JPH11227492A - Vehicular traveling speed control device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To set an actual vehicular traveling speed to a prescribed speed. SOLUTION: This device is provided with a throttle valve 4 arranged turnably in an intake pipe 2 of an internal combustion engine, a drive motor 10 for opening and closing the throttle valve 4, an operation pedal 18 for controlling an opening of the throttle valve 4, and a control means 16 for operation- controlling the drive motor 10. The control means 16 sets a vehicular target traveling speed in response to a control input of the operation pedal 18, and operation-controls the drive motor 10 to make a vehicular actual traveling speed come to the target traveling speed.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a vehicle running speed control device for controlling a running speed of a vehicle.

[0002]

2. Description of the Related Art Generally, the running speed of a vehicle is controlled by opening and closing a throttle valve disposed in an intake pipe of an internal combustion engine. An accelerator pedal operated by a driver is provided on the vehicle body, and the accelerator pedal and the throttle valve are connected via a transmission mechanism such as a wire. In such a vehicle, when the accelerator pedal is depressed, the throttle valve is rotated in the opening direction via the transmission mechanism, thereby increasing the amount of combustion air-fuel mixture supplied to the internal combustion engine, and The rotation speed of the engine increases and the vehicle is accelerated, and thus the running speed of the vehicle increases. On the other hand, when the depression of the accelerator pedal is released (or the depression amount is reduced), the throttle valve is rotated in the closing direction, whereby the supply amount of the air-fuel mixture supplied to the internal combustion engine decreases, and The rotation speed of the vehicle decreases, and the vehicle is in a deceleration state. Thus, the traveling speed of the vehicle decreases.

[0003]

In such a vehicle running speed control device, the acceleration of the vehicle is controlled by depressing an accelerator pedal. Therefore, when the vehicle is driven at a constant speed, the driving speed is controlled. It is necessary for the user to change the depression amount of the accelerator pedal according to the load. For example, it is necessary to increase the number of steps of the accelerator pedal on an uphill slope, and to depress the accelerator pedal on a downhill slope. Thus, it is necessary to frequently depress the accelerator pedal. Is rough.

An object of the present invention is to provide a vehicle traveling speed control device capable of setting an actual traveling speed of a vehicle to a predetermined speed.

[0005]

SUMMARY OF THE INVENTION The present invention provides a throttle valve rotatably disposed in an intake pipe of an internal combustion engine, a drive motor for opening and closing the throttle valve, and an opening degree of the throttle valve. An operation pedal for controlling the vehicle; and control means for controlling the operation of the drive motor, wherein the control means sets a target traveling speed of the vehicle corresponding to the operation amount of the operation pedal, and sets the actual traveling speed of the vehicle. A vehicle traveling speed control device, wherein the operation of the drive motor is controlled so that the speed becomes the target traveling speed.

According to the present invention, the control means sets the target traveling speed corresponding to the operation amount of the operation pedal, and the drive motor opens and closes the throttle valve so that the actual traveling speed of the vehicle becomes the target traveling speed. The actual traveling speed of the vehicle is maintained at the set target traveling speed. Therefore, it is not necessary to perform the accelerator operation even on an uphill or downhill, and useless acceleration,
Deceleration can be suppressed.

Further, the invention is characterized in that the control means changes an acceleration state of the vehicle until the vehicle reaches the target traveling speed in accordance with an operation change amount of the operation pedal.

According to the present invention, the control means changes the acceleration state of the vehicle in accordance with the operation change amount of the operation pedal. Therefore, the acceleration state until reaching the target traveling speed is the operation change amount, in other words, the target change amount. The vehicle is accelerated in an acceleration state according to the speed difference until reaching the target running speed, which is selected according to the speed difference to be increased to the running speed, thereby enabling smooth accelerated running.

Further, the present invention is characterized in that acceleration mode setting means is provided in association with the control means, and the acceleration mode until the target traveling speed is reached is selected by the acceleration mode setting means. .

According to the present invention, the acceleration state can be selected by the acceleration mode setting means, so that the vehicle is accelerated in the selected acceleration mode until the vehicle reaches the target traveling speed. Accelerated running is possible.

Further, according to the present invention, the acceleration mode setting means can be set to an automatic mode, and when the automatic mode is selected, the control means learns the acceleration change state of the vehicle until the target traveling speed is reached. And setting the acceleration state of the vehicle.

