JPH0295931A - 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 adjusts the car speed through opening control of a throttle valve, while the car is in the slow running mode, and which makes operational controls of a brake control device, advancing direction and obstacle sensing device, and steering driving device. CONSTITUTION:A computer unit 1 is installed on a running control device equipped with a steering driver device 30 to control the advancing direction of own car, 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, 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. Control of the own car advancing direction and brake control for automatic stop are made with further drive and control of a series of automatic transmissions.

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 adjusting engine output, steering, flakes, 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, sensors have been used to detect the accelerator pedal depression plate as shown in Isuzu Technical Report No. 72, P7 to P20.
A system has been announced that adjusts the engine output by controlling the throttle valve using a motor or the like in accordance with the detected output.

As shown in Fig. 2, this system detects the output of the accelerator pedal sensor 1O with a computer unit 1 and performs signal processing to read the driver's intention, and also reads the driver's intention, selector lever position sensor 7, and coolant temperature sensor 1.
2. Engine rotation sensor 8 that detects the rotation speed of the engine 17. Gear position sensor 18. Based on the information from the vehicle speed sensor 9 and clutch position sensor 19, etc., it drives the motor 4 that adjusts the opening of the throttle valve 3, controls the engagement and disengagement of the clutch 14, and the gear position of the transmission 6. We are trying to achieve low fuel consumption.

Further, the steering of the vehicle is performed by the driver operating the steering wheel to direct the steering wheel in the direction desired by the driver.

[Problem to be solved by the invention]

Conventional driving control devices are configured as described above, so when the road is congested and the vehicle is running at slow speeds, starting and stopping repeatedly, the driver has to repeatedly press the accelerator and brake. be.

In addition, congested roads are not necessarily straight roads, and it is necessary to pay careful attention to steering operations to constantly make 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 rear-end collision.

This invention was made to solve the above-mentioned problems, and its purpose is to provide a driving control device that can reduce driver fatigue and ensure safe driving when driving at slow speeds such as on congested roads. shall be.

[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 to maintain a predetermined vehicle speed regardless of the vehicle speed, and the vehicle is aligned with the traveling direction of the vehicle in front according to the detection signal of the traveling direction detection device. The system is equipped with a computer unit that operates the brake control device.

[For production]

In the computer unit of this invention, when the slow driving mode is set, the computer reads the command and maintains the vehicle speed at the specified speed regardless of the amount of depression of the accelerator pedal unless the driver depresses the brake. Control the throttle valve 61L to adjust the engine output, control the automatic transmission to make the vehicle run, and make sure that the traveling direction of the own vehicle is the same as the traveling direction of the preceding vehicle according to the detection signal of the traveling direction detection device. If the obstacle detection device detects an obstacle, including a preceding vehicle, within a predetermined distance in front of the vehicle while driving at a slow speed, the brake control device is activated to stop the vehicle. let

〔Example〕

An embodiment of the present invention will be described below with reference to the drawings. In FIG. 1, 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 that detects the traveling direction of the preceding vehicle. Two video cameras 21 and 22 installed on the left and right sides around the axis of the vehicle collect an image of the vehicle traveling direction 11. Two video cameras 21.
22, the position of the preceding vehicle with respect to the own vehicle is determined.

Reference numeral 1 designates a computer unit as a control means, which receives a lever position signal from a select lever position sensor 7 and an engine rotation speed from an engine rotation sensor 8 in addition to a signal from a brake pedal sensor 50 and an output signal from a traveling direction detection device 20. , the vehicle speed is input from the vehicle speed sensor 9, respectively.

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 l also includes a slow running mode setting switch (not shown) and a turn signal switch 1.
1. Throttle opening sensor 5 that detects throttle opening
Each signal is manually generated.

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 response to a command from the computer unit 1 to determine the direction of travel of the vehicle. change.

Furthermore, a signal from an obstacle detection device 40 is input to the computer unit 1 . This obstacle detection device 40
This is a type of device that measures the distance to an obstacle by emitting ultrasonic waves and measuring the time it takes for the reflected waves to return.

The output of the computer unit 1 drives the motor 4;
In addition to controlling the steering drive device 30, the output of the computer unit 7 is also applied to the brake control device 51 to drive the brakes. The brake can be operated by 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 I drives a display device (not shown) such as a buzzer or a lamp for notifying the driver of the status. In addition, 17 is the engine, 9
1 is a vehicle speed sensor, and 12 is a cooling water temperature sensor.

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

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

In the slow running mode, the traveling direction detection device 2o always measures the position of the vehicle in front within a predetermined distance, for example, 10 meters, and inputs the deviation of the rear center line of the front vehicle from the center of the image to the computer unit 71. . If the position of the vehicle in front cannot be confirmed, the slow speed mode is canceled and the vehicle returns to the normal mode.

