JPH0295930A - Running control device - Google Patents

Abstract

PURPOSE:To reduce the burden to a car driver at the time of traffic stagnation by furnishing a computer unit, which makes operational controls of a brake control device, advancing direction and obstacle sensing device, and steering driving device and which adjusts engine output through opening control of a throttle valve. CONSTITUTION:A computer unit 1 is installed on a running control device equipped with a throttle valve driving device (motor) 4 to control the engine output, a brake control device 51, an advancing direction sensing device 20 for an ahead running car, a steering driver device 30 to control the advancing direction of own car, a steering sensor 35, and an obstacle sensing device 40. Through opening control of the throttle valve 3 the computer unit 1 adjusts the engine output so that the car speed with the brake out of stamping is held at a specified value when the slow running mode is set. This mode is disengaged with further steering operation to cause restitution to the normal running mode, and the car is automatically stopped through control of brakes.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a travel control device that controls the travel of a vehicle by operating engine output, steering, brakes, etc.

[Conventional technology]

Conventionally, the speed of a vehicle has been adjusted by the driver stepping on the accelerator pedal, opening and closing the throttle valve of the engine via an accelerator wire connected to the accelerator pedal, and directly adjusting the engine output.

Recently, as shown in Isuzu Technical Report No. 72, P7 to P20, the amount of depression of the accelerator pedal is detected by a sensor, and the throttle valve is driven and controlled by a motor or the like according to the detected output to adjust the engine output. A system has been announced.

As shown in FIG. 2, this system detects the output of the accelerator pedal sensor 10 with a computer unit 1 and performs signal processing to read the driver's intention. Drives the motor 4 that adjusts the opening of the throttle valve 3 based on information from an engine rotation sensor 8 that detects the rotation speed of the engine 17, a gear position sensor 18, a vehicle speed sensor 9, a tarlatch position sensor 19, etc. Easy drive and low fuel consumption are achieved by controlling the engagement and engagement of the clutch 14 and the gear position of the transmission 6.

Further, the steering of the vehicle is performed by directing the steering wheels in the direction desired by the driver through the operation of the steering wheel by the driver.

(Problem to be Solved by the Invention) Since the conventional driving control device is configured as described above, when the road is congested and the driving state is such that the driver repeatedly starts and stops at a slow speed, the driver does not press the accelerator. It is necessary to repeat the action of stepping on the brake.

Also, congested roads are not necessarily straight roads;
It is also necessary to pay close attention to steering operations, constantly making subtle adjustments to the direction of travel of the vehicle in the direction of traffic flow.

When driving on a congested road for a long time, these operations cause not only physical fatigue but also mental fatigue for the driver, making it easy to cause a collision.

This invention was made to solve the above-mentioned conventional problems, and it not only reduces driver fatigue when driving at slow speeds such as on congested roads, but also allows drivers to drive safely. The purpose is to obtain a travel control device that allows a vehicle to be driven as intended.

[Means to solve the problem]

The driving control device according to the present invention includes a brake control device, a traveling direction detection device, an obstacle detection device, a steering drive device, and an accelerator depression amount when the driver is not pressing the brake when setting the slow speed driving mode. The opening of the throttle valve is controlled so that the vehicle speed reaches a predetermined speed regardless of the vehicle speed, and the opening of the throttle valve is controlled to match the traveling direction of the vehicle in front according to the detection signal of the traveling direction detection device. Cancels fast driving mode and activates the brake control device when a preceding vehicle or obstacle is detected.
This system is equipped with a computer unit that allows the computer to operate.

[Function] The computer unit according to the present invention reads the command when the slow speed driving mode is set, and if the driver does not depress the brake, the vehicle speed is set to the specified speed regardless of the time between depressing the accelerator pedal. The throttle valve is controlled to adjust the engine output so that the engine output is maintained at the same time, and the automatic transmission is controlled to make the vehicle run so that the direction of travel of the own vehicle is aligned with the direction of travel of the preceding vehicle according to the detection signal of the direction of travel detection device. When the driver operates the steering wheel while driving at a slow speed, the steering drive device is controlled so that the driver operates the steering wheel in the same direction as when driving at a slow speed. When the obstacle detection device detects an obstacle including a preceding vehicle within a predetermined distance in front of the vehicle, the brake control device is activated to stop the vehicle.

〔Example〕

Embodiments of the present invention will be described below with reference to the drawings. 1st
In the figure, 50 is a brake pedal sensor that detects the amount of depression when the driver steps on the brake, and uses, for example, a variable resistor type sensor.

Reference numeral 20 denotes a traveling direction detection device for detecting the traveling direction of the preceding vehicle, which collects images in front of the vehicle in the traveling direction with two video cameras 21 and 22 installed on the left and right sides around the axis of the vehicle. 2 video cameras by 23 21.22
The position of the vehicle in front relative to the own vehicle is determined by performing a correlation analysis on the image obtained by the system.

Reference numeral 1 denotes a computer unit te as a control means, a signal of a brake pedal sensor 50, and a traveling direction detecting device 20.
In addition to the output signal, a lever position signal is input from a selector lever position sensor 7, an engine rotation speed is input from an engine rotation sensor 8, and a vehicle speed is input from a vehicle speed sensor 9.

