JPH01132430A - Constant speed traveling device - Google Patents

Abstract

PURPOSE:To increase safety at the time of failure by canceling constant speed traveling control at the time of detecting a negative acceleration above a defined value during the constant traveling control and, after that, continuing the canceling condition until a cancel operating signal is inputted. CONSTITUTION:At the time of the traveling of a vehicle, as a set switch SW4 is pressed, the vehicle speed at that time obtained from the output of a lead switch SW2, or a vehicle speed sensor is stored in a CPU. The opening of a throttle valve B2 is controlled via a negative pressure actuator AC in the direction of eliminating the deviation between the stored vehicle speed and the present vehicle speed. In this case, in the CPU, if a negative acceleration above a defined value is detected during constant speed traveling control, the constant speed traveling control is canceled. This canceling condition is continued until cancel operating signals from a clutch switch SW3 and a brake switch SW6, etc. are inputted.

Description

DETAILED DESCRIPTION OF THE INVENTION [Industrial Application Field] The present invention relates to a constant speed traveling device that stores a predetermined vehicle speed and maintains the current traveling vehicle speed at the stored speed.
The present invention relates to a constant speed traveling device related to cancellation of constant speed traveling control.

[Prior Art] In general, this type of constant speed traveling device uses a vehicle speed detection means for detecting the current vehicle speed and a storage means for storing the speed of a traveling vehicle traveling at a constant speed. It controls actuator means that controls the opening degree of the throttle valve.

The actuator means controls the throttle valve by decreasing the opening degree of the throttle valve when the current vehicle speed is higher than the stored vehicle speed stored in the storage means, and increasing the opening degree of the throttle valve when the current vehicle speed is lower than the current vehicle speed or the stored vehicle speed. The vehicle speed is controlled to match the stored vehicle speed.

This type of known technology is published in Japanese Patent Laid-Open No. 59-126046, Japanese Patent Laid-Open No. 60-56640, etc.

In the constant speed driving device, the constant speed driving control is canceled by depressing the clutch pedal or the brake pedal during the constant speed driving control. However, if an abnormality occurs in an electrical system such as a switch that detects depression of the clutch pedal or brake pedal, it may become difficult to cancel the constant speed driving control. Therefore, JP-A-59-
The technology disclosed in Japanese Patent Publication No. 126046 stops constant speed driving control when the vehicle speed deviation becomes larger than a predetermined value or when the vehicle speed is decelerated to a predetermined value or more, regardless of whether the clutch pedal or brake pedal is depressed. It is something to do.

[Problems to be Solved by the Invention] However, when it becomes impossible to cancel constant speed driving control by depressing the clutch pedal or brake pedal due to an abnormality in the electrical system, the vehicle speed deviation may exceed a predetermined value even if the brake pedal is pressed. Unless the value becomes larger, constant speed driving control will not be canceled. Therefore, the braking force becomes worse than usual. There may be cases where it takes time for the vehicle speed deviation to reach the predetermined value, or cases where the vehicle speed deviation does not reach the predetermined value and the constant speed driving control is not canceled. Further, even if the vehicle speed deviation reaches a predetermined value and the constant speed driving control is canceled, when the vehicle speed deviation becomes small again, the constant speed driving control becomes possible. An abnormality has occurred in the electrical system such as the switch that detects the depression of the clutch pedal or brake pedal, and even though the previous constant speed driving control had been canceled, the driver did not know about it. This means that the vehicle is being driven and is no longer in a desirable state of use.

Therefore, in order to solve the above problems, constant speed driving control is stopped in response to sudden deceleration, and after confirming the input of a cancel operation signal to cancel constant speed driving control, Once again, it is an object of the present invention to provide a constant speed traveling device that enables constant speed traveling control.

