JPS6291327A - Automatic control unit for car speed - Google Patents

Abstract

PURPOSE:To make automatic control of car speed smoothly by averaging operation data from a car speed sensor and sending a command to an actuator in accordance with a difference between the averaged value and a stored car speed which is stored in a car-speed memory means. CONSTITUTION:The operation data (actual car speed) of a car speed sensor 1 is averaged through an averaging means 2. As for the averaging, a loading averaging method, a moving averaging method, or an arithmetic averaging method is used. On the other hand, in response to a cruise command generated by a command switch 3, a car speed memory means 4 stores the operation data of the car speed sensor 1. And, then, a control means 7 sends a command to an actuator 6 which drives a throttle valve 5, in accordance with a difference between the actual car speed which is averaged through the averaging means 2 and the stores car speed which is stored by the car speed memory means 4. As a result, it is possible to make automatic control of car speed smoothly since the data of the car speed sensor 1 which minutely varies, can be averaged.

Description

[Detailed Description of the Invention] [Object of the Invention] (Industrial Application Field) This invention relates to an automatic vehicle speed control device used to automatically control the traveling speed of a vehicle to a certain set speed. be.

(Prior Art) This type of automatic vehicle speed control device has been conventionally available in various configurations, including a vehicle speed sensor that outputs operational data proportional to the actual vehicle speed, and a command that outputs a cruise command signal. a switch, a vehicle speed storage means for storing a vehicle speed at the time of operation of the command switch, an actuator for driving a throttle valve, and a control means for sending a command to the actuator in response to a difference between the actual vehicle speed and the stored vehicle speed. There is an automatic vehicle speed control device.

In this automatic vehicle speed control device, by operating a command switch, the vehicle speed at the time of the operation is stored, and the control means operates the actuator to drive the throttle valve in response to the difference between the stored vehicle speed and the actual vehicle speed. However, the actual vehicle speed is adjusted to the memorized vehicle speed and the vehicle travels at a constant speed, which is convenient for driving on expressways and the like.

(Problems to be Solved by the Invention) However, in the conventional vehicle speed automatic control device described in ``-'', the control means for operating the actuator uses the stored vehicle speed stored in the vehicle speed storage means and the operation output from the vehicle speed sensor. The actuator is actuated in response to the difference from the data (actual vehicle speed), but the vehicle speed sensor is built into a speedometer that is connected to the engine transmission with a flexible cable (for example, if the cable is connected with a reed switch). (Two pulses are obtained for each rotation.) This output operation data (pulse signal) is extremely unstable and easily contains erroneous signals. The conventional vehicle speed recognition value (SP) shown in FIG.
I) also contains an erroneous signal, and in this device, the vehicle speed recognition value (SPI) is the only input signal necessary for control. ), there is a problem in that a small control shock is transmitted inside the car, causing discomfort to the occupants.At the same time, the actuator receives a control signal that changes minutely and constantly, resulting in high rigidity and durability. The problem was that it required

Therefore, the present invention was made by focusing on the above-mentioned conventional problems, and it is possible to control the speed of the vehicle smoothly without transmitting small control shocks to the inside of the vehicle in response to changes in the actual vehicle speed due to external factors. The object of the present invention is to provide an automatic vehicle speed control device that can automatically control vehicle speed.

[Structure of the Invention] (Means for Solving the Problems) The structure of the present invention for achieving the above object will be explained using the functional block diagram shown in Fig. 1. a vehicle speed sensor 1 for outputting, an averaging means 2 for averaging operation data of the vehicle speed sensor 1, and a command switch 3 for outputting a cruise command signal;
A vehicle speed storage means 4 for storing operation data of the vehicle speed sensor 1 in response to the operation of the command switch 3, an actuator 6 for driving the throttle valve 5, and an actual vehicle speed averaged by the averaging means 2. The control means 7 sends a command to the actuator 6 in response to the difference between the vehicle speed and the stored vehicle speed stored in the vehicle speed storage means 4 and the acceleration at that point.

(Function) The averaging means 2 averages the operation data including the erroneous signal output from the vehicle speed sensor 1 to make it smooth operation data, and the control means 7 compares it with the memorized vehicle speed stored in the vehicle speed storage means 4. The smooth operation data is compared and a command is sent to the actuator 6 in accordance with the difference to drive the throttle valve 5 to automatically control the vehicle speed.

Therefore, by averaging the operating data of the vehicle speed sensor 1, which varies minutely, smooth automatic vehicle speed control similar to that controlled by a human being is performed with respect to the fluctuating actual vehicle speed.

(Example) Hereinafter, the present invention will be explained based on the drawings.

FIGS. 2 to 6' are diagrams showing one embodiment of the present invention.

