JPH0516698A - Automatic drive controller - Google Patents

Abstract

PURPOSE:To set a proportional gain to its optimum state so as to save the required number of processes for adaptation by providing a gain decrease indication means which decreases a proportional gain by a predetermined value for a throttle valve control portion when hunting is detected by a hunting detection means. CONSTITUTION:An automatic drive controller is provided with a gain increase indication means 2 which increases the proportional gain of the difference between target vehicle speed and actual speed for a throttle valve opening control portion 1 as time elapses, and a hunting detection means 3 for detecting hunting of the actual speed through acceleration computed from the actual speed detected by a vehicle speed detector. When hunting is detected by the hunting detection means 3, the proportional gain is decreased by a predetermined value by a gain decrease indication means 4 for the throttle valve opening control portion 1.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automatic drive device which is convenient when traveling on a highway for a long time. When the switch is turned on, the throttle valve throttle is automatically adjusted according to changes in traveling resistance. It keeps the running speed constant. In particular, the present invention refers to an improvement of the automatic drive control device that facilitates setting of a proportional constant for controlling the throttle of the throttle valve.

[0002]

2. Description of the Related Art FIG. 7 is a diagram showing a conventional automatic drive control device. It should be noted that the same constituent elements are denoted by the same reference numerals or symbols throughout the drawings. In the configuration shown in the figure, a control switch 5 for setting and resetting an automatic drive device, a vehicle speed detector 6 for detecting a vehicle speed (V _n ) of an automobile, an engine 7 to be controlled,
Target vehicle speed (V _o ) when the control switch 5 is set and actual speed (V _n ) from the vehicle speed detector 6
And a throttle valve opening control unit 1 that controls the throttle valve opening of the engine 7 at least in proportion to the difference.

Next, the operation will be described. When the driver presses the set switch of the control switch 5, the self-holding circuit is activated, and the initial throttle opening corresponding to the set vehicle speed (target vehicle speed) V _o at that moment is set in the memory circuit.
Next is determined the optimum value Vθ of the throttle valve opening degree is compared actual speed V advance speed is derived from the _n like V _sk in the previous set vehicle speed V _o obtained from the vehicle speed detector 6, this optimal opening Depending on the degree, an acceleration control circuit or deceleration control circuit (not shown) actuates an actuator via a control relay to adjust the throttle valve opening of the engine 7.

Here, the optimum value Vθ of the throttle valve opening
Is derived as follows.

[0005]

[Equation 1]

The initial throttle valve opening is set when the control switch 5 is set, and is the required opening when the deviation (V _o -V _sk ) is zero. V _o : Set vehicle speed (target vehicle speed) V _sk : Advance vehicle speed G: Proportional gain. Further, the advance vehicle speed _Vsk is expressed by the following equation.

[0007]

[Equation 2]

Here, T _{A is} the delay time constant of the actuator ΔV _{n is the} acceleration V _{n is the} actual speed.

[0009]

However, in the conventional automatic drive control device, the vehicle is actually driven to set the proportional gain G which constitutes the optimum value Vθ of the throttle valve opening represented by the equation (1). Therefore, there is a problem in reducing the number of man-hours required for conformance because a conformance test that optimizes it is required.

Further, it is adapted to a low value with a sufficient margin for hunting in consideration of vehicle variations and the like, so that there is a problem that responsiveness is delayed even when the road surface changes. Therefore, in view of the above problems, it is an object of the present invention to provide an automatic drive control device that facilitates setting of the proportional gain G and is excellent in responsiveness.

[0011]

FIG. 1 is a diagram showing the principle configuration of the present invention. The present invention has a gain increase instruction means 2, a hunting detection means 3 and a gain decrease instruction means in an automatic drive control device in order to solve the above problems. The gain increase instruction means 2 increases the proportional gain of the difference between the target vehicle speed (V _o ) and the actual speed (V _n ) with respect to the throttle valve opening control unit 1 with the passage of time when the control switch 5 is set. Excuse me.

[0012] hunting detection means 3 detects the hunting of the actual velocity (V _n) to the actual velocity (V _n) acceleration obtained from the vehicle speed detector 6 (ΔV _n). The gain reduction instruction means 4 causes the throttle valve control section to reduce the proportional gain by a predetermined value when hunting is detected by the hunting detection means 3.