[Means for Solving the Problems] The constant speed traveling device according to the present invention includes a vehicle speed detection means for detecting the current traveling vehicle speed, a storage means for storing the speed of the traveling vehicle traveling at a constant speed, and a throttle valve opening/closing control device. comprising actuator means for controlling, and an electronic control circuit for controlling the actuator means in a direction to eliminate the vehicle speed deviation based on the vehicle speed deviation based on the stored vehicle speed and the current vehicle speed,
When a negative acceleration of a predetermined value or more is detected during constant speed driving control, the constant speed driving control is stopped and then continued until a cancel operation signal is input.

[Operation] In the present invention, under normal conditions, the electronic control circuit controls the actuator means in a direction to eliminate the vehicle speed deviation based on the vehicle speed deviation based on the stored vehicle speed and the current vehicle speed. When a sudden deceleration occurs due to depression of the clutch pedal, brake pedal, etc., and a negative acceleration of more than a predetermined value is detected, the speed is maintained at a constant speed regardless of whether a cancel operation signal is generated by depression of the clutch pedal, brake pedal, etc. Cancel driving control.

If a negative acceleration of more than a predetermined value is detected and the constant speed driving control is canceled without depending on the cancel operation signal, the control is restarted only when a cancel operation signal generated by pressing the clutch pedal, brake pedal, etc. arrives. , which enables constant speed driving control.

[Example] Hereinafter, an example illustrating an example of the above technical means will be described.

FIG. 1 shows an overall configuration diagram of a constant speed traveling device according to an embodiment of the present invention.

In this configuration, the electronic control circuit CPU is composed of a single-deep microcomputer, and includes a reed switch SW2 that detects a vehicle speed signal, a clutch switch SW3 that detects depression of a clutch (not shown), and a depression of a brake (not shown). Brake switch S that detects
W6, set switch SW4, resume switch SW
The output of 5 is input. Further, a vacuum pump BP generates negative pressure to operate a negative pressure actuator AC that controls the opening degree of the throttle valve SV, and the output of a vacuum switch SW7 disposed in a surge tank ST that stores the negative pressure is input.

Here, the resume switch SW5 is for restarting the -H canceled constant speed driving control at the updated stored vehicle speed, and the clutch switch SW3 and the brake switch SW6 are constant speed driving control cancel switch means.

A permanent magnet PM connected to a speedometer cable (not shown) is arranged near the reed switch SW2, and when the permanent magnet PM rotates as the vehicle moves,
The contacts of the reed switch SW2 open and close, and a pulse (vehicle speed signal) with a frequency proportional to the vehicle speed is sent to the electronic control circuit CPU.

The clutch switch SW3 opens and closes in conjunction with the vehicle's clutch pedal, and the brake switch SW6 opens and closes in conjunction with the vehicle's brake pedal. Brake switch SW6
A stop lamp L is connected to the brake switch SW6, and the stop lamp L lights up when the brake switch SW6 is turned on (closed).

The set switch SW4 and the resume switch SW5 are push button switches, and are arranged at positions that are easy for the driver to operate. By pressing the set switch SW4, the vehicle speed is memorized and constant speed driving control is started.
Although constant speed driving is canceled by pressing the brake switch SW6, the memorized vehicle speed remains. When the resume switch SW5 is pressed, constant speed driving control is started at the memorized vehicle speed before constant speed driving was canceled.

Note that power is supplied to the brake switch SW6 via the fuse F, and power is supplied to the electronic control circuit CPLJ via the power switch SW1.

The output of the electronic control circuit CPU is to drive the solenoid of a control valve V1 that controls a negative pressure actuator AC, which will be described later, via a drive circuit D1, the solenoid of a vent valve V2 via a drive circuit D2, and the solenoid of a release valve V3. They are connected to each other via circuit D3.

It is connected to the motor of the vacuum pump BP and the like via a drive circuit D4.

The negative pressure actuator AC is configured as follows.
Operate.

The negative pressure actuator AC constitutes a negative pressure chamber A1 sealed by a diaphragm A4 disposed within the housing A5, and the opposite side of the diaphragm A4 is an atmospheric side A2. The diaphragm A4 is energized by a compression coil spring A3 disposed on the side of the negative pressure chamber A1. The diaphragm A4 is connected to a throttle rod B1 that opens and closes a valve B2 of a throttle valve SV.