FIG. 2 is an explanatory diagram showing the circuit configuration of the automatic vehicle speed control device. In FIG. 2, 11 is a vehicle speed sensor that outputs operation data proportional to the actual vehicle speed, and 12 is a command switch that outputs a cruise command signal. The command switch 12 includes a set switch, a resume switch, and an accelerator switch. Outputs from the vehicle speed sensor 11 and command switch 12 are input to a microcomputer 16, which is a control section within the controller 13, through an interface 14 and an interface 15, respectively, within the controller 13. This microcomputer 16 includes a vehicle speed storage means for storing the vehicle speed at the time of operation from the vehicle speed sensor 11 in response to the operation of a set switch among the command switches 12, and a vehicle speed storage means for storing the vehicle speed outputted from the vehicle speed sensor 11 during automatic vehicle speed control. an averaging means for averaging the motion data; and motion data (actual vehicle speed) averaged by the averaging means.
and control means for keeping the vehicle speed constant in response to the difference between the vehicle speed and the stored vehicle speed stored in the vehicle speed storage means.

Moreover, 20 is an actuator, and this actuator 20 is equipped with a vent valve 21, a safety valve 22, and a vacuum valve 23, as shown in FIG. In addition to opening to the atmosphere, vacuum valve 2
One end of 3 is connected to the intake manifold (negative pressure source).

The other end of each valve 21, 22, 23 is connected to one side of the casing 25 and diaphragm 26 (the force side in FIG. 3).
One end of the control wire 28 is connected to the other side of the diaphragm 26 (the left side in FIG. 3), and the other end of the control wire 28 is connected to the negative pressure chamber 27 formed by the diaphragm 26. The side is connected to the throttle valve shaft 29.

Furthermore, 31 is located in the controller 13 and is connected to a vent valve 21 according to the output from the microcomputer 16.
The on-fist switching part for controlling the vent valve,
32 is also located in the controller 13 and operates the vacuum valve 23 according to the output from the microcomputer 16.
A vacuum valve switching section 33 for controlling the on-off of
This is an actuator switching unit that controls on/off the power supply to 0.
Off is relay coil 35a and relay switch 35b
This is done via a relay 35 consisting of.

Further, 37 is a brake switch, 38 is a brake lamp, and a signal for canceling the system when the brake is operated is input into the microcomputer 16 via an interface 39 in the controller 13.

Furthermore, 41 is a constant voltage circuit, 42 is a reset circuit, 43
44 is a main switch for the control device, and 45 is a cruise lamp.

Next, the operation of the automatic vehicle speed control device with such a configuration will be explained with reference to FIGS. 4 and 5.
To operate the automatic vehicle speed control device, press the main switch 44.
Leave it on. At this time, the vehicle speed sensor 11 outputs a pulse signal, which is operation data proportional to the actual vehicle speed, and inputs this pulse signal to the microcomputer 16 in the controller 13. In this state, the program shown in FIG. 4 is also operating. That is, when the main switch 44 is turned on, in step 101, a pulse signal that is operation data proportional to the actual vehicle speed output from the vehicle speed sensor 11 (for example, a reed switch built into the speedometer causes the cable to rotate once) In the next step 102, the pulse signal is sampled within a certain period of time to calculate a vehicle speed recognition value (SPI). Then, in step 103, the vehicle speed recognition value (S P I) is averaged. That is, the vehicle speed recognition value (SPI) is
It is calculated from the operation data output from the vehicle speed sensor 11, and is the conventional vehicle speed recognition value (SPI) shown in FIG.
contains false signals as well. This vehicle speed recognition value (SPI
), 3PI n' - (SPI) n-1・-+ (SPI)
n...(1) Performed using equation (1). In other words, formula (1) is a calculation formula for the vehicle speed recognition value (SPIn') that takes into account the weighted average method, and this weighted average method places weight on the data immediately before the first data. Latest vehicle speed recognition value (SPIn
'), and the vehicle speed recognition value (SPIn') linked to the vehicle speed calculated in this way becomes smooth as if controlled by a human, as shown by the thick line in FIG.

Then, in the next step 104, the control pulse T' is generated based on the vehicle speed recognition value (SPIn') as follows: T' = f (S P I n' ) --- (
2) Control pulses are calculated using equation (2) and are constantly output from the microcomputer 16 in response to varying vehicle speeds.

In this state, the set switch of the command switch 12 is turned ON to input a set signal to the microcomputer 16, and then the set switch is turned OFF.
When the set signal is released, the cruise lamp 45 lights up and the microcomputer 1
The control means 6 closes the vent valve 21 and the safety valve 22 to isolate the negative pressure chamber 27 from the atmosphere, opens the vacuum valve 23 to introduce negative pressure into the negative pressure chamber 27, and controls the negative pressure chamber 27 through the control wire 28. The throttle valve shaft 29 is held in a predetermined position.