According to the present invention, when the auto mode is selected by the acceleration mode setting means, the control means learns the acceleration change state until reaching the target traveling speed, and in the next acceleration traveling, the learned acceleration change state is obtained. Acceleration traveling is performed until the vehicle reaches the target traveling speed in an acceleration state using. Therefore, acceleration traveling that matches the driver's driving can be performed.

Further, according to the present invention, the acceleration mode setting means can be set to an automatic mode, and when the automatic mode is selected, the control means learns the opening / closing change state of the throttle valve until the target traveling speed is reached. And setting a target traveling speed of the vehicle.

According to the present invention, when the auto mode is selected by the acceleration mode setting means, the control means learns the opening / closing change state of the throttle valve until the target traveling speed is reached, and this learning is performed in the next acceleration traveling. The target traveling speed is set using the opening / closing state of the throttle valve. Therefore, a target traveling speed that matches the driver's driving can be set.

Further, according to the present invention, cruise setting means for maintaining the running speed of the vehicle constant is provided in connection with the control means, and an actual running speed display for displaying the actual running speed of the vehicle is provided. Means, and target speed display means for displaying the target travel speed of the vehicle are provided, and setting of the cruise travel speed by the cruise setting means based on the target travel speed displayed on the target speed display means is provided. It is characterized by being performed.

According to the present invention, cruise setting means is provided, and when cruise traveling is selected by the cruise setting means, the target traveling speed displayed on the target speed display means is set to the cruise traveling speed. Therefore, the cruise traveling speed can be set even in the accelerated traveling state of the vehicle.

[0017]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of a vehicle running speed control device according to the present invention will be described below with reference to the accompanying drawings. FIG. 1 is a block diagram schematically showing an embodiment of a vehicle traveling speed control device according to the present invention.

In FIG. 1, an intake pipe 2 is connected to an internal combustion engine (not shown) mounted on a vehicle body of a vehicle such as an automobile, and a throttle valve 4 is rotatably mounted on the intake pipe 2. . The throttle valve 4 controls a supply amount of air flowing through the intake passage 6. In the intake pipe 2,
A fuel injection device 8 is provided, and the fuel injection device 8
Combustion of an amount corresponding to the supply amount of air flowing through the intake passage 6 is injected, and a fuel-fuel mixture is supplied to the internal combustion engine.

The vehicle running speed control device including the throttle valve 4 includes a drive motor 10 for opening and closing the throttle valve 4.
It has. The drive motor 10 is composed of, for example, a DC motor, and is drivingly connected to the throttle valve 4. The drive motor 10 is in a predetermined direction (or a direction opposite to the predetermined direction)
Is turned, the throttle valve 4 is turned to the arrow 12 (or 1).
Rotation is performed in the opening direction (or closing direction) indicated by 4), whereby the supply amount of the mixture supplied to the internal combustion engine (not shown) increases (or decreases).

The vehicle traveling speed control device includes a drive motor 10
Is provided with control means 16 for controlling the operation of. The control means 16 is composed of, for example, a microprocessor. An operation pedal 18 is provided on the vehicle body, and the operation amount changes when the driver steps on the foot. In connection with the operation pedal 18, an operation amount detection sensor 20 for detecting the operation amount is provided. A detection signal detected by the operation amount detection sensor 20 is sent to the control unit 16. In connection with the control unit 16, an acceleration mode setting unit 22 and a cruise setting unit 24 are provided. The acceleration mode setting means 22 is composed of, for example, a mode selection switch. By operating the mode selection switch, for example, “sports”, “normal”,
The mode can be set to any one of “economy” and “auto”. The cruise setting means 24 is composed of, for example, a cruise setting switch. By pressing the cruise setting switch, cruise traveling (running at a constant speed with the set cruising traveling speed) is set. Operation signals from the acceleration mode setting means 22 and the cruise setting means 24 are sent to the control means 16.

The vehicle body is further provided with a display device 26 for displaying a running state, a control state and the like of the vehicle body. The illustrated display device 26 includes an actual traveling speed display unit 28 for displaying the actual traveling speed of the vehicle (the actual traveling speed of the vehicle), a target traveling speed display unit 30 for displaying the target traveling speed of the vehicle, and And a cruise display lamp 32 for displaying a cruise running state. Actual traveling speed display means 28 and target traveling speed display means 30
Is composed of, for example, a liquid crystal display device.

The vehicle body is provided with a speed detecting sensor 34 for detecting the running speed of the vehicle. The detection signal of the speed detection sensor 34 is sent to the control unit 16. The angle detection sensor 3 is related to the throttle valve 4.
6 are provided. The angle detection sensor 36 detects the open / closed state of the throttle valve 4, that is, the angle position, and the detection signal of the angle detection sensor 36 is also sent to the control unit 16.

