低減量だけ設定車速を低減するとともに、先行車との車間距離を検出し、検出された車間距離が小さいほど第２の低減量を大きくする。 According to the first aspect of the present invention, when the braking / driving force of the vehicle is controlled so that the vehicle speed detection value matches the set vehicle speed, a curved road ahead of the vehicle is detected, and the curved road is detected when the curved road is detected ahead of the vehicle. while reducing the first reduction amount by the set vehicle speed road-to passable vehicle speed, when the operation member for reducing the set vehicle speed when you are reducing the set speed at the curved road is operated, the A vehicle speed control device that reduces a set vehicle speed by a second reduction amount that is larger than a reduction amount of 1, and detects an inter-vehicle distance from a preceding vehicle. The smaller the detected inter-vehicle distance, the larger the second reduction amount. To do .
The invention of claim 6 is a vehicle speed control device for controlling the braking / driving force of the vehicle so that the detected vehicle speed value matches the set vehicle speed, and the set vehicle speed is set when a curved road is not detected in front of the vehicle. When the operation member for reduction is operated, the set vehicle speed is reduced by a first reduction amount. When the operation member is operated when a curved road is detected in front of the vehicle, the first reduction amount is obtained. In addition, the set vehicle speed is reduced by a large second reduction amount , the inter-vehicle distance from the preceding vehicle is detected, and the second reduction amount is increased as the detected inter-vehicle distance is decreased .

本発明によれば、予め設定された設定車速の低減量よりも大きな低減量が容易に得られる。   According to the present invention, a reduction amount larger than a preset reduction amount of the set vehicle speed can be easily obtained.

図１は第１の実施の形態の構成を示す。この車両はエンジン１を走行駆動源とする車両であり、エンジン１の駆動力は自動変速機２、プロペラシャフト３、最終減速機４を介して駆動輪５ａ、５ｂに伝達される。駆動輪５ａ、５ｂと従動輪６ａ、６ｂにはそれぞれ、ディスクブレーキ７ａ〜７ｄと、車輪速を検出する車輪速センサー８ａ〜８ｄが装備されている。   FIG. 1 shows the configuration of the first embodiment. This vehicle is a vehicle that uses the engine 1 as a travel drive source, and the driving force of the engine 1 is transmitted to the drive wheels 5 a and 5 b via the automatic transmission 2, the propeller shaft 3, and the final reduction gear 4. The drive wheels 5a and 5b and the driven wheels 6a and 6b are equipped with disc brakes 7a to 7d and wheel speed sensors 8a to 8d for detecting wheel speeds, respectively.

エンジン制御装置９は走行制御用コントローラー１０からのスロットルバルブ開度指令値θ＊に応じてエンジン１のスロットルバルブ開度制御を行うとともに燃料噴射制御、点火時期制御などを行い、エンジン１のトルクと回転速度を制御する。制動制御装置１１は走行制御用コントローラー１０からの制動圧指令値Ｐ＊に応じて制動油圧を発生させ、ディスクブレーキ７ａ〜７ｄに供給する。また、制動制御装置１１はブレーキペダル１２の踏み込みに応じて制動油圧を発生させ、ディスクブレーキ７ａ〜７ｄに供給する。変速機制御装置１３は、走行制御コントローラー１０からの変速指令にしたがって自動変速機２のシフト位置を制御する。 The engine control device 9 performs throttle valve opening control of the engine 1 in accordance with the throttle valve opening command value θ * from the travel control controller 10 and performs fuel injection control, ignition timing control, etc. Control the rotation speed. The braking control device 11 generates a braking hydraulic pressure according to the braking pressure command value P * from the travel control controller 10 and supplies it to the disc brakes 7a to 7d. Further, the braking control device 11 generates a braking hydraulic pressure in response to depression of the brake pedal 12, and supplies it to the disc brakes 7a to 7d. The transmission control device 13 controls the shift position of the automatic transmission 2 in accordance with a shift command from the travel control controller 10.

自動変速機２の出力側には車速Ｖを検出する車速センサー１４が設けられ、車両の前部には先行車両との車間距離Ｌを検出する車間距離センサー１５が設けられる。この車間距離センサー１５は、例えばレーザー光を発射して先行車両からの反射光を受光し、先行車両との車間距離Ｌを計測するとともに、先行車両の位置を検出して自車線上の先行車両を認識する。なお、車間距離センサー１５には、スキャンニング式あるいはマルチビーム式のレーザーレーダー装置やミリ波レーダー装置などを用いることができる。舵角センサー１６はステアリングの操舵角を検出する。   A vehicle speed sensor 14 that detects the vehicle speed V is provided on the output side of the automatic transmission 2, and an inter-vehicle distance sensor 15 that detects an inter-vehicle distance L from the preceding vehicle is provided at the front of the vehicle. The inter-vehicle distance sensor 15 emits, for example, a laser beam to receive reflected light from the preceding vehicle, measures the inter-vehicle distance L with the preceding vehicle, and detects the position of the preceding vehicle to detect the preceding vehicle on the own lane. Recognize The inter-vehicle distance sensor 15 can be a scanning or multi-beam laser radar device, a millimeter wave radar device, or the like. The steering angle sensor 16 detects the steering angle of the steering.

