JPS5829018A - Controller for constant speed running - Google Patents

Abstract

PURPOSE:To match an acceleration at acceleration operation to the feeling of acceleration intended by a driver, by detecting the acceleration at the normal drive of the driver and storing the acceleration corresponding to the frequency of generation of acceleration for study. CONSTITUTION:A controller 11 including an operation processor 12 is connected to a set switch (SW)15 indicating the start of constant speed running, an acceleration SW16 setting an objective car speed after the constant speed running for speed increase, a resume SW17 restoring the speed to the objective car speed before the release of the running speed and starting the constant speed run, and a release SW18 for constant speed running, and through the command of the SWs, a control command and a release command are given to a throttle actuator 13 to control a throttle valve 14. Car speed information is given to the controller 11 from a car speed detecting mechanism 19. The controller 11 stores the command of the SWs 15-18 and the frequency of generation of acceleration from the detected acceleration information, and this acceleration is processed statistically for the study of the drivers. Thus, the acceleration matched to the feeling of drive of the drivers can be set so that the acceleration can be matched to that intended by the driver at the restoring operation of the constant speed run control.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a constant speed travel control device for automatically maintaining the traveling speed of a vehicle equipped with a prime mover, such as an automobile, at a constant speed.

For example, in a car, etc., the target speed is 60km/h, 1
100km, etc., and automatically controls the vehicle to travel at the specified set target speed during steady state (
Autodrive) is becoming increasingly available.

In such a constant speed driving control device, automatic acceleration is performed when the target speed is increased during constant speed driving, for example, when a return operation is performed after canceling constant speed driving related to a brake operation, etc. It stands there for operations to take place.

However, in conventional constant speed cruise control devices, during the above-mentioned return operation or acceleration operation to increase the target speed, control is performed such that the throttle actuator is pulled to speed increase 11 for the entire stroke. I was doing it. Therefore, the acceleration is a specific value determined by the acceleration characteristics of the vehicle. Yes, the scale does not cause discomfort to the driver and is not desirable for safe driving.

For this reason, it has been considered to set the throttle and torparzo so that they open about half when the throttle actuator is pulled through its full stroke. However, if this is done, the control characteristics on, for example, an uphill slope may be sacrificed Ki5, and it is difficult to perform preferable driving speed control.

The present invention was made in view of the above-mentioned points. For example, the acceleration during acceleration after canceling constant speed driving, or when increasing the target speed, etc., changes the driver's sense of acceleration. The present invention aims to provide a constant speed driving control device for automobiles, etc., which eliminates complaints about too small acceleration and anxiety about too large acceleration, and enables safe and comfortable driving control. be.

That is, in the constant speed driving control device according to the present invention, the acceleration of the driver during normal driving is detected, the acceleration is stored in correspondence with the frequency of acceleration occurrence, and the acceleration of the driver is statistically calculated. By processing and learning, the acceleration at the time of acceleration operation and return operation is made to match the driver's sense of acceleration.

An embodiment of the present invention will be described below with reference to FIG. Figure 1 shows the overall configuration of the constant speed cruise control device, where No. 1 is an internal micro-combination processor, and No. 1 is an internal arithmetic processor. 1 circuit 12, this control device 11 issues a release command to the throttle actuator 11, tI1
Give 1111 command etc. The throttle actuator 11 is operatively connected to the throttle valve 14, which serves as an agmw element, and is composed of a known negative pressure mechanism including a control valve and a release valve for regulating internal pressure. Commands are given to the control device xxK from a group of actuation switches. OR with the accelerator switch 16 that sets the speed increase due to acceleration, the Rigi, -Musui, Chi 17 that returns to the target vehicle speed IIc before the release after constant speed driving is released, and starts constant speed driving, and a normal brake signal, etc. It consists of a switch 18 for canceling constant speed running, which is processed by.

