KR20170095614A - Cruise CONTROL APPARATUS FOR VEHICLE AND METHOD THEREOF - Google Patents

Cruise CONTROL APPARATUS FOR VEHICLE AND METHOD THEREOF Download PDF

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KR20170095614A
KR20170095614A KR1020160017258A KR20160017258A KR20170095614A KR 20170095614 A KR20170095614 A KR 20170095614A KR 1020160017258 A KR1020160017258 A KR 1020160017258A KR 20160017258 A KR20160017258 A KR 20160017258A KR 20170095614 A KR20170095614 A KR 20170095614A
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South Korea
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vehicle
gear stage
torque
speed
cruise
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KR1020160017258A
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Korean (ko)
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KR101846877B1 (en
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박주혁
김준회
이주한
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현대자동차주식회사
기아자동차주식회사
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Priority to KR1020160017258A priority Critical patent/KR101846877B1/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/14—Adaptive cruise control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/10—Conjoint control of vehicle sub-units of different type or different function including control of change-speed gearings
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/08—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to drivers or passengers
    • B60W40/09—Driving style or behaviour
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
    • B60W40/105—Speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2540/00—Input parameters relating to occupants
    • B60W2540/30—Driving style

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Physics & Mathematics (AREA)
  • Mathematical Physics (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Control Of Transmission Device (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)

Abstract

The present invention relates to a cruise control apparatus for a vehicle and, specifically, to a cruise control apparatus for a vehicle, which calculates cruise torque in consideration of driving resistance such that successive engine torque response can be implemented, and a method thereof. To this end, the cruise control apparatus for a vehicle according to one embodiment of the present invention comprises: a data detection portion for detecting driving data for performing cruise control; and a vehicle controller for confirming a target speed based on the driving data, calculating cruise-required torque by using the target speed and a vehicle speed, calculating output enable torque by revolutions per minute and a vehicle gear ratio, setting a target gear by using the cruise-required torque and the output enable torque, and implementing shifting according to the target gear.

Description

[0001] Cruise Control Apparatus for Vehicles [

The present invention relates to a cruise control device for a vehicle, and more particularly, to a cruise control device and method for a vehicle capable of continuously responding to an engine torque by calculating a cruise torque in consideration of a running resistance.

Generally, a vehicle transmits power generated by an engine to a driving side of a front wheel or a rear wheel, and changes the traveling direction with a steering device while driving, and can control a speed with an accelerator pedal and a brake pedal.

In recent years, a cruise control function is provided in a vehicle for driving comfort during driving. The cruise control function allows the vehicle to travel at a constant speed, that is, at a constant constant speed desired by the driver without any operation of the accelerator pedal and the brake pedal, thereby greatly improving the driving convenience during long-distance driving.

Cruise control allows the driver to cruise the vehicle by controlling the amount of fuel entering the engine, the injection timing, and the timing of ignition when the driver sets the desired speed.

However, in the conventional case, due to the feedback control by the speed difference between the cruise torque and the driver running torque, the velocity follow-up becomes poor at the beginning of the cruise operation, and the torque discontinuity occurs.

In addition, in the conventional case, the change of the driving force due to the shifting can not be immediately reflected, and the shifting may be unnecessarily frequent.

The matters described in the background section are intended to enhance the understanding of the background of the invention and may include matters not previously known to those skilled in the art.

An embodiment of the present invention provides a vehicle cruise control apparatus and method capable of calculating a cruise torque in consideration of a real-time running resistance.

The embodiment of the present invention provides a vehicle cruise control apparatus and method capable of performing a shift based on a travelable driving force and a cruise torque.

According to an embodiment of the present invention, there is provided a cruise control system comprising: a data detector for detecting operation data for performing cruise control; And calculating a target speed based on the operation data, calculating a cruise demand torque on a target speed and a vehicle speed, calculating an outputtable torque on the basis of an engine speed and a vehicle gear ratio, And a vehicle controller that sets a target gear stage using the target gear stage and performs a shift according to the target gear stage.