ナビゲーション装置１７は道路地図データを備え、車両の現在地を検出する。メインスイッチ１８は車速制御装置の電源をオン、オフするスイッチである。セット／コーストスイッチ１９は、所定の車速範囲、例えば４８〜１００km/hの間で希望の車速を設定するとともに、押し続けることによって設定車速を下げるためのスイッチである。なお、セット／コーストスイッチ１９を押し続けたときの設定車速の減速度は通常、５km/h／２secである。リジューム／アクセラレートスイッチ２０は、押し続けることによって設定車速を上げるとともに、解除前の設定車速を呼び出すためのスイッチである。なお、リジューム／アクセラレートスイッチ２０を押し続けたときの設定車速の加速度は通常、５km/h／２secである。キャンセルスイッチ２１は車速制御を解除するためのスイッチである。加速度センサー２２は車両の前後方向の加速度を検出する。   The navigation device 17 includes road map data and detects the current location of the vehicle. The main switch 18 is a switch for turning on / off the power of the vehicle speed control device. The set / coast switch 19 is a switch for setting a desired vehicle speed within a predetermined vehicle speed range, for example, 48 to 100 km / h, and decreasing the set vehicle speed by continuing to hold down the button. Incidentally, the deceleration of the set vehicle speed when the set / coast switch 19 is kept pressed is normally 5 km / h / 2 sec. The resume / accelerate switch 20 is a switch for raising the set vehicle speed by continuously pressing and calling the set vehicle speed before release. Note that the acceleration of the set vehicle speed when the resume / accelerate switch 20 is kept pressed is normally 5 km / h / 2 sec. The cancel switch 21 is a switch for canceling the vehicle speed control. The acceleration sensor 22 detects the acceleration in the longitudinal direction of the vehicle.

走行制御用コントローラー１０は、自車速Ｖが設定車速Ｖsetになるように車速フィードバック制御を行い、制御演算結果のスロットルバルブ開度指令値θ＊をエンジン制御装置８へ出力し、変速比指令値を変速機制御装置１３へ出力し、制動圧指令値Ｐ＊を制動制御装置９へ出力する。 The travel control controller 10 performs vehicle speed feedback control so that the host vehicle speed V becomes the set vehicle speed Vset, outputs the throttle valve opening command value θ * of the control calculation result to the engine control device 8, and sets the gear ratio command value. It outputs to the transmission control device 13 and outputs the braking pressure command value P * to the braking control device 9.

図２〜図３は曲線路における減速制御プログラムを示すフローチャートである。このフローチャートにより、一実施の形態の動作を説明する。車両制御コントローラー１０は所定時間ごとにこの制御プログラムを実行する。   2 to 3 are flowcharts showing a deceleration control program on a curved road. The operation of the embodiment will be described with reference to this flowchart. The vehicle controller 10 executes this control program every predetermined time.

ステップ１においてナビゲーション装置１７により曲線路の手前に到達したか否かを確認する。曲線路の手前に到達したらステップ２へ進み、ナビゲーション装置１７から提供された曲線路の曲率半径などの道路状況に基づいて、現在の設定車速Ｖsetのままで通過可能かどうかを確認する。設定車速Ｖsetを低減しないと通過できない場合には、曲線路の曲率半径などの道路状況に基づいて設定車速Ｖsetの低減量ｖ０を設定し、予め設定されている減速度で設定車速Ｖsetを（Ｖset−ｖ０）まで低減するとともに、設定車速（Ｖset−ｖ０）、低減量ｖ０および減速度に応じたスロットルバルブ開度指令値θ＊、変速機シフト指令、制動圧指令値Ｐ＊を決定し、エンジン制御装置９、変速機制御装置１３および制動制御装置１１へ出力する。これにより、曲線路の手前で曲線路を安全に通過可能な車速（Ｖset−ｖ０）まで自動的に減速される。 In step 1, it is confirmed whether or not the navigation device 17 has reached the front of the curved road. If it reaches before the curved road, the process proceeds to step 2 to check whether or not the vehicle can be passed at the current set vehicle speed Vset based on the road condition such as the curvature radius of the curved road provided from the navigation device 17. If the vehicle cannot pass without reducing the set vehicle speed Vset, a reduction amount v0 of the set vehicle speed Vset is set based on the road conditions such as the curvature radius of the curved road, and the set vehicle speed Vset is set to (Vset) with a preset deceleration. -V0), the throttle valve opening command value θ * , the transmission shift command, and the braking pressure command value P * corresponding to the set vehicle speed (Vset-v0), the reduction amount v0, and the deceleration are determined, and the engine Output to the control device 9, the transmission control device 13, and the braking control device 11. As a result, the vehicle is automatically decelerated to a vehicle speed (Vset−v0) that can safely pass through the curved road before the curved road.

自動減速処理を行った後のステップ３において、運転者による減速操作の有無を確認する。曲線路の手前で装置により適切な車速まで自動的に減速を開始したのであるが、ナビゲーション装置１７からの情報に基づいて低減量ｖ０を設定しているので、運転者によってはまだ速すぎると感じることがある。その場合、運転者はセット／コーストスイッチ１９を操作して設定車速（Ｖset−ｖ０）のさらなる低減を行う。運転者による減速操作があった場合はステップ５へ進み、なければステップ４へ進む。減速操作がなかった場合のステップ４以降の処理については後述する。 In step 3 after performing the automatic deceleration process, it is confirmed whether or not there is a deceleration operation by the driver. Although until the appropriate vehicle speed by the front in the apparatus of the curve path is had automatically starts decelerating, since based on the information from the navigation device 17 is set to a reduction amount v0, feel by the driver still too fast Sometimes. In this case, the driver operates the set / coast switch 19 to further reduce the set vehicle speed (Vset−v0). If there is a deceleration operation by the driver, the process proceeds to step 5; otherwise, the process proceeds to step 4. Processing after step 4 when there is no deceleration operation will be described later.