After this, even if the accelerator pedal is released, the throttle valve shaft 29 is held at a predetermined position, so that the vehicle can travel at a constant speed. From this point on, the vehicle speed sensor 1
The number of pulses proportional to the actual vehicle speed detected from 1 is averaged by the averaging means.
The control means sends a command to the actuator 20 so that ' is equal to the number of pulses stored in the vehicle speed storage means (i.e., the stored vehicle speed) when the set signal is released, and the vent valve switching section 31 and the vacuum The negative pressure state in the negative pressure chamber 27 of the actuator 20 is controlled by controlling the vent valve 21 and the vacuum valve 23 on and off through the valve switching unit 32, so that, for example, the actual vehicle speed is lower than the memorized vehicle speed by a predetermined value. , the vacuum valve switching unit 32 controlled by the microcomputer 16 turns on the vacuum valve 23 to introduce negative pressure into the negative pressure chamber 27, thereby causing the throttle valve shaft 29 to become smaller. Rotate the valve slightly in the direction of opening the valve to increase the vehicle speed. On the other hand, when the actual vehicle speed becomes greater than the memorized vehicle speed by a predetermined value, the microcomputer 16
Vent valve switching section 31 controlled by
, the vent valve 21 is turned off and the negative pressure chamber 2 is opened.
Atmospheric air is introduced into the engine 7, thereby slightly rotating the throttle valve shaft 29 in the valve closing direction to reduce the vehicle speed. By repeating such operations, the vehicle speed is controlled to be constant.

Therefore, in the automatic vehicle speed control performed as described above, the operation data output from the vehicle speed sensor 11 is the only input signal necessary for controlling the opening and closing of the throttle valve shaft 29, and during automatic vehicle speed control, When the operation data that changes over time is averaged using equation (1) by the averaging means, the influence of the latest operation data on automatic vehicle speed control is reduced, as shown by the thick line in Figure 5. As shown in Figure 6, the vehicle speed recognition value (SPIn') becomes smooth with respect to time, and if the length of the output pulse is recorded over time as shown in Figure 6, it will become similar to the conventional recording of output pulses. The vacuum valve 23 and the vent valve 21 do not output alternately, and the output form is such that an envelope can be drawn. As a result, automatic vehicle speed control can be performed as smoothly as a human being without being affected by an erroneous signal from the vehicle speed sensor 11.

In this embodiment, a case has been described in which the weighted average method is used to average the motion data in the averaging means, but it is also possible to average five motion data each time, including the current motion data. The moving average method can be used to obtain the latest vehicle speed recognition value at any given time, or the arithmetic average method can be used to obtain the latest vehicle speed recognition value by adding motion data in a specific range and dividing by the number of motion data. The averaging process of the motion data in the averaging means is not limited to using the weighted averaging method.

In addition, in this embodiment, the actuator 2 that uses negative pressure
Although the automatic vehicle speed control device equipped with 0 has been described, a motor-driven actuator that drives the throttle valve shaft 29 according to commands from the microcomputer 16,
The actuator 20 may be provided with a supply valve instead of the vacuum valve 23 and utilize positive pressure, and is not particularly limited to the negative pressure type actuator 20.

[Effects of the Invention] As described above, according to the present invention, there is provided a vehicle speed sensor that outputs operational data proportional to the actual vehicle speed, an averaging means that averages the operational data of the vehicle speed sensor, and a cruise command signal. a command switch that outputs the actual vehicle speed averaged by the averaging means; and control means for sending commands to the actuator in response to the difference between the vehicle speed and the memorized vehicle speed stored in the vehicle speed storage means. Even if the motion data contains an erroneous signal, the averaging means averages the motion data, so the actual vehicle speed can be made the same as the memorized vehicle speed without being affected by the erroneous signal and as smoothly as if it were controlled by a human. This provides an excellent effect of automatically controlling vehicle speed.

[Brief explanation of drawings]

FIG. 1 is a functional block diagram showing a configuration according to an embodiment of the present invention, FIG. 2 is an explanatory diagram showing a circuit configuration of an automatic vehicle speed control device according to an embodiment of the present invention, and FIG. 3 is an actuator shown in FIG. 2. FIG. 4 is a flowchart showing the averaging processing routine performed by the microcomputer in FIG. 2, and FIG. 5 is a comparison between the conventional vehicle speed recognition value and the vehicle speed recognition value of the present invention. FIG. 6 is an explanatory diagram showing a comparison between the conventional output pulse and the output pulse of the present invention. DESCRIPTION OF SYMBOLS 1... Vehicle speed sensor, 2... Averaging means, 3... Command switch, 4... Vehicle speed storage means, 5... Throttle valve, 6... Actuator, 7... Control means. Patent applicant Patent attorney representing Jidosha Electric Industry Co., Ltd.
Small Salt Yutaka 4 Zu

Claims (2)

[Claims] (1) A vehicle speed sensor that outputs operational data proportional to the actual vehicle speed, an averaging means that averages the operational data of the vehicle speed sensor, a command switch that outputs a cruise command signal, and a response to the operation of the command switch. a vehicle speed storage means for storing operation data of the vehicle speed sensor; an actuator for driving a throttle valve; and a difference between the actual vehicle speed averaged by the averaging means and the stored vehicle speed stored in the vehicle speed storage means. A vehicle speed automatic control device comprising: control means for sending a command to the actuator in response to the above. (2) The averaging process of the motion data in the averaging means is as follows:
The automatic vehicle speed control device according to claim 1, characterized in that a weighted average method is used. (3) The automatic vehicle speed control device according to claim (1), wherein the averaging process of the motion data in the averaging means uses a moving average method. (4) The automatic vehicle speed control device according to claim (1), wherein the averaging process of the operation data in the averaging means uses an arithmetic mean method.