In this embodiment, the control means 16 has a corresponding speed storage means 38 in which the correspondence between the operation amount of the operation pedal 18 and the target traveling speed of the vehicle is stored. In this vehicle traveling speed control device, the target traveling speed of the vehicle is set based on the operation amount of the operation pedal 18, and the target set as the operation amount (depressed amount) of the operation pedal 18 increases. The correspondence between them is set so that the running speed also increases. For example, the target running speed is set so as to increase in proportion to the operation amount of the operation pedal 18.

The control means 16 further comprises a target speed storage means 40, a speed difference calculation means 42, and a map storage means 4.
4 is included. The control means 16 reads a target traveling speed corresponding to the operation amount from the corresponding speed storage means 38 based on the operation amount of the operation pedal 18, and reads the target speed storage means 42.
Stores the read target traveling speed. Speed difference calculation means 4
2 calculates the actual traveling speed of the vehicle and the read target traveling speed, finds the speed difference between the actual traveling speed and the target traveling speed, and sets the acceleration state based on the found speed difference as described later. You. Acceleration curves (curves indicating acceleration states) corresponding to various acceleration states are stored in the map storage means 44. The acceleration curves correspond to those corresponding to various modes set by the acceleration mode setting means 22. Has become.

The acceleration curve stored in the map storage means 44 will be described with reference to FIGS. 2 and 3. For example, in the case where the acceleration mode setting means 22 is set to the normal mode, the target traveling speed becomes the actual traveling speed. If there is a speed difference of 10 km greater than the speed, an acceleration curve such that the traveling speed of the vehicle increases as shown by the solid line A in FIG. Also, the target traveling speed is 20 km below the actual traveling speed.
(Or 30km, 40km) If there is a large speed difference,
The acceleration curve such that the traveling speed of the vehicle increases as shown by the solid line B (or C, D) in FIG.
4 normal maps. Since an appropriate acceleration curve is selected in accordance with the speed difference thus increased, smooth acceleration traveling is achieved. Although the case where the target traveling speed is higher than the actual traveling speed has been described with reference to FIG. 2, when the target traveling speed is smaller than the actual traveling speed, the acceleration curve of deceleration is selected from the map storage unit 44 and selected. The deceleration running matching the deceleration acceleration curve is performed.

FIG. 2 shows the case where the normal mode is selected by the acceleration mode setting means 22. However, when the sports mode is selected by the acceleration mode setting means 22, the above-mentioned sports map stored in the map storage means 44 is used. When the acceleration mode is selected by the acceleration mode setting unit 22, the acceleration curve is selected from the economy map stored in the map storage unit 44 in the same manner as described above.

The acceleration curves in these modes will be described with reference to FIG. 3. For example, if the target travel speed of the vehicle is set to 40 km by operating the operation pedal 18 when the vehicle starts traveling, the normal mode is selected. In this case, an acceleration curve is selected from the normal map of the map storage means 44, and the vehicle is accelerated along the selected acceleration curve, and the running speed of the vehicle increases as shown by a solid line E in FIG. To reach the target traveling speed. On the other hand, when the sports mode is selected, the acceleration curve is selected from the sports map in the map storage unit 44. The acceleration curve of this sports map is
The degree of acceleration is set to be greater than the acceleration curve in the normal mode. Therefore, when the vehicle is accelerated along the acceleration curve in the sports mode, the vehicle travels at a speed, for example, as indicated by a broken line F in FIG. Increases to reach the target traveling speed, and reach the target traveling speed faster with a greater acceleration than in the normal mode. When the economy mode is selected, an acceleration curve is selected from the economy map in the map storage unit 44. The acceleration curve of the economy map has a degree of acceleration set to be somewhat smaller than the acceleration curve of the normal mode. Therefore, when the vehicle is accelerated along the acceleration curve of the economy mode, the vehicle is driven as shown in FIG. Dash-dot line G at 3
The travel speed increases and reaches the target travel speed, as indicated by, and reaches the target travel speed with a somewhat smaller acceleration that is more economical than in the normal mode. Since the acceleration mode can be set by the acceleration mode setting means 22 in this manner, an acceleration state suitable for the driver's preference can be selected. When the auto mode is selected, an acceleration curve is selected from the normal map of the map storage unit 44, and a correction function described later is added to the acceleration state based on the acceleration curve by a learning function. When such a learning function is unnecessary, the auto mode can be omitted. Also, the mode setting by the acceleration mode setting means 22 can be set to two types of "normal" and "sports" or "normal" and "economy".