運転者による減速操作があった場合は、まずステップ５で路面μ（摩擦係数）に応じた車速低減量ｖ１を決定する。この一実施の形態では路面μに対する車速低減量ｖ１を図４に示すように設定し、車速制御用コントローラー１０に予め記憶しておく。図４に示すマップでは路面μが小さいほど車速低減量ｖ１を小さくし、滑りやすい路面で大きな減速をしないようにしている。なお、路面の摩擦係数μは、車速センサー１４により検出した車速と、車輪速センサー８ａ〜８ｄから検出した車輪速とに基づいてスリップ率（（車輪速−車速）／車速）を求め、このスリップ率と加速度センサー２２により検出した車両前後方向の加速度とに基づいて車速制御用コントローラー１０で推定する。この図４に示すマップから、推定結果の路面μに対応する車速低減量ｖ１を表引き演算する。   If there is a deceleration operation by the driver, first, at step 5, a vehicle speed reduction amount v1 corresponding to the road surface μ (friction coefficient) is determined. In this embodiment, the vehicle speed reduction amount v <b> 1 with respect to the road surface μ is set as shown in FIG. 4 and stored in the vehicle speed control controller 10 in advance. In the map shown in FIG. 4, the vehicle speed reduction amount v1 is reduced as the road surface μ is smaller, so that the vehicle is not greatly decelerated on a slippery road surface. The friction coefficient μ of the road surface is obtained by calculating a slip ratio ((wheel speed−vehicle speed) / vehicle speed) based on the vehicle speed detected by the vehicle speed sensor 14 and the wheel speed detected by the wheel speed sensors 8a to 8d. Based on the rate and the acceleration in the longitudinal direction of the vehicle detected by the acceleration sensor 22, the vehicle speed control controller 10 estimates. From the map shown in FIG. 4, the vehicle speed reduction amount v1 corresponding to the road surface μ of the estimation result is subjected to a table calculation.

路面μに対する車速低減量ｖ１を決定した後のステップ６で、車輪速の周波数変動に応じた車速低減量ｖ２を決定する。この一実施の形態では車輪速の周波数変動に対する車速低減量ｖ２を図５に示すように設定し、車速制御用コントローラー１０に予め記憶しておく。図５に示すマップでは車輪速の周波数変動が大きいほど車速低減量ｖ２を小さくし、凹凸の激しい悪路でのスリップを防止するために大きな減速をしないようにしている。この図５に示すマップから、車輪速センサー８ａ〜８ｄにより検出した車輪速に対応する車速低減量ｖ２を表引き演算する。   In step 6 after the vehicle speed reduction amount v1 for the road surface μ is determined, the vehicle speed reduction amount v2 corresponding to the frequency fluctuation of the wheel speed is determined. In this embodiment, the vehicle speed reduction amount v2 with respect to the wheel speed frequency variation is set as shown in FIG. 5 and stored in the vehicle speed control controller 10 in advance. In the map shown in FIG. 5, the vehicle speed reduction amount v <b> 2 is reduced as the frequency fluctuation of the wheel speed is increased, and large deceleration is not performed in order to prevent slip on a rough road with severe unevenness. The vehicle speed reduction amount v2 corresponding to the wheel speed detected by the wheel speed sensors 8a to 8d is calculated from the map shown in FIG.

ステップ７において車速低減量ｖ１、ｖ２の少なくとも一方が最大車速低減量ｖmaxを超えているか否かを確認する。ここで、最大車速低減量ｖmaxは路面μと車輪速の周波数変動に対して車両の安定走行を保証できる最大の低減量である。路面μに応じて決定した車速低減量ｖ１と、車輪速の周波数変動に応じて決定した車速低減量ｖ２の内の少なくとも一方が最大低減量ｖmaxを超えているときはステップ１３へ進み、そうでなければステップ８へ進む。   In step 7, it is confirmed whether at least one of the vehicle speed reduction amounts v1 and v2 exceeds the maximum vehicle speed reduction amount vmax. Here, the maximum vehicle speed reduction amount vmax is the maximum reduction amount that can guarantee a stable traveling of the vehicle against frequency fluctuations of the road surface μ and the wheel speed. When at least one of the vehicle speed reduction amount v1 determined according to the road surface μ and the vehicle speed reduction amount v2 determined according to the wheel speed frequency fluctuation exceeds the maximum reduction amount vmax, the process proceeds to step 13, and so on. If not, go to Step 8.

車速低減量ｖ１とｖ２の内のいずれかが最大車速低減量ｖmaxを超えている場合は、これ以上、設定車速Ｖsetを低減すると車両の安定走行に支障を来すおそれがあるため、ステップ１３で車速低減量ｖ１とｖ２の内の小さい方を選択し、続くステップ１４で車速低減量ｖ０にｖ１とｖ２の小さい方を加算したものを車速低減量ｖ０’とする。   If any one of the vehicle speed reduction amounts v1 and v2 exceeds the maximum vehicle speed reduction amount vmax, if the set vehicle speed Vset is further reduced, there is a possibility that the stable running of the vehicle may be hindered. The smaller one of the vehicle speed reduction amounts v1 and v2 is selected, and the vehicle speed reduction amount v0 ′ is obtained by adding the smaller one of v1 and v2 to the vehicle speed reduction amount v0 in the following step 14.

