JPH01109131A - Control device for constant speed traveling of vehicle - Google Patents

Abstract

PURPOSE:To enable speed change control suited to an actual road surface condition by estimating the inclination of a road from the traveling performance, the traveling speed, and the throttle opening of a vehicle and controlling shift-up/shift-down based on the deviation in speed and the inclination of a passage. CONSTITUTION:A speed deviation is operated 3 from the outputs of a traveling speed measuring means 1 and a speed setting means 2, and a throttle driving means 6 is controlled by a pulse signal obtained by a controlling quantity operating means 7 based on the speed deviation and an acceleration by an acceleration operating means 4. Also, from the outputs of the traveling speed measuring means 1 and a throttle opening detecting means 8, the inclination of a road during traveling is estimated referring to a traveling performance characteristic stored in a memory means 10. In a shift control determining means 12, a shift- down command is outputted to an automatic transmission means 9 when judged an ascending slope and at the time of the speed deviation above a defined value while a shift-up command is outputted when judged a descending slope and at the time of the speed deviation below a defined value.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a constant speed travel control device that automatically maintains the traveling speed of a vehicle at a constant speed and causes the vehicle to travel.

[Conventional technology]

In recent years, automobiles and the like have come to be equipped with constant speed driving devices that set a target speed and automatically control the vehicle to travel at the specified set target speed during normal conditions. Conventionally, this type of constant speed running 711m device for a vehicle is disclosed, for example, in Japanese Patent Application Laid-Open No. 58-98636. This is a system in which a target speed is set for a vehicle such as a car, and during steady state the vehicle runs at the specified set target speed.
A target speed setting operation is performed in a traveling speed state where so-called constant speed traveling is desired, and the traveling speed at that time is set as the subsequent target speed. That is, a predetermined gain is given to the deviation between the set speed signal and the traveling speed signal, and a predetermined gain is also given to the acceleration signal, both signals are calculated, and a signal for driving the throttle valve is output to the actuator. This brought the running speed closer to the set speed. Further, for example, in the device disclosed in Japanese Patent Application Laid-open No. 57-121713, there is a control system that outputs an output to the throttle drive means that exceeds a value set by the gear position. When the amount of fl is reached, it is determined that it is difficult to maintain the vehicle speed, and the driver shifts down.

[Problem that the invention seeks to solve]

Conventional constant-speed driving systems are configured as described above, so they downshift when the vehicle approaches an uphill slope and becomes difficult to drive at the set speed, but it does not shift up again.
The point in time is determined by a timer or the like, so there is a problem in that the vehicle may shift up even though the uphill slope continues, or shift down even though the vehicle is going downhill.

This invention was made in order to solve the above-mentioned problems, and is for use in vehicles that can adjust the timing of upshifting and downshifting to match the actual road conditions depending on the uphill or downhill situation. The purpose is to obtain a constant speed traveling control device.

[Means for solving problems]

A constant speed cruise control device according to the present invention includes traveling speed information;
The slope of the road is estimated from the speed deviation information between the set speed and the driving speed, the throttle opening information, and the vehicle driving performance characteristics that indicate the relationship between the driving speed and the throttle opening on a predetermined slope road, and the system shifts down or up. The system is equipped with shift control means for performing the following steps.

[For production]

In this invention, the slope of the road is estimated from the driving information and the driving performance characteristics of the vehicle, and when it is determined that the road is uphill and the speed deviation exceeds a predetermined value, a downshift is performed. And when it is determined that the slope is downhill,
Can shift up.

〔Example〕

An embodiment of the present invention will be described below with reference to the drawings. 1st
The figure shows a block diagram of a constant speed cruise control device according to the present invention. In the figure, 1 is a traveling speed measuring means for measuring the speed of the vehicle, 2 is a speed setting means for setting the speed desired by the driver, and 3 is a speed Speed deviation calculating means for calculating a speed deviation in response to the set speed signal from the setting means 2 and the traveling speed signal from the traveling speed measuring means 1; 4 is an acceleration calculating means for calculating the acceleration of the vehicle from the traveling speed signal; 5 is an acceleration calculating means for calculating the acceleration of the vehicle from the traveling speed signal; A throttle valve 6 controls the driving force of the vehicle, a throttle drive means 6 drives the throttle valve 5, a speed deviation body 7 adjusts the running speed to match the set speed, and a pulse signal obtained from the acceleration 1 is applied to the speed deviation body 7. 8 is a throttle opening detecting means for detecting the opening of the throttle valve 5; 9 is an automatic transmission means that can automatically shift up or down the gears of the vehicle; Driving performance storage means for storing driving performance characteristics of a vehicle indicating the relationship between driving speed and throttle opening on a sloped road;
1 is a road slope estimating means for estimating the slope of the road on which the vehicle is actually traveling from the above-mentioned driving speed signal, throttle opening signal, and driving performance characteristics; 12 is a road slope estimating means that determines that the road is uphill based on the speed deviation and road slope information; Shift control determining means outputs a downshift command to the automatic transmission means 9 when the deviation exceeds a predetermined value, and then outputs a shift up command when the speed deviation becomes below a predetermined value and it is determined that the slope is downhill. It is.

Next, the operation of the present invention will be explained based on the flowchart shown in FIG. First, when the power is turned on, the microcomputer starts calculation from step 101, and initial settings of each board, memory, etc. The traveling speed v7 is calculated using the period of .