Further, in the negative pressure chamber A1 of the negative pressure actuator AC,
Negative pressure from the surge tank ST is introduced through a control valve (1), a vent valve (v2), and a release valve (3).

The control valve V1 sends the negative pressure of the surge tank ST to the negative pressure actuator AC side when the solenoid is in an energized state, and shuts it off when the solenoid is in a non-energized state. In addition, when the solenoid is in an energized state, the vent valve V2 sends out the negative pressure sent from the control valve ■1 side to the negative pressure actuator AC side, and when the solenoid is in a de-energized state, the negative pressure is sent out to the negative pressure actuator AC side. into the atmosphere. When an abnormality occurs in the control system and proper control is no longer possible, the release valve ■3 discharges the negative pressure in the negative pressure chamber A1 of the negative pressure actuator AC to the atmosphere. This is to bring it to atmospheric pressure. At this time, the throttle valve S■ is connected to the throttle rod B1.
is pushed back to close valve B2. Normally, the solenoid of the release valve V3 is in an excited state, and the vent valve v2 and the negative pressure chamber A1 of the negative pressure actuator AC are in communication.

The control valve V1 and the vent valve (2) are controlled in duty ratio by the electronic control circuit CPU. That is, during constant speed driving control, the stored vehicle speed and the vehicle speed at that time are compared in the electronic control circuit CPU, and the duty of the signal that excites the solenoid of the control valve V1 and vent valve 2 is adjusted so that the difference is equal. Determine the ratio. For example, when deceleration is required, the duty ratio becomes smaller, and the proportion of time during which the atmosphere is communicated with the negative pressure actuator AC from the vent valve 2 is increased.
Close throttle valve SV by means of diaphragm A4. Conversely, when acceleration is required, the duty ratio is increased and the throttle valve SV is controlled by the negative pressure actuator AC.
open it.

Next, the operation of the microcomputer of the electronic control circuit CPtJ will be explained using flowcharts shown in FIGS. 2 to 12.

When the power switch SW1 is turned on and this program starts, the memory is initialized in step 1. At this time, the "standby state control flow" of the control state S=O of the control state branch program is set. In step 2, the states of each switch SW2 to SW7 are read.

Step 3 is a branching step in which the control state S is determined and a processing function is selected accordingly.

That is, this program branches according to each control state,
Since it is programmed to function according to the branched program, the control state S is specified for each function and the flow processing of each control state is started.

When this program starts, the control state is set to S-O in step 1, so in step 3 the control state is set to S-O.
Enter the “standby state control flow” of 〇.

Control state S=O:It'Standby state control flow j In this flow, the operating state of the resume switch SW5 is detected and the control system is placed in a cancel state.

When entering this flow, first, in step 01, all valves are
That is, control valve ■1 and vent valve ■2,
The release pulp V3 is turned off, the control of the negative pressure actuator AC is stopped, and the constant speed running control is stopped.

Then, in step 02, the operating state of the resume switch SW5 is detected. Step 0 when turned on
Check the memorized vehicle speed in step 3, and the memorized vehicle speed touches 0/h (clear state)
If not, a "full-on control flow" with control state S=1 is set in step 04, and a vacuum pump flag is set to put the vacuum pump BP into an operating state (set to "Hu") in step 05.

That is, preparations are made to enter the "full-on control flow" in the control state S=1.

Further, when the resume switch SW5 is not turned on, or when the stored vehicle speed is O touch/h (clear state), the resume function is denied, so the control state S-O is not changed.

Control state S=1: "Full-on control flow" This flow performs prospective control in order to quickly drive the negative pressure actuator AC to a predetermined position. That is, as will be described later, in the "deceleration control flow" of control state S=4, the control valve v1 is turned off, and the pressure in the negative pressure chamber A1 of the negative pressure actuator AC is reduced.