) 171 The position of the vehicle is confirmed, the driver releases the brake pedal, and the computer unit l determines the driver's brake 1M application status from the signal of the brake pedal sensor 50. If the brake pedal is not depressed, the computer unit l The motor 4 and the transmission 6 are controlled by a preprogrammed direction (starting from starting if the vehicle is stationary) to a predetermined speed, e.g.
Travel at km/h.

The speed and acceleration pattern at this time are completely independent of the driver's accelerator operation and are determined by the computer.

It is set by the control l. 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 brake pedal sensor 50
The motor 4 is driven in response to the output signal of the throttle valve 3.
is controlled in the closing direction. Therefore, in driving conditions below a predetermined speed, the vehicle speed is adjusted only by the driver's good braking performance.

Computer unit) 1 is from the traveling direction detection device 20)
1; When a signal is input indicating that the car has moved, for example, to the left from the center of the image, the steering shaft 32 is moved in the left turning direction.
The steering drive device 30 is controlled to rotate the direction of travel of the vehicle, so that the direction of travel of the vehicle is turned to the left, and conversely, if the vehicle moves to the right, the steering drive device 30 is controlled to rotate the direction of travel of the vehicle.
Feedback control is performed so that the signal is zero and the deviation in the direction of travel from the vehicle in front is zero.

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

Further, the output of the obstacle detection device 40 is input to the computer unit l, and if the obstacle detection device 40 detects an obstacle within a predetermined area in front, for example, within lrn, the brake control device 51 will brake the obstacle. 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 speed, or 2nd speed, and the output of the obstacle detection device 40 is outputting a signal that there is no obstacle, the computer After the unit 1 detects a 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 1 starts to open the throttle valve 3 by the motor 4, increases the engine output, and also releases the brake pedal. The brake control device 51 is commanded to loosen.

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

In this way, 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 natural combiator unit l continues to command the brake control f1gAf51 to operate the brake.

After this, even if the obstacle is removed, the vehicle will not start unless the driver depresses the brake to release it.

When the RA obstacle detection device 40 detects an obstacle within a predetermined area while the vehicle is running, the combiator 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 releases the brake pedal, the computer unit 1 opens the throttle valve 3 again and releases the brake. Loosen,
Gives a start command.

If the traveling direction detection means 20 cannot detect the position of the vehicle in front, that is, if the vehicle in front has already driven away,
The slow running mode is canceled and the vehicle returns to normal running mode.

l! A display device such as a buzzer notifies the driver when the speed driving mode is cancelled.

Furthermore, when the slow running mode setting switch is turned off, the slow running mode is canceled and the mode shifts to the 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 you use a turn signal to change routes, turn right or left, you often need to get out of a traffic jam, and when you turn right at an intersection, you have to exit the intersection quickly because there are cars going straight ahead. This is because it is necessary.

〔Effect of the invention〕

As described above, according to the present invention, if the driver does not depress the brake during the slow driving mode, the throttle valve drive device is driven by the computer unit to achieve a predetermined vehicle speed regardless of whether the accelerator pedal is pressed. Since the configuration is configured to control the opening of the throttle valve, when driving during road congestion, the vehicle can be started and stopped simply by operating the brakes by setting the slow speed mode, making it possible to control the delicate driving route. Easitribe is possible without the need for steering operation even in response to changes.

In addition, since the vehicle is configured 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, it is possible to detect people or cars even if you are not looking ahead. It will automatically stop when it approaches. Therefore, it is possible to reduce driver fatigue during traffic jams, and there is an effect that safe driving can be achieved.

[Brief explanation of the drawing]

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. l... Computer unit, 3... Throttle valve, 4... Motor (throttle valve drive device) 20.
... Traveling direction detection device, 30... Steering drive device, 40... Obstacle sensor, 50... Brake pedal sensor, 51... Brake control device. In addition, in the figures, the same reference numerals indicate the same or equivalent parts.

Claims (1)

[Claims] a steering drive device that controls the direction of travel of the vehicle;
A throttle valve drive device that controls engine output by driving the accelerator pedal and the mechanically disconnected throttle valve, 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 device;
An obstacle detection device detects obstacles within a predetermined distance in front of the vehicle, and in slow driving mode, the engine output is controlled by driving a throttle valve so that the vehicle speed reaches a predetermined value when the brake is not pressed. when the obstacle detection device detects an obstacle within a predetermined distance in front of the vehicle; A travel control device that includes a computer unit that controls the brakes and stops the vehicle.