JPH09142177A - Low speed travel control device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To make control authorization/inhibition judgment acurately correspond to the intention of a driver by making it necessary to shift a shift lever position into a low speed travel corresponding position from a medium or high speed travel correponding position within the specified time in addition to setting of a low speed mode for the authorization of low speed travel control. SOLUTION: A control authorization flag is turned off (S31), and whether a low speed travel mode setting switch is on is judged (S32). When the judged result is Y, whether a shift lever position is a D position is judged (S33). When the judged result is Y, clocking of specified time ΔT is started (S34), and whether the specified time ΔT has elapsed is judged (S35). When the judged result is N, whether the shift lever position is a position 2 or L is judged (S36). When the judged result is Y, the control authorization flag is turned on (S37). For the authorization of low speed travel control, it is therefore necessary to set a low speed mode and to place a shift lever in a position corresponding to low speed travel.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The invention of the present application relates to a low speed traveling control device for reducing driver's fatigue during low speed traveling such as traffic jam traveling.

[0002]

2. Description of the Related Art A low-speed traveling control device for reducing driver's fatigue by controlling starting and stopping during traffic congestion by only depressing and releasing an accelerator pedal is disclosed in Japanese Patent Laid-Open No. 61-2.
It is disclosed in Japanese Patent No. 47526.

In this conventional apparatus, when the driver operates the low speed traveling mode setting switch when the vehicle speed is below a predetermined value (for example, 15 km / h), the low speed traveling control is allowed and the accelerator pedal is depressed. Then, the brake is released, the engine output is increased, the vehicle starts, and the vehicle runs at a predetermined low speed. Further, in response to the release of the accelerator pedal, the brake is applied, the engine output is reduced to decelerate, and then the engine is stopped. If the vehicle speed exceeds the specified value even after operating the low-speed traveling mode setting switch, low-speed traveling control is prohibited, and sudden braking will not be applied even if the low-speed traveling mode setting switch is mistakenly operated during high-speed traveling. .

[0004]

However, in the above-mentioned conventional device, even if the operation of the low speed traveling mode setting switch at a predetermined vehicle speed or less is against the driver's intention, the low speed traveling control is performed. It is permitted and the low speed traveling control is executed.

An object of the invention of this application is to make the control permission / prohibition determination appropriately correspond to the intention of the driver.

[0006]

A low speed traveling control device according to the invention of this application is described in claim 1 and, as shown in FIG. 1, a low speed traveling mode setting means, a vehicle speed detecting means,
Low speed traveling provided with engine output control means, braking force control means, and control means for driving the engine output control means and the braking force control means based on the outputs of the low speed traveling mode setting means and the vehicle speed detection means. In the control device, the control permission / prohibition determination means is set to a predetermined value after the low speed traveling mode is set based on the outputs of the low speed traveling mode setting means and the shift lever position detecting means for detecting the shift lever position of the transmission. It is determined whether or not the shift lever position is shifted from the medium speed or high speed traveling corresponding position to the low speed traveling corresponding position within the time, and when the shift is made, the control means is instructed to permit the control, and when the shift is not made, the control is performed. The control means is instructed to prohibit control.

In the low speed traveling control device having such a structure, in order to allow the low speed traveling control, the shift lever position is set to the medium speed or the medium speed within a predetermined time in addition to the setting of the low speed traveling mode by the operation of the low speed traveling mode setting means. It is necessary to shift from the high speed corresponding position to the low speed corresponding position. Therefore, the control permission / prohibition determination appropriately corresponds to the driver's intention.

[0008]

DETAILED DESCRIPTION OF THE INVENTION An embodiment of the invention according to this application will be described below with reference to the drawings.

FIG. 2 shows a schematic structure of the low speed traveling control device. In FIG. 2, the low speed traveling mode setting switch 11 is turned on and off by the driver to input the low speed traveling mode setting switch information to the electronic control unit 18. The scanning laser radar 12 detects the inter-vehicle distance to the preceding vehicle, the angle at which the preceding vehicle is located from the own vehicle, and the relative speed with respect to the preceding vehicle, and electronically controls the inter-vehicle distance information, the preceding vehicle angle information, and the relative speed information. Input to the device 18. The ultrasonic radar 13 detects the immediately preceding obstacle and inputs the presence / absence information of the immediately preceding obstacle to the electronic control unit 18. The vehicle speed sensor 14 detects the speed of the vehicle and inputs vehicle speed information to the electronic control unit 18. The acceleration / deceleration sensor 15 detects the acceleration / deceleration of the host vehicle and inputs acceleration / deceleration information to the electronic control unit 18. The stop switch 16 is turned on and off in conjunction with depression and release of the brake pedal, and brake pedal information is input to the electronic control unit 18. The shift lever position sensor 17 is a shift lever position (P, R, N,
D, 2, L) is detected and shift lever position information is input to the electronic control unit 18.

The electronic control unit 18 makes a control permission / prohibition determination based on the input information, and when it is determined that the control is permitted, the buzzer 24 notifying the driver is operated via the drive circuit 21 and the drive circuits 19 and 20. The engine throttle control actuator 22 and the braking force control actuator 23 are controlled via the. Electronic control unit 18
Executes the program shown in FIG. 3 by closing an ignition switch (not shown). In FIG. 3, when the ignition switch is closed, the initialization of step S1 is first performed, and then the low speed traveling mode setting switch information and the shift lever position information are read in step S2. Next, in step S3, control permission / prohibition determination is performed, and in step S4, it is determined whether or not the control permission flag is ON. If the determination result is Y (yes), the scanning laser radar 12 is operated in step S5. , The ultrasonic radar 13, the vehicle speed sensor 14, the acceleration / deceleration sensor 15, and the stop switch 16 are read, and in step S6 engine throttle and braking force control calculation processing is performed, and then in step S6.
After the actuator control output process is performed in step 7, the process proceeds to step S8. In step S8, the low speed traveling mode setting switch information and the shift lever position information are read, and then in step S9 it is determined whether or not the low speed traveling mode setting switch is ON (indicating that it has been operated). If the determination result is Y, it is determined whether the shift lever position is the 2 or L position. If the determination result is Y, the process returns to step S5. When the determination result in step S4 is N, the determination result in step S9 is N, and the determination result in step S10 is N, the process returns to step S2.