In addition, in the "standby control flow", the time when the main constant speed running control is entered or after the "cancellation control flow j" described later, when the negative pressure in the negative pressure chamber A1 of the negative pressure actuator AC and the set speed are It doesn't match.

Therefore, even if the constant speed running control is restarted and the duty ratio of the control valve V1 is controlled, the predetermined throttle opening cannot be reached immediately. Therefore, in step 11, it is determined whether this flow is entered for the first time, and when it is entered for the first time, in step 12, all valves V1
. After entering this flow in step 11 and setting the full-on control time, the progress of the full-on control time set in step 14 is checked. When the full-on control time has elapsed, first, in step 15, the control valve (1) is turned off, and in step 16, the control state S=2 is set, and the "constant speed control flow" is entered.

Control state S=2: Ir constant speed control flow" This flow is
This is a flow for performing constant speed driving at a stored vehicle speed.

In step 201, it is determined whether the vehicle speed measurement timing has arrived, and when the vehicle speed measurement timing has arrived, the vehicle speed is measured in step 202. Then, in step 203, the rise timing of the duty ratio for controlling the duty ratio of the negative pressure actuator is determined.

Once the start-up timing of the duty ratio control is determined, the vehicle speed is calculated in step 206. The vehicle speed is calculated based on the value measured in step 202, that is, the value read from the vehicle speed sensor.

Further, in step 207, acceleration is calculated. Step 2
In step 08, the vehicle speed calculation in step 206 and step 20 are performed.
A virtual vehicle speed calculation is performed based on the acceleration calculation in step 7. The virtual vehicle speed calculation is performed as follows.

v+ = v+a-Kt however, ■i is virtual vehicle speed, ■ is the vehicle speed calculated by vehicle speed calculation, a is the acceleration calculated by acceleration calculation, Kt is compensation time, It is.

The compensation time Kt is set based on the time delay between the vehicle speed measurement timing and the output for controlling the duty ratio of the negative pressure actuator.

Then, in step 209, the valve-on time VON of the control valve v1 or the vent valve V2 is calculated from the virtual vehicle speed Vi and the stored vehicle speed MV for constant speed driving control. That is, the control valve V1 or the vent valve V
Determine the duty ratio for opening and closing 2. At this time, the valve-on time VON is obtained by subtracting the virtual vehicle speed Vi from the stored vehicle speed Mv to obtain a vehicle speed deviation Vd, and then multiplying the vehicle speed deviation Vd by a proportionality constant G. Note that the proportionality constant G represents the relationship between the vehicle speed deviation Vd and the amount of acceleration/deceleration caused by opening and closing of the throttle valve Sv controlled by the negative pressure actuator. In step 210, it is determined whether the valve-on time VON is less than or equal to a predetermined value T5et1, and the valve-on time VON is
When ON is greater than the predetermined value Tset1, that is, if the predetermined value T5et1 is set as the dead zone, when the valve on time VON is greater than the dead zone, the memory for valve on time integration is cleared in step 214, and the memory for integrating the valve on time is cleared in step 214. It is output at 216.

In step 210, the valve on time VON is set to a predetermined value T.
5et1 or less, that is, when the predetermined value Hset1 is set as the dead band, when the valve on time VON is less than the dead band, the output time is added to the valve on time integration memory in step 211.

Then, in step 212, it is determined whether the valve-on time integration memory is greater than or equal to an arbitrary value TSet2, and if the valve-on time VON is smaller than the predetermined value T5et2, the valve-on time VON is set to zero in step 215, and in step 216, the valve-on time VON is set to zero. The output time of the valve on which controls the duty ratio of the valve is set to zero. In step 212, when the valve-on time integration memory is greater than or equal to an arbitrary value T5et2,
In step 213, the valve on time VON is set to an arbitrary value Ts.
et2, and set the valve-on output time for controlling the duty ratio of the valve in step 216 to an arbitrary value T5et.
Set it to 2. Then, in step 214, the memory for integrating the valve-on time is cleared.