Furthermore, the control device 11 is supplied with vehicle speed information from the vehicle speed detection mechanism 1, and the ζO mechanism 1# is
It is composed of a rotating body 1a having four magnetic poles that is rotated by a meter cable corresponding to the rotation of the wheel, and a reed switch 19b that is driven to close each time the magnetic poles approach each other, and the meter cable, that is, the rotating body It is configured to generate four I4 pulse signals with one rotation of 19a. In this case, for example, when driving at 60-mph, the meter cable is a 0gold main switch that rotates 637 times, and the control device JIK On the other hand, the power supply for in-vehicle power supplies, televisions, etc.
1.

FIG. 2 shows the operation of the apparatus configured as described above, when the main switch 20 is turned on and the power is turned on, and the operation will be explained at 9 o'clock.
Step 31 executes the initial setting routine. This initial setting routine-IFl is included in the processing circuit 12.
Inspects the data memory, performs input/output instructions for /-tots, initializes output I-totes, and initializes internal data.
At the time of initial setting immediately after power-on, the set switch 16, resume switch 1, etc. are not operated, so the set operation determination in step 32, the step J1 reset, and -m operation determination are performed. are both rN
OJ, the acceleration calculation of step 7pxoo is performed, and this step 32. S3, 100 is executed repeatedly.

As mentioned above, Stella f32 is a routine that determines the presence or absence of operation of Set, Tosui, and Chi IJ, and if the set switch 15 is operated, the routine proceeds to Stella f34 with the YESJ output and stores the controlled vehicle speed. This is to determine whether or not ti, step, pujjdlizzy, ji 11 has been operated, and whether the target controlled vehicle speed has been memorized.
- If there is an operation in step 11 and control vehicle speed O is stored, proceed to Stella fsi with rYE8J output, perform constant speed driving control start processing, and then step 10
0 detects acceleration information from the driving situation of the driver and calculates a target acceleration suitable for the driver. 70 Wait; will be explained later using FIG. 8.

As described above, when the set switch 15 is operated in state 1 where the vehicle speed in a ditch is not being controlled at a constant speed, the process advances from step 12 to step 34, and in step f14, the current vehicle speed is memorized as the target speed. In the following step 15, the control is started at the rounded 7 lag tN&, and the actuator JJO release valve is driven, and the process proceeds to step 4o of the control routine.

ζomw routine step 40 includes a step 41 for determining whether or not the accelerator is operated, and a control vehicle speed storage step 42%.
Acceleration control processing step 41, Naka Jansel Sui, Chi 18
Step 44 for determining the presence or absence of a cancel signal by the operation of
Furthermore, it consists of a step 45 for determining whether or not the resume is being resumed by the resume switch 11, a step 46 for determining whether or not the resume has ended, and a constant speed control processing step 47, and operation of the cancel switch 18. If not, each step 41-41 in the control routine 40 will be executed.

That is, when the control state is entered by operating the set switch 15, if the accelerator switch 16 and cancel switch J8 have not been operated yet, there is no resume operation, so Stella 7"4J, 4
5. Repeat steps 47°44.

Here, in step 45Fi, as described above, the operation of the switch 1, switch 11 is determined, and it is determined whether or not it is okay to enter the control routine 40 based on the operation of the switch 11. If the set switch 15 is operated as described above, the process proceeds to step 41, and if the resume switch 11 is operated, the process proceeds to step 46.

Further, in step 41, constant speed control processing is performed, specifically, data for driving the negative pressure actuator IJ is obtained by proportional calculation using advance compensation, and processing is performed to control the vehicle speed to the target vehicle speed.

In the Stella f44, which determines whether or not the cancel switch 18 has been operated, if the cancel switch 18 has not been operated as described above, the process returns to step 41 and controls constant speed driving, and if the cancel switch J8 has been operated. If there is, Kd, Ste,! 4111/C4mu@j (D
Step 48 is a cancel processing routine that processes a flag to transition from the control routine 40 to IIAK, which does not automatically control the vehicle speed, and releases the release valve. Waiting step! 12.33,300 will be repeated.