The control means 16 further includes a vehicle speed calculating means 4
6 and cruise speed storage means 48. The vehicle speed calculating means 46 calculates the actual traveling speed after the actual traveling speed of the vehicle reaches the target traveling speed, that is, the traveling speed detected by the speed detection sensor 34 and the target traveling speed, and obtains a speed difference between them. Based on the speed difference, the control means 16 controls the operation of the drive motor 10 so that the actual traveling speed becomes the target traveling speed. Further, the cruise speed storage means 48 stores the target travel speed when the cruise travel is set by the cruise setting means 24 as the cruise travel speed. When cruising starts in this way,
The control means 16 controls the operation of the drive motor 10 to open and close the throttle valve 4 so that the actual traveling speed of the vehicle becomes the cruising traveling speed. Since the target travel speed is set in accordance with the operation amount of the operation pedal 18 and the target travel speed is set as the cruise travel speed, the cruise travel is set even when the vehicle is in the accelerated travel state. be able to.

In such a vehicle traveling speed control device, as shown in FIG. 4, when the operation pedal 18 is further depressed during acceleration traveling of the vehicle to set a new target traveling speed, the control means 16 controls the operation pedal. Based on the total operation amount (depressed amount) of the operation number 18, the target traveling speed corresponding to the operation amount is read from the corresponding speed storage means 38, and the read target traveling speed is stored in the target speed storage means 42. And
The speed difference calculating means 42 calculates the actual running speed of the vehicle and the newly read target running speed to obtain a speed difference between the actual running speed and the new target running speed. Based on the above, the acceleration curve until reaching the new target speed is selected from the map storage means 44 as described above.
Therefore, in the accelerated running state of the vehicle, for example, as shown by the solid line P in FIG.
When the operation pedal 18 is further depressed, the acceleration state based on the acceleration curve read from the map storage means 44 is started from this point, and the running speed of the vehicle increases as shown by the solid line Q in FIG. Reach speed. As described above, when the operation pedal 18 is operated (depressed or depressed again) during acceleration traveling, a new acceleration curve is selected according to the operation amount, and acceleration along the selected acceleration curve is performed. , Deceleration travel is performed.

The learning function when the auto mode is selected by the acceleration mode setting means 22 is performed, for example, as follows. In the example shown in FIG. 5, this learning function is performed in relation to the opening / closing change state of the throttle valve in the acceleration state. For example, if the target traveling speed is set by operating the operation pedal 18 and the operation pedal 18 is hardly operated again until the target traveling speed is reached, the throttle valve 4 is in the standard open / close state, and the operation of the operation pedal 18 The relationship between the amount and the target traveling speed is, for example, as shown by a solid line S in FIG. On the other hand, when the operation pedal 18 is frequently returned until the target traveling speed is reached, the throttle valve 4 is learned to open / close the closed side, and the relationship between the operation amount of the operation pedal 18 and the target traveling speed is obtained. Is changed, for example, as shown by a broken line U in FIG.
Note that, as the returning operation is more frequent, the inclination of the broken line U is inclined to the right in FIG. When the operation pedal 18 is frequently depressed before reaching the target traveling speed, the throttle valve 4 is learned to be opened and closed, and the relationship between the operation amount of the operation pedal 18 and the target traveling speed is, for example, It is changed as shown by the one-dot chain line T in FIG. Note that, as the stepping operation becomes more frequent, the inclination of the one-dot chain line T inclines to the left in FIG. 5 and becomes steeper. By providing such a learning function, it is possible to set a target traveling speed matched by the operation of the operation pedal 18 by the driver.

As another example of the learning function, the one shown in FIG. 6 can be employed. In this example, the learning function is performed in relation to the acceleration change state in the acceleration traveling. For example, if the target travel speed is set by operating the operation pedal 18 and then the operation pedal 18 is returned as shown by a broken line X in FIG. 6 until the target travel speed is reached, the travel speed of the vehicle at this time is assumed. Changes as shown by the solid line Y in FIG. When the target traveling speed (the target traveling speed after returning the operation pedal 18) is reached with the traveling speed indicated by the solid line Y, the traveling speed increases as indicated by the one-dot chain line Z in the subsequent accelerated traveling. The acceleration curve is corrected as described above, and then, in a similar operation of the operation pedal 18, the selected acceleration curve is corrected as described above, and the vehicle is accelerated along the corrected acceleration curve. Travels along the curve indicated by the dashed line Z to reach the target traveling speed. By providing such a learning function, it is possible to perform an accelerated traveling that matches the driving feeling of the driver.