[0013]

In FIG. 1, according to the automatic drive control apparatus of the present invention, when the front control switch is set by the gain increasing instruction means 2, the target vehicle speed (V _o ) in the throttle valve opening control section 1 and When the proportional gain of the difference between the actual speeds (V _n ) increases with the passage of time and the hunting detection means 3 detects a hunting sign, the gain reduction instructing means 4 reduces the proportional gain by a predetermined value to cause hunting. Is prevented,
It does not require a conventional conformance test, and can be set to an optimal range as compared with the conventional one.

[0014]

Embodiments of the present invention will be described below with reference to the drawings. FIG. 2 is a diagram showing an automatic drive control device according to an embodiment of the present invention. The configuration of this figure will be described. The auto drive control device of this figure has a control switch 5 for setting / resetting the auto drive device, a vehicle speed detector 6 for detecting the vehicle speed of an automobile, an engine 7 to be controlled, and the control switch 5 set. And the throttle valve opening control unit 1 obtained from the above equations (1) and (2) using the target speed V _o and the actual speed V _n from the vehicle speed detector 6 and the throttle valve opening control unit. The proportional gain G in 1 is increased with time as follows,

[0015]

[Equation 3]

Here, A and B: a positive constant t: time: a throttle valve opening control unit 1 for performing arithmetic processing
And when the control switch 5 is set, the equation (3) is applied to the throttle valve opening control unit 1.
Allowed to increase the proportional gain G with time as shown in the gain increase instruction unit 2, the actual velocity V _n by the acceleration [Delta] V _n obtained from the actual speed V _n of the vehicle speed detector 6
Of the hunting detecting means 3 for detecting the hunting, and a proportional gain G obtained by a predetermined value expression (3) for the throttle valve opening control section 1 when the hunting is detected by the hunting detecting means 3. Decrease the gain by a predetermined value as shown below.

[0017]

[Equation 4]

C: Includes a gain reduction instruction means 4 for reducing by a positive constant. Figure 3
FIG. 4 is a diagram illustrating control characteristics of this embodiment. As shown in the figure, when the control switch 5 is in the reset state, the proportional gain G is the conventional proportional gain G = B. However, when the control switch 5 is set, the gain increase instruction means 2 controls the throttle valve opening degree. In the part 1, the proportional gain G becomes G = A × t + B and increases with the passage of time. When the proportional gain G increases and reaches a certain value G _x , the effect of feedback becomes too strong and the vehicle speed shows a hunting sign. In order to weaken the effect of feedback, the proportional gain G is reduced by the predetermined value C by the gain reduction instruction means 4 which has been detected by the detection means 3 and which has received this hunting detection signal, so that G = A × t + BC.
Therefore, the hunting sign disappears. After that, the proportional gain G is increased by the gain increase instruction means 2 with the lapse of time, and the above operation is repeated. Thus, the proportional gain G is set to a high gain immediately before the occurrence of hunting.

FIG. 4 is a diagram showing hunting detection characteristics. In the hunting detection means 3, the acceleration ΔV _n is calculated from the vehicle speed V _n from the vehicle speed detector 6, and, for example, as shown in the figure, the acceleration ΔV _n exceeds +0.2 km / h / s at the time point A and exceeds it. Within ΔT (eg, 3 seconds) from point B, acceleration Δ
When V _n exceeds -0.2 km / h / s, a hunting detection signal indicating that there is a hunting sign is output. Therefore, even if ΔV _n is increased to the positive side even after ΔT, or if it exceeds −0.2 km / h / s after ΔT, hunting does not occur. This is to distinguish it from the speed control of a normal auto drive control device. When it is determined that hunting has occurred, the proportional gain G decreases, so that the hunting sign disappears as shown in the figure. Although the above description has been made for the case where the acceleration ΔV _n changes from the point A to the point B, the same applies to the case where the acceleration ΔV _n changes from the point B to the point A. The throttle valve opening control unit 1, the gain increase instruction unit 2, the hunting detection unit 3, and the gain decrease instruction unit 4 may be configured by a microcomputer.

Next, a series of operations of this embodiment will be described. FIG. 5 is a flow chart for explaining a series of operations of this embodiment. As shown in the figure, when the automatic drive control device is set by the control switch 5 (step 1), the proportional gain G of the throttle valve opening control unit 1 is set to G = At + B by the gain increasing instruction means and the time is set. (Step 2). This proportional gain G
Occurrence of hunting sign is monitored by the hunting detection means 3 (step 3), and when the hunting sign is detected, the proportional gain G is decreased by G-C and a predetermined value (step 4). The occurrence of hunting due to the proportional gain increasing with time is monitored, and the above operation is repeated. The automatic drive control is released by the reset in step 1.

