JP4050557B2 - Driving speed control system and / or adaptive driving speed control system driving method, driving speed control system and / or adaptive driving speed control system, control device, computer program, recording medium, vehicle - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a driving method for a vehicle traveling speed control system and / or an adaptive traveling speed control system, a vehicle traveling speed control system and / or an adaptive traveling speed control system, a control device, a computer program, a recording medium, and a vehicle. . The control system in this field is also called, for example, an adaptive cruise control system (ACC).
[0002]
[Prior art]
SAE-Paper 961010 (SAE Technical Paper Series 961010, International Congress & Exposition, Detroit, February 26-29, 1996, “Adaptive Cruise Control System-Aspects Developments, Trends”) Radar-based ACC systems are known from Wiener, Witte, Wooler, Lichtenberg, and Robert Bosch GmbH. In this case, a multi-target radar sensor is attached to the front side of the vehicle in order to determine the distance and relative speed with respect to the preceding vehicle.
[0003]
Data obtained by the radar system is supplied to the control unit via the bus system. The control unit uses the transmitted radar data and the driver's intention to determine a suitable acceleration request, which is also transmitted to the vertical control system.
[0004]
The vertical control system drives the actuator according to the acceleration request of the control unit. This actuator may be a vehicle engine, a clutch or a vehicle brake. The corresponding drive of the actuator results in a predetermined behavior of the vehicle, which is also fed back to the control unit, thus forming a control loop. To that extent, the system has a drive limit in which the system is automatically deactivated from a speed of 40 km / h or less.
[0005]
From DE 19650863C1, a method and device for recognizing vertical misadjustment of a distance sensor is known. In that case, the pitching movement of the vehicle is recognized and correlated with the data and / or signals generated and edited by the distance sensor to maintain target detection and / or target detection loss. A signal is generated according to the result of this correlation, and the signal can be used to recognize possible error positions or misadjustments of the distance sensor.
[0006]
The unpublished German application 19964020.3 discloses a misadjustment recognition method and apparatus in a vehicle radar system. In that case, an electromagnetic wave is transmitted and the electromagnetic wave reflected by the object to be stopped is received and evaluated. The signals that can be evaluated are the relative angle between the detected stop object and the reference axis of the vehicle, the relative distance, and the detected relative speed between the stop object and the vehicle. Next, a correction value for the relative angle is determined using the relative angle between the vehicle and the detected stop object, the relative distance, and the vehicle natural speed.
[0007]
The unpublished German application 10019182.7 discloses a method and apparatus for determining misalignment of the radiation characteristics of a sensor for controlling the speed and distance of a vehicle. The above method is characterized by at least two different distinct individual methods for determining misalignment. If the individual method misadjustment values are combined together as one misadjustment value, and the absolute value of the value formed from the individual misadjustment value and the quality number is greater than the preset limit value, or The interval and speed control system is turned off if one of the individual method misalignment values weighted by the attached quality number is greater than the attached presettable limit value.
[0008]
Therefore, the prior art has various automatic setting methods for misadjustment of the vehicle radar system. In practice, if a misadjustment of the vehicle radar system is recognized in the vehicle during driving, which would impair the functioning of the system, the system is normally deactivated and the driver is given an error function. Is signaled.
[0009]
[Problems to be solved by the invention]
However, when the vehicle radar system is incorporated in a newly manufactured vehicle, a so-called factory adjustment must be performed. This is because when a radar system is installed in a new vehicle, tolerances may occur, which may result in the radiation characteristics of the radar system or the error location of the speed control system and / or the adaptive speed control system. Because. Similar problems occur, for example, when a radar system is removed and installed or replaced with another / new radar system based on repair.
[0010]
Accordingly, the object of the present invention is to ensure that a vehicle equipped with a travel speed control system and / or an adaptive travel speed control system is not delivered to a customer or a vehicle purchaser without essential factory adjustments. It is an object of the present invention to provide a new and improved traveling speed control system and / or a driving method for an adaptive traveling speed control system that can be performed.
[0011]
[Means for Solving the Problems]
In order to solve the above problems, in a first aspect of the present invention, a vehicle travel speed control system and / or an adaptive travel speed control system drive method having a sensor unit capable of adjusting radiation characteristics and a control unit. And before the start of the first operation of the system, information (16) that prevents the sensor unit from being driven while the sensor unit is not adjusted is introduced into the control unit (10, 27) ( 32, 33, 34), and a driving method for a vehicle traveling speed control system and / or an adaptive traveling speed control system is provided.
