JPH0712796B2 - Car constant speed running device - Google Patents

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a constant speed traveling device for an automobile, which keeps the vehicle speed at a desired set speed and travels at a constant speed.

(Prior Art) As a constant-speed traveling device for an automobile, for example, the actual development of Sho 57-1642
As disclosed in Japanese Patent Publication No. 28, etc., when the vehicle is traveling, when the vehicle speed reaches a desired vehicle speed, the vehicle speed is stored as a set vehicle speed by the operation of an occupant, and thereafter, this set vehicle speed is stored. It is known to automatically control the throttle valve of the engine so as to maintain it. In addition, in this constant-speed traveling device, the constant-speed traveling control is released during braking, the set vehicle speed at the time of release is stored, and when the constant-speed vehicle speed control is restored after braking, this set vehicle speed is restored. There is also one in which the vehicle speed is increased to the set vehicle speed to maintain and control the vehicle speed.

On the other hand, even in a vehicle with a constant-speed traveling device as described above, it is desirable to return to constant-speed traveling control after braking and reduce the acceleration gain for traveling stability when traveling on a curve. . However, if the acceleration gain is constantly reduced during steering, the acceleration gain may be reduced even during a lane change such as overtaking, resulting in insufficient acceleration.

(Object of the invention) Therefore, the present invention provides a constant speed traveling device for an automobile, which can improve traveling stability when traveling on a sharp curve or the like and can prevent insufficient acceleration at the time of lane change such as overtaking. The purpose is.

(Structure of the Invention) The present invention is a control for receiving a vehicle speed setting means for setting a vehicle speed for constant speed traveling, and an output means from the vehicle speed setting means, for maintaining and controlling the vehicle speed to a vehicle speed according to the output signal. In a constant-speed traveling device for an automobile, which comprises means for determining whether cornering or lane change is started, the control means sets the control gain corresponding to the output from the determination means. It is characterized by changing. The determining means detects the steering angle change rate,
When the detected value is less than or equal to a predetermined value, the control means preferably reduces the control gain.

(Operation / Effect of Invention) In the above-mentioned constant speed traveling device for an automobile according to the present invention,
For example, the steering angular velocity is detected, the steering angular velocity is compared with a set value, and when the steering angular velocity is smaller than the set value, it is determined that the vehicle is traveling on a curve, and the acceleration gain is reduced. When the steering angular speed is higher than the above set value, it is determined that the lane is being changed and the acceleration gain is not lowered. Can be prevented.

(Embodiment) Hereinafter, a vehicle constant speed traveling apparatus according to a preferred embodiment of the present invention will be described with reference to the accompanying drawings.

As shown in FIG. 1, the constant speed traveling device has a control device 11 connected via a main switch 14 to a power supply circuit 13 led from a power supply 10 via an ignition switch 12. The control device 11 is composed of a microcomputer, and has a central processing unit (CPU) that performs various calculations, a fixed storage unit (ROM) that incorporates a control program shown in a flowchart described later, and a random storage that temporarily stores various data. Includes access memory (RAM). For the control device 11, a set switch 16, a coast switch 17 and a resume switch as vehicle speed setting means.
A signal from 18 and a signal from a vehicle speed sensor 19 for detecting a vehicle speed and a steering angle sensor 20 for detecting a steering angle are input.

The set switch 16, the coast switch 17, and the resume switch 18 are connected between the control device 11 and the ground.
Indicates that the vehicle speed indicated by the signal from the vehicle speed sensor 7 is, for example, 40
When the vehicle speed is within a range of up to 100 km / h, the vehicle speed at that time is set as the set vehicle speed for constant speed running by turning on when the vehicle speed reaches a desired value. Further, the coast switch 17 is used when decelerating during constant speed running, and the vehicle speed during ON operation decreases. Further, the resume switch 18 is used to switch the main speed switch 14 off when the constant speed traveling control is released due to a cause other than the OFF operation.
By turning it on, it returns to the set vehicle speed before release. Then, based on the operation of these switches 16, 17, 18 and the signal from the vehicle speed sensor 19, the control device 11 causes the solenoids 23a, 23b, 23c of the actuator 23 of the fuel supply control device 22 of the engine to maintain the vehicle speed. , A signal is output so as to decelerate or return. Further, in this constant speed traveling device, a clutch switch 21 and a brake switch 21b as constant speed traveling control releasing means for releasing the constant speed traveling control are arranged in parallel between the power supply circuit 13 and the control circuit 11. And these switches 1
Reference numerals 4 and 15 turn on when the clutch is disengaged and when the brake is actuated to input a release signal to the control device 11.