一方、車速低減量ｖ１とｖ２のいずれも最大車速低減量ｖmaxを超えていない場合は、曲線路の曲率半径Ｒ、車間距離Ｌおよび車速Ｖに対する車速低減量を検討する。まず、ステップ８で曲線路の曲率半径Ｒに応じた車速低減量ｖ３を決定する。この一実施の形態では曲率半径Ｒに対する車速低減量ｖ３を図６に示すように設定し、車速制御用コントローラー１０に予め記憶しておく。図６に示すマップでは曲率半径Ｒが小さいほど車速低減量ｖ３を大きくし、安全な走行を行うようにしている。この図６に示すマップから、ナビゲーション装置１７から得た曲線路の曲率半径Ｒに対応する車速低減量ｖ３を表引き演算する。   On the other hand, when neither the vehicle speed reduction amount v1 nor v2 exceeds the maximum vehicle speed reduction amount vmax, the vehicle speed reduction amount with respect to the curvature radius R of the curved road, the inter-vehicle distance L, and the vehicle speed V is examined. First, in step 8, a vehicle speed reduction amount v3 corresponding to the curvature radius R of the curved road is determined. In this embodiment, the vehicle speed reduction amount v3 with respect to the curvature radius R is set as shown in FIG. 6 and stored in the vehicle speed control controller 10 in advance. In the map shown in FIG. 6, the vehicle speed reduction amount v3 is increased as the curvature radius R is smaller, so that safe traveling is performed. A vehicle speed reduction amount v3 corresponding to the curvature radius R of the curved road obtained from the navigation device 17 is calculated from the map shown in FIG.

次に、ステップ９で車間距離Ｌに応じた車速低減量ｖ４を決定する。この一実施の形態では車間距離Ｌに対する車速低減量ｖ４を図７に示すように設定し、車速制御用コントローラー１０に予め記憶しておく。図７に示すマップでは車間距離Ｌが短いほど車速低減量ｖ４を大きくし、先行車への接近を防止している。この図７に示すマップから、車間距離センサー１５により検出した車間距離Ｌに対応する車速低減量ｖ４を表引き演算する。   Next, in step 9, a vehicle speed reduction amount v4 corresponding to the inter-vehicle distance L is determined. In this embodiment, the vehicle speed reduction amount v4 with respect to the inter-vehicle distance L is set as shown in FIG. 7 and stored in the vehicle speed control controller 10 in advance. In the map shown in FIG. 7, as the inter-vehicle distance L is shorter, the vehicle speed reduction amount v4 is increased to prevent the vehicle from approaching the preceding vehicle. From the map shown in FIG. 7, the vehicle speed reduction amount v4 corresponding to the inter-vehicle distance L detected by the inter-vehicle distance sensor 15 is calculated.

さらに、ステップ１０で車速Ｖに応じた車速低減量ｖ５を決定する。この一実施の形態では車速Ｖに対する車速低減量ｖ５を図８に示すように設定し、車速制御用コントローラー１０に予め記憶しておく。図８に示すマップでは車速Ｖが高いほど車速低減量ｖ５を大きくし、安全な走行を行うようにしている。この図８に示すマップから、車速センサー１４により検出した車速Ｖに対応する車速低減量ｖ５を表引き演算する。   Further, in step 10, a vehicle speed reduction amount v5 corresponding to the vehicle speed V is determined. In this embodiment, the vehicle speed reduction amount v5 with respect to the vehicle speed V is set as shown in FIG. 8 and stored in the vehicle speed control controller 10 in advance. In the map shown in FIG. 8, the vehicle speed reduction amount v5 is increased as the vehicle speed V is higher, so that safe traveling is performed. A vehicle speed reduction amount v5 corresponding to the vehicle speed V detected by the vehicle speed sensor 14 is calculated from the map shown in FIG.

ステップ１１において車速低減量ｖ３〜ｖ５の内の最小の車速低減量を選択し、続くステップ１２で車速低減量ｖ０にｖ３〜ｖ５の内の最小の車速低減量を加算したものを新しい車速低減量ｖ０’とする。   In step 11, the minimum vehicle speed reduction amount among the vehicle speed reduction amounts v3 to v5 is selected, and in the subsequent step 12, the minimum vehicle speed reduction amount in v3 to v5 is added to the vehicle speed reduction amount v0 to obtain a new vehicle speed reduction amount. v0 ′.

ステップ１５では新しい車速低減量ｖ０’により設定車速Ｖsetを（Ｖset−ｖ０’）まで低減するとともに、設定車速（Ｖset−ｖ０’）、低減量ｖ０’および減速度に応じたスロットルバルブ開度指令値θ＊、変速機シフト指令、制動圧指令値Ｐ＊を決定し、エンジン制御装置９、変速機制御装置１３および制動制御装置１１へ出力する。これにより、曲線路の手前で車速（Ｖset−ｖ０’）まで減速される。 In step 15, the set vehicle speed Vset is reduced to (Vset−v0 ′) by the new vehicle speed reduction amount v0 ′, and the throttle valve opening command value corresponding to the set vehicle speed (Vset−v0 ′), the reduction amount v0 ′, and the deceleration. θ * , a transmission shift command, and a braking pressure command value P * are determined and output to the engine control device 9, the transmission control device 13, and the braking control device 11. As a result, the vehicle speed is reduced to the vehicle speed (Vset−v0 ′) before the curved road.