As described above, when the set switch is operated to perform constant speed driving control according to the clearance control routine 4011c, and when the cancel switch 18 is operated and the vehicle speed is not controlled by the control routine 40, the target vehicle speed before cancellation is To return, press the resume switch 11
is manipulated. That is, from Stella fss to Stella f3
5 is instructed to proceed to control routine 40.

In this case, there is no particular accelerator operation, so step 4J, 45, 46, 4J.

Step 44 is repeated to execute acceleration control, and when the current vehicle speed approaches the target vehicle speed and constant speed control becomes possible, the resume process ends, and the process proceeds from step 45 to step 41. By repeating steps 41, 45 and 47, 34, constant speed driving control based on the target vehicle speed is performed. At this point, step 46 is a routine to determine whether or not the resume process has been completed. When the drive signal of the actuator reaches a linear range that is possible with the proportional control, or when the current vehicle speed becomes greater than the target vehicle speed, the resume process ends. From this point onwards, the process proceeds to step 41 of the constant speed control routine, and if the resume process has not yet been completed, this step 4J calculates the target acceleration obtained in the target acceleration calculation routine of step 100 above. This routine executes proportional control from acceleration 1jK during , Rigi, -5 (or during acceleration) to obtain the target acceleration.

The control routine 4 is useful for operating the set switch 15 or the resume switch 11 as described above.
0, that is, while driving at a constant speed 111111, when the driver operates the accelerator switch 16, the step 41
``YEg J output is generated, and steps 4J, 42.
Steps 43 and 44 are repeated to perform acceleration control. and ζ, Step 42 is a routine that changes the control target vehicle speed to the current vehicle speed**, similar to step 34. Until the operation of the accelerator switch 16 is completed, the control target vehicle speed is rewritten to the current vehicle speed at that time, and the accelerator is When the operation of the switch 16 is completed, the vehicle speed at this time is stored as the control target vehicle speed, and "Stella f41°45.47.44" is repeated, and constant speed driving control is executed at the target vehicle speed of the control 41. .

The third step is a detailed explanation of step 100 for calculating the acceleration. In step 101, the current vehicle speed is calculated from the pulse interval data from the vehicle speed detection mechanism 19. Step 102 is a routine for determining whether or not time has elapsed, for example, one second, and the acceleration measurement routine IJ is executed every second.

Otherwise, this acceleration calculation routine is immediately terminated.

In the acceleration measurement routine 110, which is processed every 1 second, the Stella f111 clears the 1 second timer and proceeds to step 112 of the routine to determine whether or not it is accelerating. For example, the speed difference between
- This is specified as the above case, and if the acceleration is less than this, it is not judged to be accelerating and the ST! At step 1301, the current vehicle speed is stored and processed. When the speed difference between 9th and lsI is 1-per-hour or more, it is determined that the vehicle is accelerating, and the process proceeds to step 11B, where the following frequency processing is performed.

That is, in step 223, the previous stored vehicle speed is subtracted from the current vehicle speed to determine the one-second speed difference, that is, the acceleration.

Then, this obtained acceleration information is classified into ranks by the step controller 114, and a histogram of the frequency of occurrence of acceleration is created in the data area of the excitation path 12 by incrementing the information of the corresponding rank. .

Then, in Step 7"J J s, the counter that counts the number of acceleration samples is incremented, and Stella f116
It is determined whether the number of samples is different from a certain specified value, for example r200J, and when the number of samples is different from r200JK, the process goes to the target acceleration calculation routine 120 and returns to r200J.
When the IC does not reach, ST! Proceed to 110.

