JPS58132814A - Automatic constant-speed running device - Google Patents

Abstract

PURPOSE:To keep a safety running, by setting a car speed value coinciding with or corresponding to an alarm car speed as the upper limit value of the automatic constant speed value and changing the upper limit car speed when a set car speed exceeds the upper limit car speed and performing the deceleration control by a car speed limiting means. CONSTITUTION:The car speed signal from a car speed sensor 1 is inputted to an input buffer 8 of a controlling part 6, and data of running car speed at the time when a set switch 3 is operated is stored in a storage device of a microcomputer 7 and is set as a set car speed. This set car speed is compared with the running speed, and an actuator 14 of an automatic constant-speed running device is controlled through an output buffer 9 in accordance with the result of this comparison. A car speed value coinciding with or corresponding to the alarm car speed is set as the upper limit car speed of automatic constadnt-speed running when the alarm car speed is set by an alarm switch 4; and when the set car speed exceeds the upper limit car speed, the set car speed is changed by a cancel switch 5, and the deceleration control is performed by the actuator 14.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention provides automatic constant speed driving (auto drive driving) by controlling the throttle valve of the engine by a speed governor, for example, a control valve of an actuator, in order to maintain the traveling vehicle speed at a set vehicle speed. Regarding an automatic constant speed driving device for automobiles that performs the , relates to an automatic constant speed traveling device that performs deceleration control.

Conventionally, a vehicle speed sensor detects the vehicle speed while the vehicle is running, and a signal from a set switch sets the vehicle speed at that time, and an actuator is driven to control the engine throttle so that the vehicle speed matches the set vehicle speed. In automatic constant speed driving devices for automobiles, an upper limit vehicle speed is set in advance at the time of manufacture to prevent unnecessary high speed driving.
The system is configured so that the vehicle speed cannot be set in excess of this upper limit vehicle speed, and furthermore, if an increase operation (fine speed increase operation) is performed during auto drive, the vehicle speed cannot be increased beyond the upper limit vehicle speed. There are things that are.

On the other hand, speed alarm devices are generally used that emit an alarm sound to warn the driver when the vehicle accelerates in automatic mode above a preset alarm speed. However, this speed alarm has no functional relationship with set driving during autodrive, and because conventional automatic constant speed driving devices cannot arbitrarily change the upper limit medium speed,
There was a problem with cars inadvertently exceeding the speed limit when driving on autodrive onto a road with a lower speed limit. Further, in such a case, deceleration operation in the automatic constant speed traveling device had to be performed by continuously pressing a switch for fine deceleration control.

The present invention has been made with attention to the above points, and the upper limit vehicle speed during auto drive is set in conjunction with the 71 ram speed setting of the speed alarm device, and the traveling vehicle speed is within this upper limit. When the speed exceeds the speed limit, deceleration control can be performed quickly, making it possible to easily perform automatic driving within the speed limit. To this end, the present invention sets a higher speed that matches or corresponds to the alarm vehicle speed when setting the alarm vehicle speed of the speed alarm device.
The present invention is characterized in that it is provided with a medium speed limit control means which is set as an upper limit vehicle speed in a control section, and when the autodrive vehicle speed exceeds the upper limit vehicle speed, changes the autodrive vehicle speed to the upper limit vehicle speed and performs deceleration control.

Embodiments of the present invention will be described below based on the drawings.

FIG. 1 shows a block diagram of an automatic constant speed traveling system for an automobile, and shows a case where a microcomputer 7 is used as a control section 6. As shown in FIG. 1 is arranged on the output shaft of the automatic transmission,
A vehicle speed sensor 2 sends a digital signal proportional to the vehicle speed to the control section 6, and 2 is a main switch of the control section 6. Reference numeral 3 designates a set switch that sets the current vehicle speed as the set vehicle speed for constant speed travel in the control unit 6 and performs a setting operation for automatic constant speed travel (auto drive travel), and 4 represents an alarm switch that sets an alarm medium speed. This alarm switch 4 is constituted by, for example, a digital switch, etc., and the vehicle speed value at which an alarm is to be generated is set by this switch, and the data is inputted to the microcomputer 7 of the control section 6 via an input buffer 78.