[0012]
In the invention described above, the travel speed control system and / or the adaptive travel speed control system is prevented from being delivered to the customer in a particularly simple and inexpensive manner without factory adjustment. It can be recognized that the sensor unit cannot be driven during the final inspection of the vehicle production line end or during the first short run of the vehicle from the production site to the loading site. The same applies when starting operation for the first time after staying in the factory.
[0013]
Also, if the system is being adjusted, the information (16) in the control unit (10, 27) is changed accordingly and the drive of the system is permitted (34). If configured, it can be done automatically within the scope of factory adjustment or adjustment.
[0014]
The information is preferably configured to be coded so that various states can be distinguished.
[0015]
The various states are at least the following: 1. Delivery state or sensor misadjustment It can be configured as adjusted.
[0016]
The various states characterize the degree of misadjustment of the radiation characteristics of the sensor unit (36), and the system is deactivated when the applicable threshold is exceeded (37, 39). If the system is configured such that new operation of the system is prevented while the new adjustment of the system is not being performed, the travel speed control system and / or the adaptive travel speed control system is within a predetermined misadjustment degree. Although an orderly function is still given, storing information on the extent of misadjustment in memory can provide important information about misadjustment of the system at the factory during the next maintenance interval.
[0017]
The information (16) is introduced into the control unit (10, 27) when the control unit (10, 27) is formed, when the sensor unit is replaced, or when line end programming is performed at the time of manufacturing the vehicle. It is particularly effective if configured as described above. This ensures that information is reliably transmitted to the control unit.
[0018]
In order to solve the above problems, in a second aspect of the present invention, a vehicle travel speed control system and / or adaptive travel speed having a sensor unit capable of adjusting radiation characteristics and a control unit (10, 27). In the control system, before starting the first operation of the system, information (16) that prevents the sensor unit from being driven can be introduced into the control unit while the sensor unit is not adjusted. A vehicle travel speed control system and / or an adaptive travel speed control system is provided.
[0019]
The invention described above prevents the travel speed control system and / or the adaptive travel speed control system from being delivered to the customer in a particularly simple and inexpensive manner without factory adjustment. It can be recognized that the sensor unit cannot be driven during the final inspection of the vehicle production line end or during the first short run of the vehicle from the production site to the loading site. The same applies when starting operation for the first time after staying in the factory.
[0020]
In addition, a memory unit for the information (16) is provided, and data characterizing various states such as misadjustment of the radiation characteristics of the sensor unit can be introduced into the memory unit during driving of the system. When configured as (36), the traveling speed control system and / or the adaptive traveling speed control system can suitably execute the processing steps.
[0021]
In order to solve the above problems, according to a third aspect of the present invention, in a vehicle travel speed control system and / or an adaptive travel speed control system control device, at least one of claims 1 to 6 is provided. A control device is provided, characterized in that means are provided for carrying out the described method.
[0022]
In the above-described invention, the method according to the present invention can be realized in the form of a control device or a control unit for a vehicle travel speed control system and / or an adaptive travel speed control system.
[0023]
Moreover, the said control apparatus (10, 27) can be comprised so that it may become a structural unit with a sensor unit.
[0024]
In order to solve the above problems, in a fourth aspect of the present invention, a computer program for causing a computer to execute the method according to any one of claims 1 to 6 is provided.
[0025]
In the above-described invention, the present invention can be realized by a program stored in the control device or the control unit.
[0026]
In order to solve the above problems, according to a fifth aspect of the present invention, there is provided a medium on which a computer program for causing a computer to execute the method according to any one of claims 1 to 6 is recorded. As the recording medium, it is possible to use in particular an electrical memory medium, for example a read only memory (ROM), an EPROM or an electrical permanent memory, for example a CD-ROM or DVD.
[0027]
In order to solve the above-mentioned problems, according to a sixth aspect of the present invention, there is provided a vehicle equipped with the traveling speed control system and / or the adaptive traveling speed control system according to claim 7.
[0028]
In the invention described above, the traveling speed control system and / or the adaptive traveling speed control system according to the present invention is mounted on the prior art.
[0029]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. In the present specification and drawings, components having substantially the same functional configuration are denoted by the same reference numerals, and redundant description is omitted.
[0030]
(First embodiment)
First, the configuration of the vehicle travel speed control system and / or the adaptive travel speed control system according to the present embodiment will be described with reference to FIG. FIG. 1 is a block diagram showing the configuration of the vehicle travel speed control system and / or adaptive travel speed control system according to the present embodiment.