Also, the vehicle controller confirms the requested acceleration depending on the difference between the target speed and the vehicle speed, confirms the running resistance using at least one of the air resistance, the rolling resistance, and the slope resistance, A desired gear ratio, a radius, and a total gear ratio.

Further, the vehicle controller may set the target gear stage by adding or subtracting the vehicle gear stage based on the cruise demand torque, the output allowable torque, and the correction value.

Further, the vehicle controller may calculate the first calculated value using the output allowable torque and the first correction value, and if the cruise demand torque is equal to or greater than the first calculated value, subtract one stage from the vehicle gear stage and set the target gear stage .

Further, the vehicle controller may calculate the second calculated value using the output allowable torque and the second correction value, and if the cruise demand torque is less than the second calculated value, one step is added from the vehicle gear stage to the target gear stage .

Further, the vehicle controller may change the target gear stage to the setting gear stage according to at least one of the speed difference value which is the difference between the vehicle speed and the target speed, the cruise demand torque, the engine speed, and the vehicle gear stage.

In another embodiment of the present invention, there is provided a cruise control method comprising: calculating a cruise demand torque using a target speed and a vehicle speed; Calculating an outputtable torque using an engine speed and a gear ratio; And setting the target gear stage using the cruise demand torque and the output allowable torque.

The embodiment of the present invention can be performed by calculating the cruise torque in consideration of the real time running resistance.

In addition, since the shifting operation is performed by selecting the optimum gear stage based on the drivable driving force and the cruise torque, it is possible to prevent the occurrence of frequent shifting.

In addition, effects obtainable or predicted by the embodiments of the present invention will be directly or implicitly disclosed in the detailed description of the embodiments of the present invention. That is, various effects to be predicted according to the embodiment of the present invention will be disclosed in the detailed description to be described later.

1 is a schematic view of a vehicle cruise control apparatus according to an embodiment of the present invention.
2 is a flowchart illustrating a cruise control method for a vehicle according to an embodiment of the present invention.
3 is a flowchart illustrating a cruise control method for a vehicle according to another embodiment of the present invention.

DETAILED DESCRIPTION OF EXEMPLARY EMBODIMENTS Hereinafter, an operation principle of an embodiment of a vehicle cruise control apparatus and method according to the present invention will be described in detail with reference to the accompanying drawings and description. It should be understood, however, that the drawings and the following detailed description are exemplary and explanatory of various embodiments for effectively illustrating the features of the present invention. Therefore, the present invention should not be limited to the following drawings and descriptions.

In the following description of the present invention, a detailed description of known functions and configurations incorporated herein will be omitted when it may make the subject matter of the present invention rather unclear. The terms used below are defined in consideration of the functions of the present invention, which may vary depending on the user, intention or custom of the operator. Therefore, the definition should be based on the contents throughout the present invention.

In order to efficiently explain the essential technical features of the present invention, the following embodiments will appropriately modify, integrate, or separate terms to be understood by those skilled in the art to which the present invention belongs , And the present invention is by no means thereby limited.

Hereinafter, an embodiment of the present invention will be described in detail with reference to the accompanying drawings.

1 is a schematic view of a vehicle cruise control apparatus according to an embodiment of the present invention.

1, the vehicle cruise control apparatus includes a data detecting section 100, a vehicle controller 150, an engine 160, and a transmission 170. [

The data detection unit 100 detects operation data for performing cruise control. The data detection unit 100 provides the detected operation data to the vehicle controller 150. [

To this end, the data detection unit 100 includes a vehicle speed sensor 111, an accelerator position sensor (APS) 113, a brake pedal position sensor (BPS) 115, a resistance sensor 117, And includes a water sensor 119 and a gear stage sensor 121.

The vehicle speed sensor 111 measures the speed of the vehicle, and may be mounted on a wheel of the vehicle. On the other hand, when the vehicle speed sensor 111 is not provided, the vehicle controller 150 can calculate the vehicle speed based on the position information.