ステップ３でセット／コーストスイッチ１９がオフされ、運転者による減速操作が終了した場合にはステップ４へ進み、減速操作終了後所定時間以内かどうかを確認する。   When the set / coast switch 19 is turned off in step 3 and the deceleration operation by the driver is completed, the process proceeds to step 4 to check whether it is within a predetermined time after completion of the deceleration operation.

セット／コーストスイッチ１９による設定車速Ｖsetの低減は、通常の走行中においては、１回押して離すと例えば５km/hだけ設定車速Ｖsetが低減され、連続して押していると例えば５km/hぎざみで設定車速Ｖsetが階段状に低減される。一方、曲線路における自動減速中は、上述したように通常の車速低減量よりも大きな低減量だけ設定車速Ｖsetを低減する。曲線路での自動減速中にセット／コーストスイッチ１９を操作してさらに設定車速Ｖsetを低減する場合には、セット／コーストスイッチ１９の操作が終了したら直ちに設定車速Ｖsetの低減を終了するよりも、減速操作が終了しても所定時間、例えば２〜３秒間は設定車速Ｖsetの低減を継続させる方が望ましく、運転者にも違和感を与えない。   The set vehicle speed Vset is reduced by the set / coast switch 19 during normal driving. When the button is pressed once and released, the set vehicle speed Vset is reduced by, for example, 5 km / h. The vehicle speed Vset is reduced stepwise. On the other hand, during automatic deceleration on a curved road, the set vehicle speed Vset is reduced by a reduction amount larger than the normal vehicle speed reduction amount as described above. When the set / coast switch 19 is operated during the automatic deceleration on the curved road to further reduce the set vehicle speed Vset, the reduction of the set vehicle speed Vset is terminated immediately after the operation of the set / coast switch 19 is completed. Even after the deceleration operation is completed, it is desirable to continue to reduce the set vehicle speed Vset for a predetermined time, for example, 2 to 3 seconds, so that the driver does not feel uncomfortable.

そこで、この一実施の形態では、セット／コーストスイッチ１９による減速操作終了後、所定時間（例えば２〜３秒）以内のときはステップ５へ進み、上述した車速低減処理を継続する。一方、減速操作終了後、所定時間を経過したときはステップ１６へ進む。   Therefore, in this embodiment, after the deceleration operation by the set / coast switch 19 is finished, if it is within a predetermined time (for example, 2 to 3 seconds), the process proceeds to step 5 and the above-described vehicle speed reduction process is continued. On the other hand, when a predetermined time has elapsed after completion of the deceleration operation, the routine proceeds to step 16.

運転者の減速操作による車速低減を行った後、ステップ１６でナビゲーション装置１７により曲線路を通過したか否かを確認し、まだ曲線路を走行中であればステップ３へ戻って上述した処理を繰り返す。曲線路を通過した場合はステップ１７へ進み、エンジン制御装置９、変速機制御装置１３および制動制御装置１１を制御して設定車速Ｖsetまで加速する。   After reducing the vehicle speed by the driver's deceleration operation, in step 16, it is confirmed whether or not the vehicle has passed the curved road by the navigation device 17. If the vehicle is still traveling on the curved road, the process returns to step 3 and the above-described processing is performed. repeat. If the vehicle has passed the curved road, the routine proceeds to step 17 where the engine control device 9, the transmission control device 13 and the braking control device 11 are controlled to accelerate to the set vehicle speed Vset.

図９は、一実施の形態の曲線路で自動減速中(ａ)に減速操作(ｂ)を行ったときの設定車速Ｖset(ｃ)と減速度(ｄ)の変化を示す。時刻ｔ１において曲線路の手前で自動減速が開始されると、設定車速Ｖsetは予め設定された減速度で低減量ｖ０だけ低減される。このとき、実際の車速Ｖ（車速センサー１４の検出値）が設定車速Ｖsetに一致するように車速フィードバック制御が行われるので、実際の車速Ｖは設定車速Ｖsetに沿って減少する。   FIG. 9 shows changes in the set vehicle speed Vset (c) and the deceleration (d) when the deceleration operation (b) is performed during the automatic deceleration (a) on the curved road according to the embodiment. When automatic deceleration is started before the curved road at time t1, the set vehicle speed Vset is reduced by a reduction amount v0 at a preset deceleration. At this time, since the vehicle speed feedback control is performed so that the actual vehicle speed V (detected value of the vehicle speed sensor 14) matches the set vehicle speed Vset, the actual vehicle speed V decreases along the set vehicle speed Vset.