[0031]
First, as shown in FIG. 1, the central control unit 10 (ACC-controller) is the central point of control. The speed and / or distance data of the preceding vehicle (and other detected target data) are transmitted to the control unit 10 from the radar system 11 (sensor unit).
[0032]
The radar system 11 shown here is based on high-frequency microwave radiation, but can alternatively be formed as a reader sensor or an infrared sensor. Regarding the radar technology, the method according to the present embodiment is not limited to a special sensor type, and can be used in combination with various sensor types in principle. The speed data of the preceding vehicle transmitted from the radar system 11 to the control unit 10 is a relative speed value related to the speed of the own vehicle.
[0033]
Further, a signal is transmitted to the control unit 10 from the driver 12 of the vehicle. These signals may be, for example, accelerator pedal position, brake intervention, steering motion, or an operating function for the ACC system. Based on the data supplied from the driver 12 and the radar system 11, the control unit determines an acceleration request, and the acceleration request is transmitted to a longitudinal control unit 13 (Longitudinal Control, LOC).
[0034]
The vertical control unit 13 has the purpose of converting the acceleration request transmitted from the control unit 10 into a suitable drive signal for the actuator 14. The actuator 14 can generally be an acceleration or deceleration means. As the acceleration means, for example, throttle valve driving is applicable, and for example, intervention in the brake system can be used as the deceleration means. The driving behavior of the vehicle 15 is obtained according to the actuator driving. This actual vehicle state data is transmitted from the vehicle 15 to the control unit 10.
[0035]
Thus, by feeding back the current vehicle data, the control loop including the control unit 10, the vertical control unit 13, the actuator 14, and the vehicle 15 is completed. Reference numeral 16 symbolically represents information according to the present embodiment, and the information is taken into the control unit 10. Information stored in a suitable memory unit of the control device or control unit 10 is preferably taken into account by the control unit 10. For example, when information regarding that the driving of the sensor unit should be blocked is taken in, the control unit 10 blocks the operation of the radar system (sensor unit) 11 and sets the corresponding state to the driver 12. Notify by signal.
[0036]
Next, a structural unit composed of a radar unit and a control unit will be described with reference to FIG. In FIG. 2, an example of a three-beam radar system is shown.
[0037]
As shown in FIG. 2, the housing 21 is closed with, for example, a dielectric lens 22 in the main beam direction. Inside the housing 21, three radiating elements 23 are arranged on a plate 24, and the plate 24 is also coupled to the housing 21. Further, a second plate 25 is disposed inside the housing 21, and a high frequency circuit portion 26 used for driving the radiating element 23 and evaluating the signal of the radiating element 23 on the plate 25. Is arranged.
[0038]
Furthermore, in this embodiment, the control unit 27 is integrated in the housing 21 in this embodiment. Therefore, the radiating element 23, the high frequency portion 26 and the control unit 27 form a common constituent unit. In order to exchange data with other control units within the control device complex in the vehicle, the control unit 27 is connected to the vehicle bus system 29 via a connecting conductor 28 (CAN-bus).
[0039]
Reference numeral 16 in the control unit 27 also symbolically shows information taken into the control unit in the figure.
[0040]
In FIG. 2, the control unit 27 is formed as a structural unit having a radar system. However, the present invention is not limited to the structural unit described above. It is also within the scope of the present invention that the control function is handled by, for example, an engine control device (not shown).
[0041]
Next, a method for driving the vehicle travel speed control system and / or the adaptive travel speed control system will be described with reference to FIG. FIG. 3 is a flowchart showing a driving method of the vehicle travel speed control system and / or the adaptive travel speed control system.
[0042]
Note that step S31 is a processing step executed when the vehicle is manufactured at the factory , or a processing executed when the radar system is removed and incorporated or replaced with another / new radar system based on repair. It is a process . Further, step S 32 ~ 39 is the traveling drive after a vehicle having such ACC- system to the present embodiment. In addition, the structural unit has the advantage that the information 16 can be incorporated into the control unit 27 early, but is technically more complex if the control unit is a vehicle engine control device.
[0043]
First, in step S31, introduction of information to the control unit is started (step S31). Such information can be coded to distinguish various states. In the simplest case, this is at least two states:
1. Delivery state or sensor misadjustment,
2. Adjustments were made,
[0044]
Next, in step S32, it is determined whether or not adjustment has been performed, or whether or not the sensor unit is still in a delivery state (step S32). If it is determined that the sensor unit is still in the delivery state or adjustment has not yet been performed, the process proceeds to step S33.