The transmission 6 is an automatic transmission with a fluid-coupled so-called torque converter, but it can also be of the type that uses a plate-shaped clutch to intermittent power and selects the gear position as in the past, and is continuously variable transmission. It may also be a combination of a machine and a clutch.

Reference numeral 3 denotes a throttle valve, which is driven by a motor 4 serving as a throttle valve driving device to adjust the opening degree.

Motor 4 is controlled by computer unit 1.

The computer unit I also includes a slow running mode setting switch (not shown), a turn signal switch 11,
Each signal from a throttle opening sensor 5 that detects the throttle valve degree is input.

The steering drive device 30, which is connected to the steering shaft 32 through a gear 31, is a motor that generates a predetermined rotational torque, and rotates the steering shaft 32 in accordance with a command from the computer 1-yto1 to drive the vehicle. change the direction of travel.

The steering sensor 35 detects the steering angle of the steering shaft 32 and inputs it to the computer unit l. Furthermore, a signal from the computer knee)l[llQ harmful object detection device 40 is inputted.

The obstacle detection device 40 is of a type that, for example, emits ultrasonic waves and measures the distance to the obstacle based on the time it takes for the reflected waves to return.

The motor 4 is driven by the output of the computer unit l,
In addition to controlling the steering drive device 3o, the output of the computer unit is also applied to the brake control device 51 to drive the brakes. The brake can be operated using the hydraulic pressure obtained by operating a hydraulic pump using the negative pressure of the engine or the rotational force of the engine.

Further, the output of the computer unit 1 drives a display device (not shown) such as a buzzer or a lamp to inform the driver of the status.

Next, the operation will be explained. First, when the slow running mode setting switch is off, the computer unit 1 drives the motor 4 in the normal driving mode so that, for example, the throttle valve 3 basically opens in proportion to the amount of accelerator depression.

If the vehicle enters a congested road and repeatedly starts and stops, and the driver turns on the slow-speed mode setting switch, the system will enter slow-speed mode.

In the slow driving mode, the traveling direction detection device 20 always measures the position of the vehicle in front within a predetermined distance, for example, Ion, and the computer unit 1 detects the deviation of the rear center line of the front vehicle from the center of the image.
is being input. If you cannot confirm the location of the vehicle in front of you,
The slow running mode is canceled and the vehicle returns to the normal running mode.

The position of the vehicle in front is confirmed, the driver releases the brake pedal, and the computer unit 1 determines the driver's depression of the brake from the signal from the brake pedal sensor 50. If the driver does not press the brake, the computer unit 1 is programmed in advance. The motor 4
and the transmission 6 is controlled (starting from starting if the vehicle is stopped) to a predetermined speed, for example 20h/
Run at h.

The speed change and acceleration pattern at this time are set by the computer unit 1, regardless of the driver's accelerator operation. When the driver depresses the brake and the brake pedal sensor 50 detects the depressing of the brake, the computer unit 1 stops the movement of the motor 4 and maintains the opening degree of the throttle valve 3 at the state before depressing the brake, or The motor 4 is driven in response to the output signal of the pedal sensor 50 to control the throttle valve 3 in the closing direction.

Therefore, in driving conditions below a predetermined speed, the vehicle speed is adjusted only by the driver's brake operation.

When the computer unit 1 receives a signal from the traveling direction detection device 20 indicating that the vehicle in front has moved, for example, to the left from the center of the image, the computer unit 1 controls the steering drive device 30 to rotate the steering shaft 32 in the left turning direction. The direction of travel of the vehicle is turned to the left, and conversely, if the vehicle moves to the right, the vehicle is turned to the right so that the signal from the direction of travel detection device 20 becomes zero, that is, the deviation in the direction of travel from the vehicle in front becomes zero. feedback control.

As a result, in the slow driving mode, the vehicle always follows the vehicle in front, and therefore does not require any steering operation by the driver.

By the way, when the driver wishes to change lanes while driving in the slow driving mode, or when the driver discovers an obstacle and operates the steering wheel to avoid it, the computer unit 1 detects the steering sensor 35.
Detects the driver's intention from changes in the steering angle signal,
Release steering control and exit from slow driving mode.

From then on, the vehicle will travel according to the driver's normal driving.

Further, the output of the obstacle detection device 40 is input to the computer unit 1, and if the obstacle detection device 40 detects an obstacle within a predetermined area in front, for example, within 1 meter, the brake control device 51 applies the brakes. to prevent the vehicle from starting regardless of whether the accelerator is operated. This occurs both during normal operation and during slow travel mode.

If the slow running mode setting switch is on, the select lever is in drive, 1st or 2nd gear, and the output of the obstacle detection device 40 is giving a signal that there is no obstacle, the computer After the unit l detects the change from the driver's brake pedal depression state to the brake pedal release state based on the signal input from the brake pedal sensor 50, the unit l starts opening the throttle valve 3 by the motor 4 to increase the engine output and loosen the brake. The brake control word ff51 is commanded to do so.