時刻ｔ２でセット／コーストスイッチ１９による減速操作がなされると、設定車速Ｖsetは、路面μ、車輪速の周波数変動、曲線路の曲率半径Ｒ、車間距離Ｌ、車速Ｖに応じて決定されたより大きな低減量ｖ０’だけ低減される。このとき、実際の車速Ｖ（車速センサー１４の検出値）が設定車速Ｖsetに一致するように車速フィードバック制御が行われるので、実際の車速Ｖは図中に実線で示す設定車速Ｖsetに沿って減少する。時刻ｔ３でセット／コーストスイッチ１９による減速操作が終了しても、所定時間後の時刻ｔ４まで設定車速Ｖsetの低減が継続され、時刻ｔ４で設定車速は（Ｖset−ｖ０’）一定となる。   When a deceleration operation is performed by the set / coast switch 19 at time t2, the set vehicle speed Vset is larger than determined according to the road surface μ, the wheel speed frequency variation, the curvature radius R of the curved road, the inter-vehicle distance L, and the vehicle speed V. It is reduced by a reduction amount v0 ′. At this time, since the vehicle speed feedback control is performed so that the actual vehicle speed V (detected value of the vehicle speed sensor 14) matches the set vehicle speed Vset, the actual vehicle speed V decreases along the set vehicle speed Vset indicated by a solid line in the figure. To do. Even when the deceleration operation by the set / coast switch 19 ends at time t3, the set vehicle speed Vset continues to be reduced until time t4 after a predetermined time, and the set vehicle speed becomes (Vset−v0 ′) constant at time t4.

なお、減速操作がなかった場合は、実際の車速Ｖは図中に破線で示す設定車速Ｖsetに沿って減少する。そして、時刻ｔ５で設定車速は（Ｖset−ｖ０）一定となる。   When there is no deceleration operation, the actual vehicle speed V decreases along the set vehicle speed Vset indicated by a broken line in the drawing. Then, at the time t5, the set vehicle speed becomes constant (Vset−v0).

時刻ｔ６で曲線路の通過が確認されると、曲線路の自動減速が終了し、車速Ｖは設定車速Ｖsetに向けて加速される。   When the passage of the curved road is confirmed at time t6, the automatic deceleration of the curved road is finished, and the vehicle speed V is accelerated toward the set vehicle speed Vset.

このように、一実施の形態によれば、車両前方の曲線路を検出し、車両前方に曲線路が検出されたときにその曲線路を通過可能な車速まで低減量ｖ０だけ設定車速Ｖsetを低減する車速制御装置において、曲線路で設定車速Ｖsetを低減しているときに設定車速Ｖsetを低減するためのセット／コーストスイッチ１９が操作された場合には、低減量ｖ０よりも大きな低減量ｖ０’だけ設定車速Ｖsetを低減するようにしたので、予め設定された設定車速の低減量よりも大きな低減量が容易に得られる。   Thus, according to one embodiment, a curved road ahead of the vehicle is detected, and when the curved road is detected in front of the vehicle, the set vehicle speed Vset is reduced by a reduction amount v0 to a vehicle speed that can pass through the curved road. When the set / coast switch 19 for reducing the set vehicle speed Vset is operated while the set vehicle speed Vset is being reduced on a curved road, the reduction amount v0 ′ larger than the reduction amount v0 is operated. Since only the set vehicle speed Vset is reduced, a reduction amount larger than a preset reduction amount of the set vehicle speed can be easily obtained.

特許請求の範囲の構成要素と一実施の形態の構成要素との対応関係は次の通りである。すなわち、車速センサー１４が車速検出手段を、車速制御用コントローラー１０が車速制御手段および車速低減手段を、ナビゲーション装置１７が曲線路検出手段を、セット／コーストスイッチ１９が操作部材を、車速センサー１４、車輪速センサー８ａ〜８ｄ、加速度センサー２２および車速制御用コントローラー１０が摩擦係数検出手段を、車輪速センサー８ａ〜８ｄが車輪速検出手段を、車間距離センサー１５が車間距離検出手段をそれぞれ構成する。なお、本発明の特徴的な機能を損なわない限り、各構成要素は上記構成に限定されるものではない。   The correspondence between the constituent elements of the claims and the constituent elements of the embodiment is as follows. That is, the vehicle speed sensor 14 is a vehicle speed detection means, the vehicle speed control controller 10 is a vehicle speed control means and a vehicle speed reduction means, the navigation device 17 is a curved road detection means, the set / coast switch 19 is an operation member, the vehicle speed sensor 14, The wheel speed sensors 8a to 8d, the acceleration sensor 22 and the vehicle speed control controller 10 constitute friction coefficient detection means, the wheel speed sensors 8a to 8d constitute wheel speed detection means, and the inter-vehicle distance sensor 15 constitutes inter-vehicle distance detection means. In addition, as long as the characteristic function of this invention is not impaired, each component is not limited to the said structure.

なお、上述した一実施の形態ではナビゲーション装置１７により車両前方の曲線路の存在とその曲線路の曲率半径を検出する例を示したが、カメラにより車両前方を撮像し、車両前方の画像を処理して道路白線の曲がり具合により曲線路の存在とその曲線路の曲率半径を検出するようにしてもよい。また、レーザーレーダーなどにより路側のデリニエーターを検出し、車両の進行方向とデリニエーターの配置に基づいて曲線路とその曲率半径を検出してもよい。あるいは、舵角センサー１６により検出された操舵角により曲線路の存在とその曲率半径を検出してもよい。   In the embodiment described above, an example in which the navigation device 17 detects the presence of a curved road ahead and the radius of curvature of the curved road has been shown. However, the front of the vehicle is imaged by the camera and the image ahead of the vehicle is processed. Then, the presence of a curved road and the radius of curvature of the curved road may be detected based on how the road white line is bent. Alternatively, a roadside delineator may be detected by a laser radar or the like, and a curved road and its radius of curvature may be detected based on the traveling direction of the vehicle and the arrangement of the delineator. Alternatively, the presence of a curved road and its radius of curvature may be detected from the steering angle detected by the steering angle sensor 16.