[0045]
In step S33, the drive of the sensor unit is blocked, and the control unit 10 or the control unit 27 blocks the operation of the radar 11, and outputs information corresponding to the operation to the driver 12 of the vehicle (step S33). Thereafter, the process proceeds to step S32 again.
[0046]
On the other hand, if the adjustment is executed in step S32 and it is determined that the sensor unit is no longer in the delivery state, the process proceeds to step S34, and the driving of the radar system 11 is permitted (step S34).
[0047]
Note that FIG. 3 does not show an adjustment method known from the prior art, and corresponding information that the adjustment is performed following the adjustment method, for example, in step S32 of the method according to the present embodiment. Is automatically taken into the control unit.
[0048]
Steps S31 to S34 relate to the solution of a serious problem that a new vehicle without the adjusted radar sensor 11 is delivered to a customer after manufacturing. Steps S35 to S39 described below are directly shifted from step S34 and decisively cover the driving behind the vehicle.
[0049]
That is, in step S35, automatic misadjustment recognition as described in the prior art is performed (step S35). Next, in step S36, the degree of misadjustment (degree of misadjustment) revealed is written in the memory of the control unit in a coded format (step S36).
[0050]
Further, in step S37, it is determined whether or not the misadjustment degree (erroneous adjustment degree) written in the memory exceeds an applicable threshold value (step S37). If it is determined that the value does not exceed the threshold value, the process proceeds to step S38, and the radar system 11 can be driven thereafter (step S38).
[0051]
On the other hand, if it is determined in step S37 that the degree of misadjustment (degree of misadjustment) exceeds the applicable threshold, the process proceeds to step S39, and the radar system is deactivated (step S39). The relevant information is then provided to the control unit, and the information is output to the vehicle driver as needed.
[0052]
Furthermore, the process proceeds to step S31, and when a new adjustment is not executed, the start of driving of the radar system is blocked. In principle, information on the degree of misadjustment (adjustment degree) and information for preventing the start of operation can be stored in various memory spaces in the control device, but the configuration should have only one memory space. You can also. Further, when reducing the memory space, the information can be configured not to be introduced into step S39. This is because the degree of misadjustment introduced (degree of misadjustment) has already blocked drive permission in steps S32 and S34.
[0053]
The preferred embodiment according to the present invention has been described above, but the present invention is not limited to such a configuration. A person skilled in the art can assume various modifications and changes within the scope of the technical idea described in the claims, and the modifications and changes are also within the technical scope of the present invention. It is understood that it is included in
[0054]
【The invention's effect】
The delivery of the travel speed control system and / or the adaptive travel speed control system to the customer in a particularly simple and inexpensive manner without factory adjustment is prevented. It can be recognized that the sensor unit cannot be driven during the final inspection of the vehicle production line end or during the first short run of the vehicle from the production site to the loading site. The same applies when starting operation for the first time after staying in the factory.
[Brief description of the drawings]
FIG. 1 is a block diagram showing a configuration of a vehicle travel speed control system and / or an adaptive travel speed control system according to an embodiment.
FIG. 2 is a block diagram showing a structural unit including a radar unit and a control unit.
FIG. 3 is a flowchart showing a driving method of the vehicle travel speed control system and / or the adaptive travel speed control system.
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 10 Control unit 11 Radar sensor 12 Driver 13 Vertical control unit 14 Actuator 15 Vehicle 16 Information 21 Housing 22 Lens 23 Radiation element 24 Plate 26 High frequency circuit part 27 Control unit 28 Connection lead 29 Vehicle bus system

Claims (10)

A driving method of an adaptive travel speed control system having a sensor unit capable of adjusting radiation characteristics and a control unit,
The control unit stores information in which various states defining the driving state of the sensor unit are encoded, and controls the driving of the sensor unit according to the stored information.