In step JjJ of the target acceleration calculation routine 120,
This is used to calculate the target acceleration, and the target acceleration is calculated by dividing the average value obtained by adding up all the "acceleration JXI" acceleration frequencies by the number of samples, and the separately determined minimum value. It is obtained by performing a process to set the value within the range limit of the shrimp size value. Next, step -f122 clears the t sample number counter, step 121 clears the frequency data, and the acceleration calculation processing routine 120 obtains the vehicle speed difference data after one second. This is a routine for storing the current vehicle speed ml.

It is assumed that immediately after power-on, for safety, the minimum value of the target acceleration is set so that, for example, the vehicle speed difference per second is 11 hours.

In the above acceleration calculation processing routine 100, the L1 target acceleration calculation can be performed with the number of samples specified, but,
and n can also be calculated by calculating the acceleration in the specified time range.

However, in this case, if the number of samples within the specified time range is small, the target acceleration calculation cannot be made accurate, so in such a case, the process of K to avoid rewriting the Maezono value is necessary. is necessary.

FIG. 4 explains an acceleration calculation processing routine 100 that specifies such a time and samples acceleration.
214 and 215 are the steps, 101, and 101 in Figure 3, respectively.
101°111.111.113,114. It is equivalent to JJ5, and its explanation will be omitted. Further, Stella f230 is also the same as step 110 in FIG.

That is, in step 21!1, it is determined whether or not a certain period of time specified as, for example, 4 minutes has elapsed during the acceleration measurement time, and before 4 minutes elapse, this target acceleration calculation is terminated, and the target acceleration is calculated every 4 minutes. The acceleration calculation routine ν130 is executed. Steps 211 of this routine 230 clear the timer that determines this calculation cycle, and are the same routines as Stella f 232 and Steps 121 and 123 in Figure 3 above. In particular, there are means for measuring acceleration which are suitable for the driver's acceleration driving operation, such as means for deviating as shown in FIGS. 3 and 4, and means for using samples within a specified time range H.

In the upper case, the acceleration is specified in units of 1 second.If the acceleration can be determined as a positive altcm, it goes without saying that this setting can be made larger or smaller. Furthermore, the minimum value of the acceleration of sk land is also 1
The difference in vehicle speed per second was assumed to be 1km/h, but this is the case.
It may be set as appropriate by the IJILO woodcutter who is equipped with the IJILO.

As described above, this invention is effective when the driver is driving normally.
1 driving 11 by detecting and learning 1A3 speed storm
The acceleration that matches the driver's sense of discomfort is set, and the acceleration when the constant speed driving control is returned or when the acceleration operation is performed during the acceleration operation coincides with the driver's intention. Becomes a state.
Therefore, can you control your foot speed with confidence? It is not only a scale that can be used to make a wrong turn using a device, but also a device that provides extremely safe acceleration when driving by reducing acceleration due to circumstances such as bribery or congestion on the road. Control is executed, and it has a significant effect on safe driving.

[Brief explanation of drawings]

FIG. 1 is a block diagram illustrating a constant speed cruise control device according to an embodiment of the present invention, FIG. 2 is a flowchart illustrating the control section of the device, and FIGS. 3 and 4 each show a target acceleration calculation. It is a flowchart explaining the routine to be performed. 11... Control device, 12... Arithmetic processing circuit, 13.
... Throttle lure/f z-ta, 14... Throttle valve, 11-18... Operation switch, J9...
Vehicle speed detection mechanism. Applicant's representative Patent attorney Takehiko Suzue Figure 1 Figure 3 Figure 4

Claims (1)

[Claims] An actuation mechanism that displaces a speed adjustment element of the vehicle, a group of actuation switches that command the start and return of constant speed driving, an increase in driving speed, and cancellation of constant speed driving, and an acceleration detected by the driver's operation of the actuation mechanism. means for storing the detected acceleration information in correspondence with the acceleration occurrence frequency; and means for setting and controlling the acceleration during the return operation and acceleration operation of the switch group based on the stored acceleration frequency information. 1. A constant speed driving control device, comprising: a constant speed driving control device, wherein acceleration from a constant speed setting driving state is performed at the set acceleration.