Then, when it is not the rising timing of the duty ratio for controlling the duty ratio of the negative pressure actuator in step 203, it is determined in step 204 whether the valve-on time VON for controlling the duty ratio is zero, and the valve-on time VON is determined to be zero.
When ON is zero, control valve V1 and vent valve V2 are turned off in step 205. Also, in step 204, the valve on time VO to control the duty ratio is
When N is not zero, control valve (1) and vent valve (2) in step 216 are kept on.

At this time, the valve-on time integration memory determines whether the value is greater than or equal to an arbitrary value 5et2,
If you set it to a value larger than the dead zone, the vehicle speed deviation ■d
Even if the speed is small, hunting will not occur due to the vehicle speed.

When the resume switch SW5 is turned on for a predetermined time (here, 0.5 seconds) or more in step 217, step 2
In step 18, the "acceleration control flow" with control state S=3 is set.

Then, in step 219, the current vehicle speed is 29 kph lower than the stored vehicle speed.
It is determined whether the current vehicle speed has been decelerated by 20 km/h or more, and if the current vehicle speed has been decelerated by 20 km/h or more from the stored vehicle speed, a "cancellation control flow" with control state S=5 is set in step 220. Furthermore, in step 221, a cancellation hold flag is set (set to "H'"). Alternatively, reed switch SW2 detects the current vehicle speed in step 222.
The acceleration is detected from the output of a vehicle speed detection means such as a speed detection sensor made of a permanent magnet PM, and the acceleration when decelerated, that is, the acceleration is a predetermined negative acceleration - 3.0 km/h.
It is determined whether the acceleration is rapidly decelerated to less than /s/s, and when the acceleration is rapidly decelerated to less than the predetermined negative acceleration -3,0 km/h/s, the control state S=5 is changed in step 220.
Cancel control flow”. Furthermore, step 2
At step 21, the cancel hold flag is set (set to "'H").

Furthermore, when the set switch SW4 is turned on in step 223, the "deceleration control flow" of control state S=4 is set in step 224. When the clutch switch SW3 is turned on in step 225, the control state S=
1 or S=2. In other words, since the clutch switch SW3 has a resume function,
It is determined whether this flow is entered from either the "acceleration control flow" or the "deceleration control flow", and if this flow is entered from either of the two flows, the "clutch resume control" with control state S = 6 is determined in step 227. If not, in step 228, the "cancellation control flow" of the control state S=5 of the cancel function is set as the clutch switch SW3 is turned on. When the brake switch SW6 is turned on in step 229, a "cancellation control flow" with control state S=5 is set in step 230. Step 231 and Step 2
At step 32, the low speed limit is determined, and if the virtual vehicle speed vi is less than or equal to the predetermined control vehicle speed, the control state S=7 is set and constant speed driving control is prohibited. Then, in step 233, the process enters the vacuum pump control subroutine j.

Control state S=3: ['Acceleration control flow' This flow is
This is a flowchart for updating the constant speed of a vehicle by accelerating the vehicle during constant speed control.

First, in step 31, all valves, that is, control valve V1, vent valve V2, and release valve ■3, are turned on, the negative pressure in negative pressure chamber A1 of negative pressure actuator AC is increased, and throttle valve SV is opened, and in step 32, The speed is accelerated until the resume switch SW5 is turned off. When the resume switch SW5 is turned off, a "constant speed control flow" with control state S=2 is set in step 33,
The vehicle speed at that time is stored in the memory in step 34.

Control state S=4; Ir deceleration control flow J This flow is a flow for decelerating the controlled vehicle speed during constant speed driving control and restarting constant speed driving control, and is necessary when set switch SW4 is turned off during constant speed driving control. When it is turned on, the control state S=4 and the deceleration control flow J is entered.In step 41, it is determined whether either the clutch switch SW3 or the brake switch SW6, which has a canceling function, is on, and If even one of them is on, all valves V1, V2, and V3 are turned off in step 42, and the constant speed driving control after entering the deceleration control flow j is stopped.In step 41, the clutch switch SW3 or the brake switch is turned off. When neither SW6 switch is turned on,
In step 43, the control valve V1 and vent valve V2 are turned off, and the release valve V3 is turned on.