When the vehicle starts, the vehicle speed increases according to a predetermined pattern, and the throttle valve 3 is activated to maintain a constant speed.
Adjust the opening.

In this manner, when starting the vehicle from a stopped state, the driver notifies the computer unit 1 of his/her intention to start by releasing the brake pedal. Even if the driver releases the brake pedal when an obstacle is present, the computer unit 1 will of course continue to command the brake control device 51 to apply the brakes. Even if the obstacle is subsequently removed, the vehicle will not start unless the driver depresses the brake to release it.

When the obstacle detection device 40 detects an obstacle within a predetermined area while the vehicle is running, the computer unit 1 issues a command to return the throttle valve 3 and operate the brake. After the obstacle has been removed, if the traveling direction detection means 20 detects a vehicle in front within a predetermined distance, when the driver performs the operation of releasing the play 4 pedal, the computer unit 1 opens the throttle valve 3 again, and Release the brake and give the command to start.

When the traveling direction detecting means 20 cannot confirm the position of the vehicle in front of the vehicle, that is, when the vehicle in front of the vehicle has already moved away, the slow running mode is canceled and the mode becomes normal running mode. A display device such as a buzzer notifies the driver when the slow speed driving mode is cancelled.

When the slow running mode setting switch is turned off, the slow running mode is canceled and the mode returns to normal mode.

It is preferable to cancel the slow running mode also when the turn signal switch 11 is turned on.

This is because when changing routes by issuing a turn signal or making a right or left turn, it is often necessary to get out of a traffic jam, and when turning right at an intersection, it is necessary to exit the intersection quickly because there are cars going straight ahead. Because there is.

〔Effect of the invention〕

As described above, according to the present invention, if the driver does not depress the brake during slow driving mode, the computer unit controls the throttle valve to maintain the vehicle speed at a predetermined speed regardless of the amount of accelerator pedal depression. Since the structure is configured so that when driving during road congestion, the vehicle can be started by simply operating the brake by setting the slow speed driving mode.
It is possible to stop the vehicle, and it is possible to drive easily even when there are slight changes in the driving route without the need for steering operations.

Furthermore, the steering drive device is configured to be controlled by the computer unit so that the traveling direction of the own vehicle is the same as the traveling direction of the preceding vehicle according to the detection signals of the traveling direction detection device and the obstacle detection device. Even if the driver is not looking ahead, the vehicle can automatically stop when a person or vehicle approaches, reducing driver fatigue during traffic jams and allowing safe driving.

Furthermore, when the driver operates the steering wheel while driving at a slow speed, the configuration cancels the slow speed driving mode and returns to the normal driving mode, so even if the driver operates the steering wheel even in the slow speed driving mode, The slow driving mode is canceled and the driver can drive the vehicle as intended.

[Brief explanation of drawings]

FIG. 1 is a block diagram of a travel control device according to an embodiment of the present invention, and FIG. 2 is a block diagram of a conventional travel control device. DESCRIPTION OF SYMBOLS 1... Computer unit, 3... Throttle valve, 4... Motor (throttle valve drive device), 20...
・Direction of travel detection device! , 30... Steering drive device, 35... Steering sensor, 40... Obstacle detection sensor, 50... Brake pedal sensor, 51...
・Flake control device. In addition, in the figures, the same reference numerals indicate the same or equivalent parts. Agent Masuo Oiwa 1 Figure 2 '5: Throttle valve 4: Motor 20; Direction of travel detection device 30; Steering drive device 55; Steering sensor 2; Name of the invention 3. Procedural amendment written by the person making the amendment (voluntary) Detailed description of the invention in the specification subject to amendment of the traveling control device and Drawing 6 Contents of the amendment (1) “(not shown)j” on page 7, line 13 of the specification is corrected to "2". (2) Page 8, line 19, page 9, line 5, page 12, line 3, page 13, line 2
Correct "switch" in line 0 to "switch 21." (3) Correct figure 1 of the drawing as shown in the attached sheet. 7. Attached document catalog correction drawing 1 copy 5゜Representative 4, agent address Tokyo 2-2-3 Marunouchi, Chiyoda-ku

Claims (1)

[Claims] A throttle valve drive device that controls engine output by driving the throttle valve, which is structurally disconnected from the accelerator pedal, a brake control device that controls the brakes, and a direction detection device that detects the direction of travel of a vehicle traveling ahead. a steering drive device that controls the direction of travel of the vehicle;
A steering sensor that detects the steering angle of the steering wheel, an obstacle detection device that detects obstacles within a predetermined distance in front of the vehicle, and in slow driving mode, the brakes will not be applied if there is no steering operation by the driver. The engine output is adjusted by driving the throttle valve to adjust the engine output so that the vehicle speed at the time becomes a predetermined value, and the steering drive device is controlled to control the traveling direction of the own vehicle in the same direction as the traveling direction of the preceding vehicle. A computer unit that cancels the slow speed driving mode when operated, and controls the brakes to stop the vehicle when the obstacle detection device detects an obstacle within a predetermined distance in front of the vehicle. Control device.