It should be noted that the process from step 102 onwards consists of a loop that goes around every predetermined time T0 managed in a time waiting step 117. In step 103, the acceleration α of the vehicle is calculated using the following equation.

Vll-V,.

αi = T.

Here, ■1 fence is the running speed at the time of the previous sampling.

Step 104 determines the speed difference ε1 between the set speed v,4 (not shown) and the running speed v7.

"II = Vn VM Step 105 inputs the throttle opening signal θ7.

In step 106, the road slope tan is determined by a method to be described later.
6. Estimate. In step 107, it is determined whether or not the vehicle is running at a constant speed, and if not, the process proceeds to step 117.
If the vehicle is running at a constant speed, it is determined in step 10B whether or not it is shifting down, and if it is not shifting down, it is determined in step 10B.
In step 09, check whether the speed deviation ε7≧A. In other words, the traveling speed V
, is lower than the set speed V by a predetermined value A or more. If the speed is lower than a predetermined value, the road slope j is determined in step 110.
It is checked whether an67 is greater than or equal to a predetermined value B. That is, it is checked whether the road has an uphill slope greater than a predetermined value, and if it is determined that the road is uphill, a downshift signal is output in step 111. On the other hand, if it is determined in step 108 that a downshift is being performed, it is determined in step 112 whether or not the speed deviation εa is less than a predetermined value C. If ε7≦C, it is checked in step 113 whether the road slope jan67 is less than a predetermined value. tanδ
If 7≦D, a shift up signal is output in step 114. Next, in step 115, the acceleration α7 and the speed deviation ε7 are adjusted so that the traveling speed v7 matches the set speed V11.
For example, the control amount is calculated using the following formula.

T, 1-Klα11”K!”TI Here, K, , are constants.

In step 116, a pulse signal is output to open or close the throttle depending on the sign and value of T.

In other words, if T, > 0, the direction of closing the throttle, T,
If it is 0, the throttle is opened in the direction T, and if it is O, the pulse is output only in the value T so that it is held. , after which the process returns to step 102 and executes the same steps as described above.

Next, the method for determining the road slope will be explained using the flowchart shown in FIG. 3 and the graph shown in FIG. In Fig. 4, the vertical axis shows the throttle opening θ, and the horizontal axis shows the traveling speed V. First, inside the microcomputer, there is a curve θ+- shown in the graph.
x + V + 7 + (driving performance characteristics on road slope at JAN 61) and θ, = x, V + 3' z (JAN 6
(driving performance characteristics at a road slope of 2 o'clock) are memorized. Therefore, in step 201, the throttle opening degree θ8. Find θ2. In step 202, the slope tan δ7 of the road currently being traveled is determined using the following formula.

The method described above makes it possible to determine the road slope, thereby making it possible to control the timing of upshifting and downshifting to match the actual road conditions.

``Although in this invention, the throttle opening detection means 8, the driving performance storage means 10, the road slope estimation means 11, and the shift control determination means 12 are built-in, the electronic automatic transmission control device is provided with each of these means. The invention device can also be implemented as a system configuration that transmits a speed deviation signal.

〔Effect of the invention〕

As explained above, according to the present invention, a means is provided for estimating the slope of the road based on the driving performance, driving speed, and throttle opening of the vehicle, and the upshift and downshift are controlled based on the speed deviation and the road slope. As a result, it is possible to perform speed change control suitable for actual road conditions, and a highly efficient constant speed driving MI device can be obtained.

[Brief explanation of the drawing]

Fig. 1 is a block diagram of a constant speed cruise control device for a vehicle according to an embodiment of the present invention, Fig. 2 is a flowchart for explaining the operation of the device, and Figs. 3 and 4 are methods for determining the slope of a road. These are flowcharts and graphs for explaining. 1... Traveling speed measuring means, 2... Speed setting means, 3
... Speed deviation calculation means, 4... Acceleration calculation means, 5
...Throttle valve, 6...Throttle drive 11 stages,?
...Controlled amount calculation means, 8. Throttle opening detection means, 9. Automatic transmission means, 10. Driving performance storage means, 11. Road inclination estimation means, 12. Shift control. means of decision.

Claims (1)

[Claims] A traveling speed measuring means for measuring the traveling speed of the vehicle, a speed setting means for setting the speed desired by the driver, and a speed deviation calculating means for calculating a speed deviation in response to the set speed signal and the traveling speed signal. , an acceleration calculating means for calculating the acceleration of the vehicle in response to a traveling speed signal, a throttle valve for controlling the driving force of the vehicle, a throttle driving means for driving the throttle valve, and a throttle driving means for driving the throttle valve so that the traveling speed coincides with a set speed. control amount calculation means for outputting a pulse signal obtained from the speed deviation signal and acceleration signal to the throttle drive means; throttle opening detection means for detecting the opening of the throttle valve; automatic transmission means capable of shifting down, driving performance storage means for storing driving performance characteristics of the vehicle indicating the relationship between driving speed and throttle opening, and road estimating the slope of the road from the driving speed, throttle opening and driving performance characteristics. Based on the slope estimating means, the speed deviation, and the road slope value, if the speed deviation is uphill and the speed deviation is greater than a predetermined value, a downshift command is output to the automatic transmission means; 1. A constant speed cruise control device for a vehicle, comprising: shift control determining means for outputting a shift up command when determining that the vehicle is on a slope.