In this way, when the negative pressure supply from the negative pressure actuator AC is cut off, the throttle valve SV gradually closes, and the vehicle speed gradually increases. In step 44, it is detected that the set switch SW4 is turned off, and in step 45, the vehicle speed at the time when the set switch SW4 was turned off is stored. Then, in step 46, unless either the clutch switch SW3 or the brake switch SW6, which has a canceling function, is turned on again and exits from the constant speed driving control,
At step 48, the control state S=1 is set and a "full-on control flow" is entered. In other words, the deceleration control is performed using the set switch S.
Continues while W4 is turned on, and sets switch SW4
The vehicle resumes constant speed driving at the speed it was at the time it was turned off. When either clutch switch SW3 or brake switch SW6 is turned on in step 46, step 47
Set the control state S=5 with "Cancel control flow"
to go into. Then, in step 44, the set switch SW4 is
If is on, a vacuum pump flag is set (set to "Htt") in step 49.

= 23- Control state S = 5: In cancel control flow" This flow indicates that when the cancel hold flag is set, the current vehicle speed has been decelerated by 20 km/h or more from the stored vehicle speed, or
This routine is called when the acceleration is suddenly decelerated to less than the predetermined negative acceleration -3.0 km/h/s, so a cancel operation signal is input by depressing the clutch switch SW3 or the brake switch SW6. The cancel state continues until the constant speed running control is reached, and when the clutch switch SW3 or the brake switch SW6 is turned on during the processing of the "constant speed control flow" in the control state S=2, the constant speed traveling control is canceled.

In step 51, the cancel retention flag is set (“
When the cancel hold flag is set, the clutch switch SW3 or the brake switch SW6 is turned on in step 52 by depressing the clutch switch SW3 or the brake switch SW6.
Determine whether a cancel operation signal is generated. When the cancel operation signal is generated, the cancel hold flag is not needed, so in step 53 the cancel hold flag is lowered to "L"), and in step 56 all valves v1, V2, and v3 are turned off.

Also, when the cancel hold flag is lowered (“L'') in step 51, the current vehicle speed is 20 kph lower than the stored vehicle speed.
Since this is different from cancellation when the deceleration is more than m/h or the acceleration is suddenly decelerated to less than the predetermined negative acceleration -3,0 km/h/s, a clutch switch having a cancel function is used in step 54. The operation of SW3 or brake switch SW6 is confirmed, and if clutch switch SW3 or brake switch SW6 is on, all valves V1JV2, 3 are turned off in step 56 without setting the control state. Alternatively, when the clutch switch SW3 or the brake switch SW6 is turned off, the "standby state control flow" in the control state S=O is selected in step 55.

Control state S=6; F clutch resume control flow" In this flow, during the processing of "constant speed control flow" in control state S=2, clutch switch SW3 is turned on, and constant speed driving control is canceled at -1. This is the flow for entering constant speed driving control again.

First, in step 61, all valves V1, V2, and V3 are turned off, and when it is determined in step 62 that the clutch switch SW3 is turned off, in step 63, the control state S=1 (full-on control flow) is entered. enter.

Control state S=7: [r low speed limit control flow] This flow is for canceling and clearing the stored speed when the vehicle speed is lower than a predetermined speed in steps 231 and 232. In step 71, the stored vehicle speed MV is cleared, in step 72, all valves V1, (2), (3) are turned off, and in step 73, the "standby state control flow" in the control state S=O is entered.

The above is an explanation of each control state flow.

In addition, by driving the vacuum pump BP, the surge tank S
The "vacuum pump control subroutine" for accumulating and maintaining a predetermined negative pressure in T is not directly related to the gist of the present invention, and therefore its description will be omitted.