In this vehicle running speed control device, speed control during running of the vehicle is performed as follows. Referring to FIG. 7 showing a flow chart of the speed control together with FIG. 1, the operation amount detection sensor 20 detects the operation amount of the operation pedal 18 during traveling of the vehicle.
6 (step S-1). The detection operation by the operation amount detection sensor 20 is performed at predetermined time intervals, for example, two times.
Performed every 00 ms. After detecting such manipulated variables,
In step S-2, it is determined whether or not the operation amount of the operation pedal 18 has changed.

When it is determined that the operation of the operation pedal 18 has been performed, the process proceeds from step S-2 to step S-3, and the target traveling speed is set according to the operation amount. That is, based on the detection signal from the operation amount detection sensor 20,
The target travel speed is read from the correspondence between the operation amount of the operation pedal 18 and the target travel speed stored in the corresponding speed storage means 42, and the read target travel speed is stored in the target speed storage means 4.
0, and the target traveling speed is set in this manner. The set target traveling speed is displayed on the target traveling speed display means 30, and the driver can know the target traveling speed by displaying the target traveling speed (S-
4).

Next, the routine proceeds to step S-5, where an acceleration curve for setting an acceleration state until the vehicle reaches the target traveling speed is selected. The speed difference calculating means 42 calculates a speed difference between the actual running speed (the actual running speed is the running speed detected by the speed detecting sensor 34 and is displayed on the actual running speed display means 28) and the target running speed. Then, the control unit 16 selects an acceleration curve corresponding to the calculated speed difference from the map stored in the map storage unit 44. At this time, if the normal mode (or sports mode, economy mode, or auto mode) is set by the acceleration mode setting means 22, the speed from the normal map (or sports map, economy map, normal map) of the map storage means 44 is read. An acceleration curve corresponding to the difference is selected.

When the acceleration curve is selected in this manner, the process proceeds to step S-6, and the vehicle accelerates along the acceleration curve. The control means 16 controls the operation of the drive motor 10 so that the vehicle accelerates along the acceleration curve, and the throttle valve 4 is turned in the opening direction indicated by the arrow 12, whereby the vehicle along the acceleration curve selected. Is performed. During negative acceleration travel, that is, deceleration travel, the throttle valve 4 is rotated in the closing direction indicated by the arrow 14, whereby the vehicle is decelerated.

If it is determined in step S-2 that the operation of the operation pedal 18 has not been performed, the process proceeds to step S-2.
Then, the process directly proceeds to step S-6, and the acceleration traveling is continuously performed according to the selected acceleration curve.

Thereafter, in step S-7, it is determined whether or not the actual traveling speed of the vehicle has reached the set target traveling speed. When the actual traveling speed of the vehicle has reached the target traveling speed, the process proceeds to step S-8, and the control unit 16 controls the operation of the drive motor 10 so as to maintain the target traveling speed. Next, in step S-9, the display of the target traveling speed on the target traveling speed display means 30 disappears, whereby the driver reaches the predetermined target traveling speed, and knows that the vehicle has shifted to the constant traveling based on the target traveling speed. be able to. If it is determined in step S-7 that the actual traveling speed of the vehicle has not reached the target traveling speed, the process returns from step S-7 to step S-1, and the above-described operation is repeatedly performed.

Although the embodiment of the vehicle running speed control device according to the present invention has been described above, the present invention is not limited to such an embodiment, and various modifications and corrections can be made without departing from the scope of the present invention. Is possible.

[0039]

According to the first aspect of the present invention, the control means sets the target travel speed corresponding to the operation amount of the operation pedal, and the drive motor sets the actual travel speed of the vehicle to the target travel speed. Since the throttle valve is opened and closed so as to reach the speed, the actual traveling speed of the vehicle is maintained at the set target traveling speed. Therefore, it is not necessary to perform the accelerator operation even on an uphill or downhill, and useless acceleration and deceleration can be suppressed.

According to the vehicle traveling speed control device of the second aspect of the present invention, the control means changes the acceleration state of the vehicle in accordance with the operation change amount of the operation pedal. The acceleration state is selected according to the operation change amount, in other words, the speed difference to increase to the target traveling speed,
Therefore, the vehicle is accelerated in an acceleration state according to the speed difference until the vehicle reaches the target traveling speed, and smooth acceleration traveling is enabled.