Further, by operating the alarm switch 4 to set the alarm, the control unit 6 operates to take in the alarm vehicle speed value or a vehicle speed value lower by a certain value than the alarm vehicle speed value as the upper limit medium speed for auto drive driving. 5 is a cancel switch that cancels auto drive driving,
It consists of switches such as a stop lamp switch, neutral switch, and parking brake switch. Reference numerals 11 and 12 denote a control valve and a release valve, respectively, which drive and control the throttle valve of the engine by adjusting the air pressure in a diaphragm chamber (not shown), and constitute the actuator 14 for controlling and driving, which is the speed governor of the automatic constant speed traveling device. , receives an operation command signal from the microcomputer 7 via the output buffer 9 of the control section 6 and operates.

Furthermore, 10 is an alarm which receives an operation command signal via an output buffer 9 and issues an alarm due to the alarm operation of the speed alarm means in the control unit 6, and 13 is a main switch 2.
This is a constant voltage power supply that supplies a constant voltage to each circuit of the control unit 6 when turned on.

The control section 6 is composed of a human output buffer 78.9 and a microcomputer 7. To briefly explain its functions, the microcomputer 7 has an internal ROM (Re
While the vehicle is running according to the stored control program, the vehicle speed is calculated from the vehicle speed signal sent from the vehicle speed sensor 1 to calculate the traveling vehicle speed, and a command signal is sent to the alarm 10 by comparing it with the value of the speed alarm. send and perform alarm action. Furthermore, the set vehicle speed for auto drive driving is set by operating the set switch 3, and in order to maintain the traveling vehicle speed at this set vehicle speed, the energization time (pulse signal intermittent ratio, duty) to the control valve 11 of the actuator is set to the set vehicle speed. and the traveling vehicle speed, perform constant speed traveling control, set an alarm vehicle speed and upper limit vehicle speed, and execute retard control I (fine deceleration control) when the traveling vehicle speed exceeds the upper limit vehicle speed. Control processing is performed so that the

Next, a control program representing the operation of this automatic constant speed running Vl setting will be explained based on the flowchart of FIG.

When the main switch 2 is turned on during startup, a constant voltage is applied to the microcomputer 6, and after predetermined initialization (initial setting) is performed in the memory section and calculation section in step 20, the following steps are performed. Processing is executed according to each switch operation and driving condition.

First, in a state where the vehicle is being driven by normal accelerator operation with the set switch 3 not being operated, the vehicle speed calculation step 21 is executed, and the vehicle speed sensor 1 is
The vehicle speed is calculated based on the traveling speed information from.

Next, an alarm vehicle speed and an upper limit vehicle speed for automatic drive driving are set. These two medium speed settings can be set to the vehicle speed desired by the driver, for example 60, by operating the alarm switch 4 and using the alarm vehicle speed Seratos step 23.
This is done by sending a digital signal corresponding to 1v/h to the control section 6. At the same time as this alarm vehicle speed is set, the microcomputer 7 takes in this alarm vehicle speed (60 ki+/h) or a vehicle speed slightly lower than the alarm vehicle speed (for example, 58 ko+/h) as the upper limit vehicle speed during auto drive driving. RAM in a microcomputer (Randos Access
In step 22, the data is stored in a register memory (hereinafter simply referred to as a register) such as Memory.

Next, step 24 is executed to determine whether the traveling vehicle speed is equal to or higher than the alarm vehicle speed. In this comparison determination step 24 of the traveling vehicle speed and alarm vehicle speed, for example, if the current traveling vehicle speed calculated in the vehicle speed calculation step 21 is lower than the alarm vehicle speed, it is determined that rNOJ is true.
The alarm stop step 26 is executed, and if the traveling vehicle speed is equal to or higher than the alarm vehicle speed, the determination result is rYESJ, and the alarm operation step 25 is executed, and an alarm command signal is sent from the control unit 6 to the alarm 10. An alarm sound etc. is emitted from the

Then, cancel switch determination step 27 is executed, and since auto drive is not being performed at this point and the cancel switch is not turned on, the determination result is rNOJ, and then,
A comparison determination step 28 between the running vehicle speed and the upper limit vehicle speed is executed.