The APS 113 measures the degree to which the driver depresses the accelerator pedal. That is, the APS 113 measures the position value of the accelerator pedal (the degree to which the accelerator pedal is depressed) and provides a signal to the vehicle controller 150. When the accelerator pedal is fully depressed, the position value of the accelerator pedal is 100%, and when the accelerator pedal is not depressed, the position value of the accelerator pedal may be 0%.

Instead of using the APS 113, a throttle valve opening degree detection unit mounted in the intake passage may be used.

The BPS 115 measures the extent to which the driver depresses the brake pedal. That is, the BPS 115 measures the position value of the brake pedal (degree of depression of the brake pedal) and transmits it to the vehicle controller 150 for the measurement. When the brake pedal is fully depressed, the value of the position of the brake pedal is 100%, and when the brake pedal is not depressed, the position value of the brake pedal may be 0%.

The resistance sensor 117 measures a running resistance generated when the vehicle is running. That is, the resistance sensor 117 measures at least one of an air resistance, a rolling resistance, and a slant resistance.

The rotational speed sensor 119 measures the rotational speed (RPM) of the engine 160.

The gear position sensor 121 detects a vehicle gear stage currently engaged with the transmission 170. [

The vehicle controller 150 integrally controls the data detecting unit 100, the engine 160 and the transmission 170 and collects and analyzes information of the data detecting unit 100, the engine 160 and the transmission 170, And controls the overall driving of the vehicle according to the request and the state of the vehicle.

At this time, the vehicle controller 150 includes an engine control unit (ECU) that controls the overall operation of the engine 160 in accordance with the operation state of the engine 160 such as a driver's required torque signal, cooling water temperature, ) To transmit the output torque to the drive wheels so that the vehicle can be driven.

The vehicle controller 150 performs cruise control based on the operation data detected by the data detection unit 100. Specifically, the vehicle controller 150 confirms the target speed based on the operation data. The vehicle controller 150 calculates the cruise demand torque based on the target speed and the vehicle speed. The vehicle controller 150 confirms the gear ratio based on the vehicle gear stage of the operation data. The vehicle controller 150 calculates the outputtable torque using the engine speed and the gear ratio. The vehicle controller 150 sets the target gear stage using the cruise demand torque and the outputtable torque. At this time, the vehicle controller 150 may set the target gear stage by adding or subtracting the vehicle gear stage based on the cruise demand torque, the output possible torque, and the correction value. The vehicle controller 150 controls the transmission 170 to perform the shift to the target gear position.

The vehicle controller 150 may be embodied as one or more microprocessors operating according to a set program, and the set program may include a series of commands for performing each step included in the cruise control method according to an embodiment of the present invention And the like. Such a cruise control method will be described in more detail with reference to FIG. 2 and FIG.

The output of the engine 160 is controlled under the control of the vehicle controller 150, and the driving of the engine 160 is controlled to the optimum operating point under the control of the vehicle controller 150.

The gear ratio of the transmission 170 is adjusted under the control of the vehicle controller 150. [ The transmission 170 transmits the output torque to the drive wheels so that the vehicle can be driven.

Hereinafter, a cruise control method according to an embodiment of the present invention will be described with reference to FIG. 2 and FIG.

Since the conventional operation of the vehicle according to the present invention including the above-described functions is the same as or similar to that of the conventional vehicle, a detailed description thereof will be omitted.

2 is a flowchart illustrating a cruise control method for a vehicle according to an embodiment of the present invention.

Referring to FIG. 2, the vehicle controller 150 confirms the requested acceleration force (S210). That is, the vehicle controller 150 confirms the requested acceleration force corresponding to the difference between the target speed and the vehicle speed. At this time, the target speed may be set based on the vehicle speed, the position value of the accelerator pedal, and the position value of the brake pedal.

The vehicle controller 150 confirms the running resistance (S215). That is, the vehicle controller 150 confirms the running resistance using at least one of the air resistance, the rolling resistance, and the slope resistance.