According to the vehicle traveling speed control device of the third aspect of the present invention, the acceleration state can be selected by the acceleration mode setting means, so that the vehicle travels until the target traveling speed is reached in the selected acceleration mode. Accelerated running is performed, and accelerated running suited to the driver's preference becomes possible.

According to the vehicle traveling speed control device of the present invention, when the automatic mode is selected by the acceleration mode setting unit, the control unit learns the acceleration change state until the vehicle reaches the target traveling speed. In the accelerated traveling of the vehicle, acceleration traveling until reaching the target traveling speed is performed in the accelerated state using the learned acceleration change state. Therefore, acceleration traveling that matches the driver's driving can be performed.

According to the vehicle traveling speed control device of the present invention, when the auto mode is selected by the acceleration mode setting means, the control means learns the opening / closing change state of the throttle valve until the target traveling speed is reached. Then, in the next acceleration traveling, the target traveling speed is set using the learned opening / closing change state of the throttle valve. Therefore,
It is possible to set a target traveling speed that matches the driving of the driver.

Further, according to the vehicle traveling speed control device of the present invention, the cruise setting means is provided, and when the cruise traveling is selected by the cruise setting means, the target traveling speed displayed on the target speed display means is changed. The cruise speed is set. Therefore, the cruise traveling speed can be set even in the accelerated traveling state of the vehicle.

[Brief description of the drawings]

FIG. 1 is a block diagram schematically showing an embodiment of a vehicle traveling speed control device according to the present invention.

FIG. 2 is a diagram showing a speed to be increased in the traveling speed control device of FIG. 1 and a change state of the speed until reaching the speed.

FIG. 3 is a diagram illustrating a change state of a traveling speed of a vehicle in various modes set in the traveling speed control device of FIG. 1;

FIG. 4 is a diagram showing a change state of a vehicle speed when the operation pedal is further operated during acceleration traveling in the traveling speed control device of FIG. 1;

FIG. 5 is a diagram for explaining an example of a learning function by a control unit in the traveling speed control device of FIG. 1;

FIG. 6 is a diagram for explaining another example of the learning function of the control unit.

FIG. 7 is a flowchart for explaining a part of the operation of the traveling speed control device of FIG. 1;

[Explanation of symbols]

 Reference Signs List 2 intake pipe 4 throttle valve 10 drive motor 16 control means 18 operation pedal 20 operation amount detection sensor 22 acceleration mode setting means 24 cruise setting means 26 display device 28 actual traveling speed display means 30 target traveling speed display means 34 speed detection sensor 36 angle Detection sensor 38 Corresponding speed storage means 42 Speed difference calculation means 44 Map storage means

Claims (6)

[Claims] A throttle valve rotatably disposed in an intake pipe of an internal combustion engine, a drive motor for opening and closing the throttle valve, an operation pedal for controlling an opening degree of the throttle valve, Control means for controlling the operation of the drive motor, wherein the control means sets a target travel speed of the vehicle corresponding to the operation amount of the operation pedal, and the actual travel speed of the vehicle becomes the target travel speed The vehicle running speed control device controls the operation of the drive motor as described above. 2. The vehicle running speed control according to claim 1, wherein the control unit changes an acceleration state of the vehicle until the target running speed is reached according to an operation change amount of the operation pedal. apparatus. 3. An acceleration mode setting means is provided in connection with said control means, and selects an acceleration state until the target traveling speed is reached by said acceleration mode setting means. The vehicle traveling speed control device according to any one of the preceding claims. 4. The acceleration mode setting means can be set to an auto mode, and when the auto mode is selected, the control means learns the acceleration change state of the vehicle until the vehicle reaches the target traveling speed, and The vehicle running speed control device according to claim 3, wherein an acceleration state is set. 5. The acceleration mode setting means can be set to an auto mode, and when the auto mode is selected, the control means learns the opening / closing change state of the throttle valve until the target traveling speed is reached, and the vehicle is controlled by the vehicle. The vehicle running speed control device according to claim 3, wherein the target running speed is set. 6. A cruise setting means for maintaining the running speed of the vehicle constant, the actual running speed display means for displaying the actual running speed of the vehicle, and Target speed display means for displaying the target travel speed of the vehicle, wherein the cruise setting means sets the cruise travel speed based on the target travel speed displayed on the target speed display means. The vehicle traveling speed control device according to any one of claims 1 to 5, wherein