Next, the structure of the actuator 23 will be described.
As shown in the figure, the actuator 23 is a negative pressure diaphragm type actuator, and the casing 26 is connected to the outside by a negative pressure chamber 28 and a through hole 29 that are made airtight by a rubber diaphragm 27. And the diaphragm 27 is urged toward the atmosphere chamber 30 by a spring 31 arranged in the negative pressure chamber 28, and the end face of the casing 26 is moved into the negative pressure chamber 28. A negative pressure introducing solenoid valve 51 for controlling the introduction of negative pressure and first and second atmosphere introducing solenoid valves 52 and 53 (the second atmosphere introducing solenoid valve 53 is not shown). Has been done. Then, while the rod 32 connected to the diaphragm 27 is slidably held by the bearing portion 33 provided in the casing 26, the rod 32 penetrates the atmosphere chamber 30 and is projected to the outside, and the wire 34 is interposed. Is connected to a throttle valve 35 provided in the intake passage of the engine, and the throttle valve 35 is operated in the opening direction when the diaphragm 27 moves in the A direction (the negative pressure chamber 28 side).

Further, the negative pressure introducing solenoid valve 51 has a valve body 51c for opening a passage 51b having one end connected to the negative pressure introducing pipe 36 led from a negative pressure source and the other end communicating with the negative pressure chamber 28. The valve body 51c is urged by a spring 51d so as to shut off the passage 51b, and also opens the passage 51b against the spring 51d when the solenoid 23a is energized. Be moved to. Similarly, the first atmosphere-introducing solenoid valve 52 (similarly to the second atmosphere-introducing solenoid valve 53) also has a valve body having a passage 52b whose one end is open to the atmosphere and the other end is in communication with the negative pressure chamber 28. The valve body 52c is configured to be opened and closed by 52c, and the valve body 52c is tensioned by a spring 52d so as to open the passage 52b. It has become. Then, the solenoids 23a, 2 in these solenoid valves 51, 52, 53
By controlling the energization of 3b and 23c by a signal from the control device 11 shown in FIG. The opening of the throttle valve 35 is controlled by the displacement.

Next, the specific operation of the above embodiment will be described.

When the vehicle speed is in the range of 40 to 100 km / h during normal traveling, when the set switch 16 connected to the control device 11 of the constant speed traveling device is turned on, the signal from the vehicle speed sensor 19 indicates that time. while it is set in the RAM of the control device 11 as a vehicle speed set vehicle speed V _S, the subsequent actual vehicle speed V _a by comparing the actual vehicle speed V _a indicated by the signal from the set vehicle speed and the vehicle speed sensor 19 A signal is output from the control device 11 to the actuator 23 so as to match the set vehicle speed V _S.

That is, when the actual vehicle speed V _A is lower than the set vehicle speed V _S, the control device negative pressure needful solenoid valve 51 and the solenoid 23a of the first air introduction solenoid valve 52 from 11 in the actuator 23, the energization signal 23b is outputted , The negative pressure introducing solenoid valve 51 is opened, and the first atmosphere introducing solenoid valve 52 is closed. Therefore, negative pressure is introduced into the negative pressure chamber 28 of the actuator 23 to displace the diaphragm 27 in the A direction, and the throttle valve 35 is actuated in the opening direction via the rod 32 and the wire 34 accordingly. As a result, the actual vehicle speed rises and matches the set vehicle speed. on the other hand,
When the actual vehicle speed V _A is higher than the set vehicle speed V _S , the solenoids 23a and 23b are not energized, so that the negative pressure introducing solenoid valve 51 is closed and the first atmosphere introducing solenoid valve 52 is opened. The negative pressure in the negative pressure chamber 28 is reduced. Therefore, the diaphragm 27 is displaced in the anti-A direction and the throttle valve 35 is operated in the closing direction, whereby the actual vehicle speed is reduced so as to match the set vehicle speed.
During such a constant speed traveling control, the solenoid 23c of the second atmosphere introducing solenoid valve 53 is always energized,
The valve 53 is kept closed. Further, when the clutch switch 24 or the brake switch 25 as the means for releasing the constant speed traveling control is turned on, the solenoids 23a and 23 are
The energization of b and 23c is stopped, the negative pressure introducing solenoid valve 51 is closed, and the first and second atmosphere introducing solenoid valves are closed.
By opening 52 and 53 and opening the negative pressure chamber 28 to the atmosphere, the operation of the actuator 23 is completely stopped, and the throttle valve 35 of the engine is operated by operating the accelerator pedal.