The vehicle controller 150 calculates a cruise demand torque (S220). In other words, the vehicle controller 150 calculates the cruise demand torque using at least one of the requested acceleration force confirmed in step S210, the running resistance identified in step S215, the radius, and the total gear ratio. Here, the accompanying surface can indicate the radius of the tire. The total gear ratio can be generated by multiplying the gear ratio and the reduction ratio set for each of the plurality of gear stages.

That is, the vehicle controller 150 can calculate the cruise demand torque through the following equation (1).

[Equation 1]

Figure pat00001

The vehicle controller 150 calculates the output allowable torque (S225). That is, the vehicle controller 150 can calculate the outputtable torque using the engine speed and the vehicle gear ratio. Here, the vehicle gear ratio may indicate a gear ratio according to the vehicle gear stage currently fastened to the vehicle. The output-capable torque may indicate the maximum torque that the engine 160 can output.

The vehicle controller 150 calculates the first calculated value using the output allowable torque and the first correction value (S230). That is, the vehicle controller 150 may multiply the output allowable torque by the first correction value to generate the first calculated value. Here, the first correction value may be a preset value, for example, 98%.

The vehicle controller 150 confirms whether the cruise demand torque is equal to or greater than the first calculated value (S235). That is, if the cruise demand torque is larger than the first calculated value for the output allowable torque, the vehicle controller 150 determines that the cruise demand torque is equal to or greater than the first calculated value in order to secure the driving force.

If the cruise demand torque is equal to or greater than the first calculated value, the vehicle controller 150 sets the target gear stage by subtracting one stage from the vehicle gear stage (S240, S245).

If the cruise demand torque is less than the first calculation value, the vehicle controller 150 calculates the second calculation value using the output allowable torque and the second correction value (S250). That is, the vehicle controller can generate the second calculated value by multiplying the output allowable torque by the second correction value. Here, the second correction value may be a predetermined setting value and may be smaller than the first correction value. For example, the second correction value may be 50%.

The vehicle controller 150 confirms whether the cruise demand torque is less than the second calculated value (S255).

The vehicle controller 150 adds one stage in the vehicle gear stage when the cruise demand torque is less than the second calculated value (S260). That is, the vehicle controller 150 adds the vehicle gear stage to set the gear stage at the highest stage that can be output when the cruise demand torque is less than the second calculated value.

The vehicle controller 150 sets the target gear stage by adding one stage from the vehicle gear stage (S265).

3 is a flowchart illustrating a cruise control method for a vehicle according to another embodiment of the present invention. The vehicle cruise control method described with reference to FIG. 3 may represent a flowchart for controlling the vehicle when traveling downhill.

Referring to FIG. 3, the vehicle controller 150 confirms the target gear (S310). That is, the vehicle controller 150 can confirm the target gear set in step S265 of FIG.

The vehicle controller 150 confirms whether the speed difference value is within the setting range (S320). In other words, the vehicle controller 150 generates a speed difference value which is a difference between the vehicle speed and the target speed. At this time, the speed difference value may be a value obtained by subtracting the target speed from the vehicle speed. The vehicle controller 150 confirms that the speed difference value exceeds the minimum speed and the speed difference value is less than the maximum speed. Here, the minimum speed and the maximum speed may be predetermined values. The lowest speed can represent the minimum speed to travel downhill. The maximum speed can indicate the speed set to prevent vehicle speed increase during downhill driving.

On the other hand, if the speed difference value is not within the setting range, the vehicle controller 150 may return to step S320 to monitor whether the speed difference value is within the setting range.

The vehicle controller 150 determines whether the cruise demand torque is equal to or lower than the reference torque when the speed difference value is within the set range (S330). In other words, the vehicle controller 150 confirms the cruise demand torque if the speed difference value exceeds the minimum speed and is less than the maximum speed. At this time, the vehicle controller 150 can calculate the cruise demand torque using at least one of the requested acceleration power, the running resistance, the radius, and the total gear ratio. The vehicle controller 150 confirms whether the cruise demand torque is equal to or lower than the reference torque. Here, the reference torque may indicate a reference torque to confirm whether the driver is no longer to accelerate.