If the sensor unit has not been adjusted before the first start of operation of the system, the control unit stores information preventing the drive of the sensor unit;
When adjustment of the sensor unit is performed, the control unit changes the information to information that permits driving of the sensor unit;
When information permitting driving of the sensor unit is stored in the control unit, the control unit automatically recognizes misadjustment of the sensor unit and defines the degree of misadjustment of the radiation characteristics of the sensor unit. Remember the misadjustment degree,
The control unit determines whether the misadjustment degree exceeds a predetermined threshold;
If the misadjustment degree does not exceed a predetermined threshold, the control unit performs the misadjustment recognition,
When the degree of misadjustment exceeds a predetermined threshold, the control unit changes the information to information for preventing the sensor unit from being driven, and stops driving the sensor unit,
When the drive of the sensor unit is stopped, the control unit notifies the driver of the stop of the drive of the sensor unit by a signal.   The coded information is at least a code indicating a delivery state or a sensor misadjustment for stopping the driving of the sensor unit, or an adjustment for permitting the driving of the sensor unit is performed. The driving method of the adaptive travel speed control system according to claim 1, further comprising: Information for preventing the driving of the sensor unit introduced when the sensor unit is not adjusted before the first start of operation of the system is information on forming a control unit, replacing the sensor unit, or vehicle The driving method for an adaptive travel speed control system according to claim 1, wherein the drive unit is introduced into the control unit when line end programming is performed at the time of manufacture of the vehicle. In an adaptive travel speed control system having a sensor unit capable of adjusting radiation characteristics and a control unit,
The control unit is
Memory that stores information that defines the driving state of the sensor unit, and stores information that inhibits driving of the sensor unit when the sensor unit has not been adjusted before the first start of operation of the system. Part,
A control unit that controls driving of the sensor unit according to the information stored in the memory unit;
When the memory unit stores information that permits driving of the sensor unit, the sensor unit recognizes erroneous adjustment of the sensor unit, and a misadjustment degree that defines the degree of erroneous adjustment of the radiation characteristics of the sensor unit is predetermined. A misadjustment recognition unit that determines that a misadjustment occurs when the threshold value is exceeded ;
A notification unit for notifying the driver of the stop of driving of the sensor unit by a signal;
With
When it is determined that the misadjustment is in the misadjustment recognition unit, the control unit changes the information to information that prevents the sensor unit from being driven, stops the driving of the sensor unit, and the notification unit An adaptive travel speed control system that notifies a driver of a stop of driving of the sensor unit by a signal. The adaptive travel speed control system according to claim 4, wherein the misadjustment recognition unit records the misadjustment degree in the memory unit. In a controller for an adaptive travel speed control system,
A memory unit that stores information that defines a driving state of the sensor unit, and stores information that inhibits driving of the sensor unit when the sensor unit is not adjusted before the first operation of the system When,
A control unit that controls driving of the sensor unit according to the information stored in the memory unit;
If the information that permits the driving of the sensor unit to the memory unit is stored, the performed misadjustment recognition sensor unit teeth misadjustment of erroneous defining the degree adjustment of a predetermined radiation characteristic of the sensor unit A misadjustment recognition unit that determines that a misadjustment occurs when the threshold value is exceeded ;
A notification unit for notifying the driver of the stop of driving of the sensor unit by a signal;
With
When it is determined that the misadjustment is in the misadjustment recognition unit, the control unit changes the information to information that prevents the sensor unit from being driven, stops the driving of the sensor unit, and the notification unit A control device for notifying a driver of a stop of driving of the sensor unit by a signal.   The control device according to claim 6, wherein the control device is a structural unit together with the sensor unit. If the stored information defining the operating state of the sensor unit, said sensor unit before the first start of operation of the system is not adjusted, it means for storing information for inhibiting the driving of the sensor unit,
Means for controlling driving of the sensor unit according to the information stored in the means for storing;
When the information for permitting the driving of the sensor unit is stored in the storing means, the misadjustment recognition of the sensor unit is performed, and the misadjustment degree defining the misadjustment degree of the radiation characteristic of the sensor unit is a predetermined value. Means for determining misadjustment when a threshold value is exceeded ,
Means for notifying the driver of a stop of driving of the sensor unit by a signal when the means for determining the degree of misadjustment is determined to be misadjustment;
A computer program for causing a computer to execute. Means for storing information defining a driving state of the sensor unit, and storing information for preventing the driving of the sensor unit when the sensor unit is not adjusted before the first operation of the system ;
Means for controlling driving of the sensor unit according to the information stored in the means for storing;
When the information for permitting the driving of the sensor unit is stored in the storing means, the misadjustment recognition of the sensor unit is performed, and the misadjustment degree defining the misadjustment degree of the radiation characteristic of the sensor unit is a predetermined value. Means for determining misadjustment when a threshold value is exceeded ,
Means for notifying the driver of a stop of driving of the sensor unit by a signal when the means for determining the degree of misadjustment is determined to be misadjustment;
A computer-readable medium on which a computer program for causing a computer to execute is recorded.   A vehicle equipped with the adaptive travel speed control system according to claim 4.

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