As described above, in the constant speed traveling device of the present invention, the virtual vehicle speed V1 is obtained from the pulse of the reed switch SW2 during constant speed traveling, and the control valve (1) and the vent valve (2) are opened/closed from the memorized vehicle speed MV for constant speed traveling. Valve on time V
Determine the duty ratio of ON, and set the negative pressure actuator AC
Constant speed driving control is performed by controlling the

This constant speed running control is canceled when either the clutch switch SW3 or the brake switch SW6, which has a cancel function, is turned on and a cancel operation signal is input to the electronic control circuit CPU. Can be done.

In addition, clutch switch SW3 and brake switch S
Even if no cancel operation signal is input to the electronic control circuit CPU from any switch of W6, when the vehicle speed deviation becomes larger than 2Qkm/h during constant speed driving control,
Or a negative acceleration of more than a predetermined value, i.e. -3.0km/
When a sudden deceleration of less than h/s is detected, the constant speed traveling control is stopped, and the signal type that caused the stop is stored in a flag, so that the clutch switch SW3 or brake switch SW6 is subsequently activated. The cancel state continues until a cancel operation signal is input and the memory stored in the flag is erased.

Therefore, the electronic control circuit CP can be accessed from either the clutch switch SW3 or the brake switch SW6.
Even if a situation occurs in which a cancel operation signal is not input to U, or even if the vehicle speed deviation does not increase to 20 km/h or more during constant speed driving control, a negative acceleration of more than a predetermined value, i.e. -3 , If a sudden deceleration of 0km/h/s or less is detected, constant speed driving control can be canceled.
Moreover, since the canceled state can be maintained, the driver can avoid re-entering constant speed driving without knowing that there is an abnormality in the electrical system of clutch switch SW3 and brake switch SW6, and fail-safe control can be done.

The constant speed traveling device of the above embodiment includes vehicle speed detection means such as a speed detection sensor consisting of a reed switch SW2 and a permanent magnet PM that detects the current traveling vehicle speed, and an electronic control circuit that stores the speed of the traveling vehicle traveling at a constant speed. a storage means such as a memory built into a microcomputer, and a negative pressure actuator A that controls the opening and closing of the throttle valve SV.
and an electronic control circuit CPLJ consisting of a microcomputer or the like that controls the actuator means in a direction to eliminate the vehicle speed deviation based on the vehicle speed deviation based on the stored vehicle speed and the current vehicle speed. In the traveling device, when a negative acceleration of a predetermined value or more is detected during constant speed traveling control, the constant speed traveling control is stopped, and then the constant speed traveling control is stopped until a cancel operation signal is input from clutch switch SW3 or brake switch SW6. The canceled state will continue.

Therefore, even if a situation occurs in which a cancel operation signal is not input from the clutch switch SW3, brake switch SW6, etc., or even if a situation occurs in which the vehicle speed deviation does not become larger than a predetermined value during constant speed driving control, the When negative acceleration is detected, constant speed driving control can be canceled. Moreover, since the canceled state can be maintained, it is possible to avoid the driver from starting to drive at a constant speed again without knowing that there is an abnormality in the electrical system.

In addition, when a negative acceleration of a predetermined value or more is detected, constant speed driving control can be canceled.
Fail-safe control can be performed even under acceleration control conditions.

By the way, in the constant speed traveling device of the above embodiment, when a negative acceleration of a predetermined value or more is detected during constant speed traveling control, the constant speed traveling control is stopped, and then the clutch switch SW is
3 or until a cancel operation signal is input from the brake switch SW6. The acceleration is determined by the output of a vehicle speed detection means such as a speed detection sensor consisting of a reed switch SW2 and a permanent magnet PM. However, when implementing the present invention, other acceleration sensors may be installed. This may be done by determining the operation of the acceleration sensor.