On the other hand, if the cruise demand torque exceeds the reference torque, the vehicle controller 150 may return to step S320 to monitor whether the speed difference value is within the set range.

If the cruise demand torque is equal to or lower than the reference torque, the vehicle controller 150 determines whether the engine speed is equal to or lower than the reference speed (S340). Here, the reference rotation speed may indicate a maximum value at which the engine 160 can rotate.

On the other hand, if the engine speed exceeds the reference speed, the vehicle controller 150 may return to step S320 to monitor whether the speed difference value is within the setting range.

The vehicle controller 150 checks if the number of revolutions of the engine is not more than the reference number of revolutions (S350). That is, the vehicle controller 150 can confirm whether the vehicle gear stage currently engaged by the vehicle is the reference gear stage representing the lowest gear stage allowed to travel on the downhill.

On the other hand, if the vehicle gear stage is less than the reference gear stage, the vehicle controller 150 may return to step S320 to monitor whether the speed difference value is within the set range.

If the vehicle gear stage is the reference gear stage or more, the vehicle controller 150 sets the set gear stage based on the target gear stage (S360). That is, the vehicle controller 150 sets the set gear stage by subtracting one stage from the target gear stage when the vehicle gear stage is the reference gear stage or more.

The vehicle controller 150 sets the final gear stage to the set gear stage (S370). Then, the vehicle controller 150 controls the transmission 170 based on the final gear to perform the shift.

It will be apparent to those skilled in the art that various modifications and variations can be made in the present invention without departing from the spirit or scope of the invention as defined in the appended claims. It will be understood that the invention may be varied and varied without departing from the scope of the invention.

100:
111: vehicle speed sensor
113: APS
115: BPS
117: Resistance sensor
119: Rotational speed sensor
121: gear stage sensor
150: vehicle controller
160: engine
170: Transmission

Claims (14)