FIG. 6 is a flow chart for explaining the hunting detection in FIG. As shown in the figure, the hunting detecting means 3 calculates the acceleration ΔV _n from the vehicle speed V _n from the vehicle speed detecting means 6 (step 10). When no hunting sign is generated, the − flag and the + flag are not set (steps 11 and 12), the acceleration ΔV _n does not exceed the positive and negative detection levels (steps 13 and 14), and the timer is cleared. Status (step 15), + flag,
The flag is in the reset state and the hunting detection means determines that there is no hunting sign (step
17) Return to step 10. When the proportional gain G increases with time and the acceleration ΔV _n exceeds the positive side detection level (for example, +0.2 km / h / s) in step 13, the + flag is set, but with this alone, there is no hunting sign. Then, the process returns to step 10. In this case, in step 12 +
When it is determined that the flag is set, the timer is activated and added (step 19), the timer value is equal to or less than a fixed value (for example, 3 seconds) (step 20), and the acceleration ΔV _n is at the negative detection level (for example, −). If it exceeds 0.2 km / h / s (step 21), the process proceeds to step 26, where it is judged that there is a hunting sign. If the timer value exceeds the predetermined value in step 20, the process returns to step 15 and the timer is cleared. If the acceleration ΔV _n does not exceed the negative detection level in step 21, the process returns to step 17 and it is determined that there is no hunting sign. When the acceleration ΔV _n exceeds the negative side detection level (for example, -0.2 km / h / s) in step 14, the-flag is set and the process returns to step 10 via step 17 (step 22). In step 11, the − flag is determined to be set, and the timer addition is read (step 2
3). If the timer value does not exceed the certain value (for example, 3 seconds) (step 24), it is judged whether the acceleration ΔV _n exceeds the positive side detection level (+0.2 km / h / s) (step 25), and it is exceeded. If so, it is determined in step 26 that there is a hunting sign. If it is determined in step 26 that there is a hunting symptom, the gain reduction instructing means 4 reduces the proportional gain G of the throttle valve opening control unit 1 by a predetermined value C, so that the hunting symptom disappears.
Go to 15 and clear the timer to prepare for the next hunting sign detection. When the timer value exceeds the predetermined value in step 24, the process returns to step 15 and the timer is cleared. If the acceleration ΔV _n exceeds the positive detection level in step 25, the process returns to step 17 and it is determined that there is no hunting sign.

[0022]

As described above, according to the present invention, the proportional gain is increased with the lapse of time, and when the hunting sign is detected, the proportional gain is decreased by a predetermined amount. It can be set to the optimum state, and the man-hours for adaptation can be saved.

[Brief description of drawings]

FIG. 1 is a diagram showing a principle configuration of the present invention.

FIG. 2 is a diagram showing an automatic drive control device according to an embodiment of the present invention.

FIG. 3 is a diagram illustrating control characteristics of the present embodiment.

FIG. 4 is a diagram illustrating hunting detection characteristics.

FIG. 5 is a flowchart illustrating a series of operations of the present invention.

FIG. 6 is a flowchart illustrating hunting detection in FIG.

FIG. 7 is a diagram showing a conventional automatic drive control device.

[Explanation of symbols]

 1 ... Throttle valve opening control means 2 ... Gain increase instruction means 3 ... Hunting detection means 4 ... Gain decrease instruction means

Claims (1)

[Claims] 1. A control switch is set
Target vehicle speed (V _o) And the actual speed from the vehicle speed detector
Degree (V_n) Engine speed is at least proportional to the difference between
Throttle valve opening control unit that controls the torval valve opening
In the automatic drive control device having (1), The target vehicle for the throttle valve control unit (1)
Speed (V_o) And the actual speed (V_n) Difference proportional gain
Gain increasing instruction means for increasing the gain over time
(2), The actual speed of the vehicle speed detector (V_n) Required from
Speed (ΔV_n), The actual speed (V_n) Hunting
Hunting detection means (3) for detecting Hunting is detected by the hunting detection means (3).
When it is released, the throttle valve control unit (1)
To reduce the proportional gain by a predetermined value.
An automatic drive, characterized by comprising a small number indicating means (4)
Live control device.