In this step 28, if the current traveling vehicle speed is equal to or higher than the upper limit vehicle speed, the determination result becomes rYEsJ, and next, the set flag-2 determination step 36 is executed, while the traveling vehicle speed is lower than the upper limit medium speed. If so, the determination result is rNOJ, and then the reset flag determination step 29 is executed.

In the set flag-2 determination step 36, since the set flag is reset to [01 at this point, the determination result is rNOJ, and then the cancel control step 40 is executed, but at this point the 7t-1-drive Since the vehicle is not running, the automatic drive drive is canceled, that is, the release valve is kept open, and the process returns to step 21 for calculating vehicle speed, and the closed loop consisting of steps 21 to 28 and steps 36 and 40 is repeatedly executed. .

On the other hand, if the current vehicle speed does not exceed the upper limit vehicle speed, the re-set flag determination step 29 results in a "NO" determination since the re-set flag has been reset to rOJ.
Next, a set switch determination step 30 is executed.

In this step 30, since the set switch has not been turned on yet, the determination result is "NO", and then the set flag-O determination step 38 is executed.

In step 38, since the set flag is rOJ, the determination result is rYEsJ.Next, cancel control step 40 is executed, but since the autodrive running state has not yet entered, the autodrive running cancel state is maintained. Then, the process returns to the vehicle speed calculation step 21, and the processes shown in the closed loop of steps 21 to 30 and steps 38 and 40 are executed as long as the vehicle speed does not exceed the limited vehicle speed.

Next, if the set switch 3 is turned on during the aforementioned closed loop execution when the vehicle speed is below the upper limit vehicle speed, the determination result at the set switch determination step 30 is rYEs.
J, and then a set flag determination step 31 is executed. Here, since the set flag is "0", the determination result is rNOJ and the set flag is set to "1".
Step 32 is executed, and retard control (fine deceleration control) step 33 is executed, and the control valve 11 and release valve 12 are operated by the control signal from the control section 6 to drive the actuator 14 and to reduce the speed of the actuator. Processing to reduce the amount of drive, that is, control to reduce the rotational speed of the engine is performed.

While the set switch 3 is kept pressed, steps 21 to 31 and retard control step 3 are executed.
A closed loop consisting of 3 is sequentially executed, and the fine deceleration state continues.

When the state of the set switch changes from on to off during closed loop execution indicating the fine deceleration condition described above, step 30
At , the determination changes to rNOj, and then the set flag - ○ determination step 38 is executed, and since the set flag is set to "1" at this point, rNOJ
The determination result is , and then the set flag-2 determination step 39 is executed.

In the set flag-2 determination step 39, since the set flag is "1", the determination result is rNOJ. Next, step 41 is executed to set the set flag to [2j, and then the current running A vehicle speed storage step 42 for storing the vehicle speed in a register within the microcomputer 7 is executed. Then, this stored vehicle speed is set as a set vehicle speed (set vehicle speed for auto drive driving), and in a set duty calculation step 43, the duty of the control signal to the control valve 11 is calculated in order to make the traveling vehicle speed match the set vehicle speed. ,moreover,
The control valve 11 is controlled and driven by this control signal, and an auto drive control step 44 is executed so that the vehicle travels at the set vehicle speed. Then, the process returns to the vehicle speed calculation step 21, and thereafter, if there is no signal input from each switch input device, steps 21, 22, 24, 26, 30, steps 38, 39, and 44 are continued, and a series of auto drive driving control states continue. A closed loop that maintains is executed repeatedly.

Next, during auto drive driving as described above, for example, the alarm vehicle speed and upper limit vehicle speed are set to 60 kn+/h, and while the vehicle is traveling at a speed of 551 ue/h, the speed limit is set to 40 kn+/h.
km/b, the alarm switch 4 is operated to set the alarm vehicle speed to 40 km/h, and if the IC is set, the set signal from the alarm switch 4 is input to the control unit 6 in step 23. In step 22, this alarm vehicle speed of 40 km/h is
It can be set as the upper limit vehicle speed for auto drive driving, or it can be set as a medium speed (a little lower than the alarm vehicle speed by a predetermined value).
For example, the upper limit vehicle speed is set to 38kll/h). Subsequently, the control unit 6 executes a comparison determination step 24 between the alarm vehicle speed and the current traveling vehicle speed. In this case, the determination result is rYEsJ, an alarm operation step 25 is executed, and the alarm operation command signal is sent from the control unit 6 to the alarm operation command signal. The signal is sent to the device 10 and an alarm is issued.