《一実施の形態の変形例》
上述した一実施の形態ではナビゲーション装置１７から曲線路情報を入手し、曲線路の手前で設定車速Ｖsetを自動的に減速させる機能を備えた車速制御装置について説明したが、曲線路手前での自動減速を行わない車速制御装置、すなわち、単に自車速が設定車速Ｖsetとなるように制駆動力を制御する車速制御装置に対しても本願発明を適用することができ、以下、この変形例について説明する。 << Modification of Embodiment >>
In the above-described embodiment, the vehicle speed control device having the function of acquiring curved road information from the navigation device 17 and automatically decelerating the set vehicle speed Vset before the curved road has been described. The present invention can also be applied to a vehicle speed control device that does not decelerate, that is, a vehicle speed control device that simply controls the braking / driving force so that the host vehicle speed becomes the set vehicle speed Vset. To do.

この変形例では、ナビゲーション装置１７により曲線路に到達したことが検出されると、車速制御用コントローラー１０は、セット／コーストスイッチ１９の操作による設定車速の減速度を通常の減速度（５km/h／２sec）よりも大きな減速度（例えば７km/h／２sec）に変更する。すなわち、セットスイッチ１９の操作中における設定車速の単位時間当たりの低減量をより大きな単位時間当たりの低減量に変更する。   In this modified example, when the navigation device 17 detects that the vehicle has reached a curved road, the vehicle speed control controller 10 changes the deceleration of the set vehicle speed by operating the set / coast switch 19 to a normal deceleration (5 km / h). / 2 sec) to a larger deceleration (for example, 7 km / h / 2 sec). That is, the reduction amount per unit time of the set vehicle speed during operation of the set switch 19 is changed to a larger reduction amount per unit time.

また、上述した一実施の形態ではセット／コーストスイッチ１９とリジューム／アクセラレートスイッチ２０の機能として、これらのスイッチ１９、２０を操作している間だけ所定の減速度で減速、または所定の加速度で加速するものであったが、本発明はこのような機能に限定されず、例えば１回のスイッチ操作で所定の量（例えば５km/h）だけ設定車速を低減または増加するものであってもよい。この場合、ナビゲーション装置１７により曲線路へ到達したことが検出されると、１回のセット／コーストスイッチ１９の操作による設定車速の低減量を予め設定されている低減量（例えば５km/h）よりも大きな低減量（例えば７km/h）とすればよい。さらに、ナビゲーション装置１７により曲線路の曲率半径を検出し、曲率半径が小さいほど設定車速の低減量を段階的または連続的に大きくするようにしてもよい。   In the above-described embodiment, the set / coast switch 19 and the resume / accelerate switch 20 function as a function of decelerating at a predetermined deceleration or operating at a predetermined acceleration only while the switches 19 and 20 are operated. Although the present invention is accelerated, the present invention is not limited to such a function. For example, the set vehicle speed may be reduced or increased by a predetermined amount (for example, 5 km / h) by a single switch operation. . In this case, when it is detected by the navigation device 17 that the vehicle has reached a curved road, the reduction amount of the set vehicle speed by one operation of the set / coast switch 19 is determined from a preset reduction amount (for example, 5 km / h). May be a large reduction amount (for example, 7 km / h). Further, the radius of curvature of the curved road may be detected by the navigation device 17, and the reduction amount of the set vehicle speed may be increased stepwise or continuously as the radius of curvature decreases.

一実施の形態の構成を示す図である。It is a figure which shows the structure of one embodiment. 一実施の形態の減速制御プログラムを示すフローチャートである。It is a flowchart which shows the deceleration control program of one Embodiment. 図２に続く、一実施の形態の減速制御プログラムを示すフローチャートである。FIG. 3 is a flowchart illustrating a deceleration control program according to an embodiment following FIG. 2. FIG. 路面μに対する車速低減量ｖ１のマップを示す図である。It is a figure which shows the map of the vehicle speed reduction amount v1 with respect to road surface (micro | micron | mu). 車輪速の周波数変動に対する車速低減量ｖ２のマップを示す図である。It is a figure which shows the map of the vehicle speed reduction amount v2 with respect to the frequency fluctuation of a wheel speed. 旋回半径に対する車速低減量ｖ３のマップを示す図である。It is a figure which shows the map of the vehicle speed reduction amount v3 with respect to a turning radius. 車間距離に対する車速低減量ｖ４のマップを示す図である。It is a figure which shows the map of the vehicle speed reduction amount v4 with respect to the distance between vehicles. 車速に対する車速低減量ｖ５のマップを示す図である。It is a figure which shows the map of the vehicle speed reduction amount v5 with respect to a vehicle speed. 一実施の形態の曲線路で自動減速中に減速操作を行ったときの設定車速Ｖsetと減速度の変化を示すタイムチャートである。It is a time chart which shows the setting vehicle speed Vset when a deceleration operation is performed during the automatic deceleration on the curved road of one embodiment, and deceleration.