A data detector for detecting operation data for performing cruise control; And
Calculates a cruise demand torque based on the operation data, calculates a cruise demand torque based on the target speed and the vehicle speed, calculates an outputtable torque using the engine speed and the vehicle gear ratio, A vehicle controller for setting a target gear stage using the target gear stage and performing a shift according to the target gear stage;
And a cruise control device for a vehicle. The method according to claim 1,
The vehicle controller
Wherein the controller determines the required acceleration depending on the difference between the target speed and the vehicle speed and verifies the running resistance using at least one of the air resistance, the rolling resistance and the slant resistance, and determines at least one of the requested acceleration, And calculates a cruise demand torque using one of the cruise control signals. The method according to claim 1,
The vehicle controller
And the target gear stage is set by adding or subtracting the vehicle gear stage based on the cruise demand torque, the output allowable torque, and the correction value. The method according to claim 1,
The vehicle controller
Calculates a first calculation value using the output allowable torque and a first correction value and sets the target gear stage by subtracting one stage from a vehicle gear stage if the cruise demand torque is equal to or greater than a first calculation value. The method according to claim 1,
The vehicle controller
Calculates a second calculated value using the output allowable torque and the second correction value, and sets the target gear stage by adding one stage from the vehicle gear stage if the cruise demand torque is less than the second calculated value. The method according to claim 1,
The vehicle controller
And changes the target gear stage to a set gear stage in accordance with at least one of a speed difference value which is a difference between the vehicle speed and a target speed, a cruise demand torque, an engine speed, and a vehicle gear stage. Calculating a cruise demand torque using the target speed and the vehicle speed;
Calculating an outputtable torque using an engine speed and a gear ratio; And
Setting a target gear stage using the cruise demand torque and the outputtable torque;
And a cruise control unit for controlling the cruise control unit. 8. The method of claim 7,
The step of calculating the cruise demand torque
Confirming a required acceleration force corresponding to a difference between the target speed and the vehicle speed;
Confirming the running resistance using at least one of air resistance, rolling resistance, and slope resistance; And
Calculating a cruise demand torque using at least one of the requested acceleration power, the running resistance, the radius, and the total gear ratio;
And a cruise control unit for controlling the cruise control unit. 8. The method of claim 7,
The step of setting the target gear stage
And setting the target gear stage by adding or subtracting the vehicle gear stage based on the cruise demand torque, the output allowable torque, and the correction value. 8. The method of claim 7,
The step of setting the target gear stage
Calculating a first calculation value using the output allowable torque and a first correction value; And
Setting a target gear stage by subtracting one stage from a vehicle gear stage if the cruise demand torque is equal to or greater than a first calculated value;
And a cruise control unit for controlling the cruise control unit. 11. The method of claim 10,
The step of setting the target gear stage
And setting the target gear stage using the cruise demand torque, the outputtable torque and the second correction value if the cruise demand torque is less than the first calculation value. 8. The method of claim 7,
The step of setting the target gear stage
Calculating a second calculation value using the output allowable torque and a second correction value; And
If the cruise demand torque is less than the second calculated value, adding one stage from the vehicle gear stage to the target gear stage;
And a cruise control unit for controlling the cruise control unit. 8. The method of claim 7,
After the step of setting the target gear,
Further comprising the step of changing the target gear stage to a set gear stage in accordance with at least one of a speed difference value which is a difference between the vehicle speed and a target speed, a cruise demand torque, an engine speed, and a vehicle gear stage. 14. The method of claim 13,
After the step of setting the target gear,
Determining whether a speed difference value, which is a difference between the vehicle speed and the target speed, is within a set range;
Confirming whether the cruise demand torque is equal to or lower than a reference torque when the speed difference value is within the set range;
If the cruise demand torque is equal to or lower than the reference torque, confirming whether the engine speed is less than the reference speed;
Determining whether the vehicle gear is greater than or equal to the reference gear when the number of revolutions of the engine is less than the reference number of revolutions;
Setting a set gear stage by subtracting one stage from a target gear stage if the vehicle gear stage is equal to or greater than a reference gear stage;
Further comprising the steps of:
KR1020160017258A 2016-02-15 2016-02-15 Cruise CONTROL APPARATUS FOR VEHICLE AND METHOD THEREOF KR101846877B1 (en)

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CN111619563A (en) * 2019-02-27 2020-09-04 广州汽车集团股份有限公司 Control method and device in self-adaptive cruise acceleration process and computer equipment
US11447137B2 (en) * 2018-06-29 2022-09-20 Isuzu Motors Limited Travel control device, vehicle, driving assistance device, and travel control method

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JP2000198374A (en) * 1998-12-28 2000-07-18 Mitsubishi Motors Corp Constant speed travel device for vehicle
JP2006002916A (en) * 2004-06-21 2006-01-05 Toyota Motor Corp Vehicular travel control device
JP4696692B2 (en) * 2005-05-31 2011-06-08 いすゞ自動車株式会社 Automatic transmission control device
JP4519895B2 (en) * 2007-10-18 2010-08-04 本田技研工業株式会社 Shift indicator device
JP2013203341A (en) * 2012-03-29 2013-10-07 Fuji Heavy Ind Ltd Travel control device
KR101428381B1 (en) * 2013-04-19 2014-08-07 현대자동차주식회사 Vehicle cruise system, and its control method

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US11447137B2 (en) * 2018-06-29 2022-09-20 Isuzu Motors Limited Travel control device, vehicle, driving assistance device, and travel control method
CN111619563A (en) * 2019-02-27 2020-09-04 广州汽车集团股份有限公司 Control method and device in self-adaptive cruise acceleration process and computer equipment
CN111619563B (en) * 2019-02-27 2021-09-14 广州汽车集团股份有限公司 Control method and device in self-adaptive cruise acceleration process and computer equipment

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