The contents of the control permission / prohibition determination in step S3 are shown in FIG. In FIG. 4, first, the control permission flag is turned off in step S31, and then it is determined in step S32 whether or not the low speed traveling mode setting switch is turned on. If the determination result is Y, the shift lever position is set to D in step S33. Whether or not it is the position is determined, and when the determination result is Y, it is determined whether or not the predetermined time ΔT has elapsed in step S35 after the measurement of the predetermined time ΔT is started in step S34. If the determination result in step S35 is N, the shift lever position is set to 2 in step S36.
Alternatively, it is determined whether or not it is L, and if the determination result is Y, the control permission flag is turned on in step S37, and then the process returns to the main routine of FIG. If the determination result in step S35 is Y, the measured value of the predetermined time ΔT is cleared in step S38, and then the process returns to the main routine of FIG. Turning off the control permission flag means prohibiting control. Step S
If the determination result in 36 is N, it will return to step S35.
If the determination result in step S32 is N and the determination result in step S33 is N, the process returns to the main routine of FIG.

In the engine throttle and brake force control calculation processing of step S6 of FIG. 3, when the brake pedal information is the brake pedal release, the inter-vehicle distance information from the scanning laser radar and the obstacle immediately before the ultrasonic radar are detected. Whether or not the vehicle can be started is determined based on the information. When it is determined that the vehicle can be started, the braking force reduction mode is set and the vehicle speed is a predetermined vehicle speed (for example, 15 km /
If less than h), the engine output gradual increase mode is set so as to generate a gradual predetermined acceleration, and after the vehicle speed reaches the predetermined vehicle speed, the engine output gradual increase mode or engine Set the output slowdown mode. Further, when the brake pedal information is the depression of the brake pedal, the braking force gently increasing mode and the engine output decreasing mode are set. Furthermore, when the information indicating that there is an obstacle immediately before is input from the ultrasonic radar, the braking force rapid increase mode and the engine output decrease mode are set regardless of the brake pedal information.

In the actuator control output process of step S7 of FIG. 3, the braking force decrease mode, the braking force gently increasing mode, the braking force suddenly increasing mode, the engine output slowly increasing mode, the engine output slowly decreasing mode, the engine output set in step S6. The actuator control output corresponding to the decrease mode is output to the drive circuit.

The low-speed traveling control device described above reduces the engine output in response to the driver depressing the brake pedal, slowly decelerates or stops the vehicle by applying the brake, and the driver depresses the brake pedal. In response to the release, the brake is released and the engine output is gradually increased to accelerate or make the vehicle run at a constant speed. Since the driver can control starting and stopping of the vehicle and constant-speed traveling at a predetermined vehicle speed only by operating the brake pedal, driving fatigue during traffic congestion or low-speed traveling is reduced. Furthermore, the acceleration and deceleration of the vehicle may be automatically controlled according to the inter-vehicle distance and the presence / absence of an immediately preceding obstacle.

[0015]

The low speed traveling control device according to the invention of this application corresponds to the shift lever position from the medium speed or high speed traveling corresponding position to the low speed traveling within a predetermined time after setting the low speed traveling mode by the operation of the low speed traveling mode setting means. Since the execution of the low speed traveling control is permitted only when the vehicle is moved to the position, the control permission / prohibition determination accurately corresponds to the driver's intention.

[Brief description of the drawings]

FIG. 1 is a diagram showing a schematic configuration of a low speed traveling control device according to the invention of this application.

FIG. 2 is a block diagram showing a configuration of an embodiment of the invention of this application.

FIG. 3 is a flowchart showing the contents of low-speed traveling control processing of the electronic control unit in FIG.

FIG. 4 is a flowchart showing the contents of control permission / prohibition determination in FIG.

[Explanation of symbols]

 11 ... Low speed running mode setting switch 12 ... Scanning laser radar 13 ... Ultrasonic radar 14 ... Vehicle speed sensor 15 ... Acceleration / deceleration sensor 16 ... Stop switch 17 ... Shift lever position Sensor 18 ... Electronic control device 22 ... Engine throttle control actuator 23 ... Brake force control actuator 24 ... Notification buzzer

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Claims (1)

[Claims] 1. A control permission / prohibition determination means, a vehicle speed detection means, an engine output control means, a braking force control means, and the engine output based on the outputs of the control permission / prohibition determination means and the vehicle speed detection means. In a low speed traveling control device including a control means and a control means for driving the braking force control means, the control permission / prohibition determination means includes a low speed traveling mode setting means and a shift lever position for detecting a shift lever position of a transmission. Based on each output of the detecting means, it is determined whether the shift lever position is shifted from the medium speed or high speed traveling corresponding position to the low speed traveling corresponding position within a predetermined time after the low speed traveling mode is set, and the shift is made. Occasionally, the control means is instructed to permit the control, and when the rearrangement is not performed, the control means is instructed to prohibit the control. Low-speed running control apparatus characterized.