Further, the determination when a negative acceleration of a predetermined value or more is detected during constant speed driving control can be made when the acceleration becomes a predetermined change pattern. Alternatively, it can be determined when the differential value of acceleration becomes less than or equal to a predetermined negative value.

The means for continuing the canceled state until a cancel operation signal is input is configured with an electronic control circuit CPU consisting of a microcomputer, etc.; however, when carrying out the present invention, a memory constituting the microcomputer is used. or may be stored in an external flip-flop or the like.

In addition, in the constant speed traveling device according to the embodiment of the present invention, the memorized vehicle speed M
The electronic control means that compares v and the virtual vehicle speed ■i and controls the actuator means in a direction to eliminate the vehicle speed difference is an electronic control circuit C such as a single-chip microcomputer.
Although the present invention is implemented using a PU, it is not limited to the single-chip microcomputer described above.

In addition, in the above embodiment, as a means of calculating the vehicle speed deviation, the stored vehicle speed in which the traveling speed of constant speed driving is set is compared with the virtual vehicle speed, but the virtual vehicle speed is the current vehicle speed at the time of comparison. Since detection is substantially difficult due to the delay in signal processing time, a value calculated in consideration of the delay in signal processing is used.

However, when implementing the present invention, the vehicle speed at the time of detection may be used. In this case as well, it is a virtual speed because it does not match the actual vehicle speed. Alternatively, as a means for calculating the vehicle speed deviation, the vehicle speed deviation may be calculated by comparing the stored vehicle speed at which the traveling speed during constant speed driving is set and the current vehicle speed.

[Effects of the Invention] As described above, the constant speed traveling device of the present invention includes a vehicle speed detection means for detecting the current traveling vehicle speed, a storage means for storing the traveling vehicle speed at a constant speed, and control for opening and closing of the throttle valve. and an electronic control circuit that controls the actuator means in a direction to eliminate the vehicle speed deviation based on the vehicle speed deviation based on the stored vehicle speed and the current vehicle speed, When an acceleration is detected, the constant speed running control is stopped, and the canceled state is continued until a cancel operation signal is input.

Therefore, even if a situation occurs in which a cancel operation signal is not input, or even if a situation occurs in which the vehicle speed deviation does not become larger than a predetermined value during constant speed driving control, if a negative acceleration of a predetermined value or more is detected, the Speed running control can be canceled and control corresponding to actual running conditions becomes possible. Moreover, since the released state can be maintained, the driver can avoid re-entering constant speed driving without knowing that there is an abnormality in the electrical system. Fail-safe control can be performed even if

[Brief explanation of the drawing]

FIG. 1 is an overall configuration diagram of a constant speed traveling device according to an embodiment of the present invention, and FIGS. 2 to 12 are flowcharts of constant speed traveling control operations of the electronic control circuit. In the figure, BP...Vacuum pump, SV...Throttle valve, AC...Negative pressure actuator, ST...Surge tank, CPU...Electronic control circuit, ■1...Control valve, V2... ...Vent valve, ■3...Release valve. In addition, in the figures, the same reference numerals and the same symbols indicate the same or equivalent parts. S=2

Claims (2)

[Claims] (1) Vehicle speed detection means for detecting the current traveling vehicle speed, storage means for storing the traveling vehicle speed at a constant speed, actuator means for controlling the opening and closing of the throttle valve, and a device based on the stored vehicle speed and the current vehicle speed. In a constant speed traveling device comprising an electronic control circuit that controls the actuator means in a direction to eliminate the vehicle speed deviation depending on the vehicle speed deviation, when a negative acceleration of a predetermined value or more is detected during constant speed traveling control, the constant speed traveling is stopped. A constant speed traveling device characterized by canceling control and then continuing the canceled state until a cancel operation signal is input. (2) The constant speed traveling device according to claim 1, wherein the negative acceleration is detected by the output of a vehicle speed detection means of the current traveling vehicle speed. (3) The constant speed traveling device according to claim 1, wherein the negative acceleration is detected using the output of an acceleration detector.