Furthermore, at this time, since the traveling vehicle speed is higher than the new upper limit vehicle speed, in step 28 of comparing and determining the traveling vehicle speed and the upper limit vehicle speed, the determination result is rYEsJ, and the determination result is rYEsJ, followed by step 36, step 34, and step 35. The vehicle is gradually decelerated by repeatedly executing a closed loop including the retard control step 34. Then, when the traveling vehicle speed becomes lower than the upper limit vehicle speed, the determination result in step 28 becomes I N 0.1, and step 29
By successively executing steps 37 to 44, the vehicle speed at this point in time is stored in the register in the microcomputer 7 as a new set vehicle speed, and thereafter, auto-drive driving is performed based on this set vehicle speed. In the above embodiment, the arithmetic processing function of the microcomputer 7 is used as the speed alarm means, and the operation command signal is sent from the microcombicoater 7 to the alarm 10, but an independent speed alarm device is provided.
From here? It is also possible to send the C11 vehicle speed signal to the microcomputer. In addition, if you lower the alarm vehicle speed to a lower value than the set vehicle speed during auto drive, and then set the alarm vehicle speed to a higher value again, there is a resume system that returns the traveling vehicle speed to the initial set vehicle speed or the alarm vehicle speed! [It is also possible to add lta functionality. In this case, the double crystals will be automatically amplified. Therefore, in order to relieve the driver's anxiety during acceleration, it is preferable to display an alarm or the like or a set vehicle speed value to be increased.

As explained above, according to the automatic constant speed traveling device according to the present invention, the upper limit vehicle speed is set based on the alarm vehicle speed by the alarm vehicle speed setting operation, and furthermore, when the traveling vehicle speed is equal to or higher than the upper limit vehicle speed, the traveling vehicle speed is set. Since the configuration is configured to perform retard control until the vehicle speed drops below the upper limit vehicle speed, the -F limit vehicle speed during auto drive driving can be automatically set to a value corresponding to the alarm vehicle speed along with the alarm heavy speed setting, thereby preventing careless vehicle speed. It is possible to prevent high-speed driving and, for example, to perform safe automatic driving within the road speed limit.

Furthermore, while in the past, deceleration operations during autodrive driving had to be performed by holding down a coasting switch while looking at the speedometer, with the present invention, constant speed driving is possible simply by setting an alarm switch. It becomes possible to quickly reduce the set vehicle speed to the desired vehicle speed.

[Brief explanation of the drawing]

The drawings show an embodiment of the present invention, FIG. 1 is a block diagram of an automatic constant speed traveling device, and FIG. 2 is a chart from 70 to 70 showing its operation. 3...Set switch 4...Alarm switch 6...Control unit 7...Microcomputer 10...Alarm device 11...・・Control valve

Claims (1)

[Claims] By inputting the vehicle speed signal from the vehicle speed sensor, storing the traveling vehicle speed data at the time of operating the set switch and setting it as the set vehicle speed, comparing the set vehicle speed with the traveling speed and controlling the speed governor according to the result. In an automatic constant speed driving system, the automatic constant speed driving device includes a control unit for controlling the throttle of an engine to perform automatic constant speed driving, and a speed alarm means that issues an alarm when a traveling vehicle speed is higher than an arbitrarily set alarm vehicle speed. When setting an alarm vehicle speed, a vehicle speed value that matches or corresponds to the alarm vehicle speed is set as the upper limit vehicle speed for automatic constant speed driving, and when the set vehicle speed exceeds the upper limit vehicle speed, the set vehicle speed is changed to the upper limit vehicle speed and deceleration control is performed. An automatic constant speed traveling device characterized by comprising a vehicle speed limit control means for controlling the vehicle speed.