符号の説明Explanation of symbols

７ａ〜７ｄ ディスクブレーキ
８ａ〜８ｄ 車輪速センサー
９ エンジン制御装置
１０ 車速制御用コントローラー
１１ 制動制御装置
１３ 変速機制御装置
１４ 車速センサー
１５ 車間距離センサー
１６ 舵角センサー
１７ ナビゲーション装置
１９ セット／コーストスイッチ
２２ 加速度センサー 7a to 7d Disc brakes 8a to 8d Wheel speed sensor 9 Engine control device 10 Vehicle speed control controller 11 Braking control device 13 Transmission control device 14 Vehicle speed sensor 15 Distance sensor 16 Steering angle sensor 17 Navigation device 19 Set / coast switch 22 Acceleration sensor

Claims (5)

車速を検出する車速検出手段と、
車速検出値が予め設定した車速（以下、設定車速という）に一致するように車両の制駆動力を制御する車速制御手段と、
車両前方の曲線路を検出する曲線路検出手段と、
前記曲線路検出手段により車両前方に曲線路が検出されたときに、その曲線路を通過可能な車速まで第１の低減量だけ設定車速を低減する車速低減手段と、
設定車速を低減するための操作部材とを備え、
前記車速低減手段は、曲線路で設定車速を低減しているときに前記操作部材が操作された場合には、前記第１の低減量よりも大きな第２の低減量だけ設定車速を低減する車速制御装置であって、
先行車との車間距離を検出する車間距離検出手段を備え、
前記車間距離検出手段により検出された車間距離が小さいほど前記第２の低減量を大きくすることを特徴とする車速制御装置。 Vehicle speed detection means for detecting the vehicle speed;
Vehicle speed control means for controlling the braking / driving force of the vehicle so that the vehicle speed detection value matches a preset vehicle speed (hereinafter referred to as a set vehicle speed);
A curved road detecting means for detecting a curved road ahead of the vehicle;
Vehicle speed reduction means for reducing the set vehicle speed by a first reduction amount to a vehicle speed that can pass through the curved road when a curved road is detected in front of the vehicle by the curved road detection means ;
And an operating member for reducing the vehicle speed setting,
The vehicle speed reduction means reduces the set vehicle speed by a second reduction amount larger than the first reduction amount when the operation member is operated while reducing the set vehicle speed on a curved road. A control device,
Provided with an inter-vehicle distance detecting means for detecting an inter-vehicle distance with the preceding vehicle,
The vehicle speed control device characterized in that the second reduction amount is increased as the inter-vehicle distance detected by the inter-vehicle distance detection means is smaller . 請求項１に記載の車速制御装置において、
前記曲線路検出手段は曲線路の曲率半径を検出し、曲線路の曲率半径が小さいほど前記第２の低減量を大きくすることを特徴とする車速制御装置。 The vehicle speed control device according to claim 1,
The vehicle speed control device, wherein the curved road detecting means detects a radius of curvature of the curved road, and increases the second reduction amount as the radius of curvature of the curved road is smaller . 請求項１に記載の車速制御装置において、
前記車速検出手段により検出された車速が高いほど前記第２の低減量を大きくすることを特徴とする車速制御装置。 The vehicle speed control device according to claim 1,
The vehicle speed control device characterized in that the second reduction amount is increased as the vehicle speed detected by the vehicle speed detection means is higher . 請求項１〜３のいずれかの項に記載の車速制御装置において、
前記車速低減手段は、前記操作部材の操作が終了してから所定時間の間、前記第２の低減量による設定車速の低減を継続することを特徴とする車速制御装置。 In the vehicle speed control device according to any one of claims 1 to 3 ,
The vehicle speed control device, wherein the vehicle speed reduction means continues to reduce the set vehicle speed by the second reduction amount for a predetermined time after the operation of the operation member is completed . 車速を検出する車速検出手段と、
車速検出値が予め設定した車速（以下、設定車速という）に一致するように車両の制駆動力を制御する車速制御手段と、
設定車速を低減するための操作部材と、
車両前方の曲線路を検出する曲線路検出手段と、
前記曲線路検出手段で曲線路が検出されていないときに前記操作部材が操作されると第１の低減量だけ設定車速を低減し、前記曲線路検出手段で曲線路が検出されているときに前記操作部材が操作されると、前記第１の低減量よりも大きな第２の低減量だけ設定車速を低減する車速低減手段とを備えた車速制御装置であって、
先行車との車間距離を検出する車間距離検出手段を備え、
前記車間距離検出手段により検出された車間距離が小さいほど前記第２の低減量を大きくすることを特徴とする車速制御装置。 Vehicle speed detection means for detecting the vehicle speed;
Vehicle speed control means for controlling the braking / driving force of the vehicle so that the vehicle speed detection value matches a preset vehicle speed (hereinafter referred to as a set vehicle speed);
An operation member for reducing the set vehicle speed;
A curved road detecting means for detecting a curved road ahead of the vehicle;
When the operating member is operated when a curved road is not detected by the curved road detecting means, the set vehicle speed is reduced by a first reduction amount, and when the curved road is detected by the curved road detecting means When the operation member is operated, a vehicle speed control device comprising vehicle speed reduction means for reducing a set vehicle speed by a second reduction amount larger than the first reduction amount,
Provided with an inter-vehicle distance detecting means for detecting an inter-vehicle distance with the preceding vehicle,
The vehicle speed control device characterized in that the second reduction amount is increased as the inter-vehicle distance detected by the inter-vehicle distance detection means is smaller .
JP2004012874A 2004-01-21 2004-01-21 Vehicle speed control device Expired - Fee Related JP4046085B2 (en)

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