Here, when the vehicle is traveling at a constant speed, braking is performed, the brake switch 21a is turned on, and a release signal is input to the control device 11, the control device 11 releases the constant speed traveling control.
At this time, the control device 11 keeps the set vehicle speed at the time of releasing the control stored. After this, the resume switch
When 18 is pressed, the control device 11 returns to the constant speed traveling at the set vehicle speed, and therefore is accelerated by controlling with the set acceleration gain, and after the set vehicle speed is reached, the normal constant speed traveling control is performed. To do. However, when a curve or the like is made during the acceleration, the running stability is impaired. Therefore, in the present invention, in this curve or the like, the above-mentioned acceleration gain is the above-mentioned set acceleration gain (hereinafter referred to as the first set acceleration gain).
Accelerate with a smaller second set acceleration gain,
Good running stability when turning. Further, in the present invention, during steering such as lane change, the acceleration gain is set to the first setting without performing the second setting acceleration gain.
The set acceleration gain remains unchanged to prevent insufficient acceleration when changing lanes. It should be noted that the determination of whether it is a curve or a lane change is based on the output signal from the steering angle sensor 20,
The control device 11 calculates a steering angle change rate, and when the steering angle change rate is equal to or greater than a predetermined value, it is determined to be a lane change or the like, and when the steering angle change rate is equal to or less than a predetermined value, it is determined to be a curve time, etc. To do.

Next, the constant speed traveling control will be described with reference to the flowchart of FIG.

First, in the constant speed traveling state, the steering angle signal θ is input, and it is determined whether or not the steering angle signal θ is larger than a predetermined value K ₁ . When this determination is NO, the acceleration gain G is set to the first set acceleration gain G ₀ , while when YES, dθ / dt is calculated and the steering angle change rate is calculated. Next, it is determined whether or not dθ / dt is smaller than the set value K ₂ , and when this determination is NO, there is a lane change or the like, so the acceleration gain is set to the first set acceleration gain G ₀ to prevent insufficient acceleration, while YES Since it is sometimes on a curve, the acceleration gain G is set to a second set acceleration gain G _{1 which} is smaller than the first set acceleration gain G ₀ , and the vehicle is gradually accelerated to improve running stability during a curve or the like. The above completes one routine and repeats these steps.

[Brief description of drawings]

FIG. 1 is a block diagram showing a main part of a constant speed traveling device according to an embodiment of the present invention, FIG. 2 is a sectional view showing the structure of the actuator shown in FIG. 1, and FIG. It is a flow chart which shows an example of speed running control. 11 …… Control device, 16 …… Set switch, 18 …… Resume switch, 20 …… Steering angle sensor, 21b …… Brake switch, 22 …… Engine fuel supply control device, 23 …… Actuator.

Claims (2)

[Claims] 1. A vehicle speed setting means for setting a vehicle speed for traveling at a constant speed, and a control means for receiving the output means from the vehicle speed setting means and maintaining and controlling the vehicle speed to a vehicle speed according to the output signal. In the constant-speed traveling device for an automobile, a determination means for determining whether cornering or lane change is started is provided, and the control means changes the control gain in accordance with the output from the determination means. Characteristic vehicle constant-speed running device. 2. The determining means detects the steering angle change rate, and when the detected value is less than a predetermined value, the control means reduces the control gain. A constant-speed traveling device for an automobile according to the item 1).