JP2001322450A - Vehicle speed control device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a vehicle speed control device capable of preventing an excessive acceleration in a continuous curve road and a slow acceleration in a single curve road without giving any incompatible feeling to a driver. SOLUTION: In this vehicle speed control device, a curve road traveling or not is judged, and the change quantity of speed command value after curve road traveling end is set according to the own speed in curve road traveling end or the deviation between the own speeds between curve road traveling start and end. Since the characteristic of a curve road can be estimated from the speed in curve road end and the deviation between the start and end, the change quantity of speed command value is minimized to minimize the acceleration of speed control when the speed in curve road end is low, or the deviation is large, whereby a large acceleration is never performed every curving even in a continuous S-shaped curve road. The change quantity of speed command value is increased when the speed in curve road end is high or the deviation is small, whereby the acceleration can be immediately performed after the end of a single curve without the fear of slow acceleration.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a vehicle speed control device for controlling the speed of a vehicle, and more particularly to a device for controlling a vehicle to automatically run at a set target vehicle speed.

[0002]

2. Description of the Related Art When a vehicle travels on a curved road and the lateral acceleration exceeds a certain value, the vehicle may skid. For this reason, for example, in a conventional vehicle speed control device described in JP-A-11-314537, a predetermined lateral acceleration is set, and the vehicle speed is controlled such that the actual lateral acceleration does not exceed the set value. Make up. Then, after the vehicle speed control with the limitation by the lateral acceleration as described above is completed, the vehicle speed is returned to the target vehicle speed at a predetermined acceleration.

[0003]

However, there is a case where there is only one curve on a curved road or a case where the curve is continuous (for example, an S-shaped curve). Is constant, for example, if the set acceleration is increased in order to quickly converge to the target vehicle speed assuming a single curve, the acceleration may be too large in a continuous curve, If the set acceleration is reduced in order to gradually converge to the target vehicle speed assuming a continuous curve such as an S-shaped road, in the case of a single curve, the acceleration becomes slow, giving a sense of incongruity to the driver. Problem.

The present invention has been made to solve the problems of the prior art as described above, and the acceleration does not become excessive even on a continuous curve road, and the acceleration becomes slow even on a single curve road, so that the driver may lose the acceleration. It is an object of the present invention to provide a vehicle speed control device that does not give a strange feeling to a vehicle.

[0005]

In order to achieve the above object, the present invention is configured as described in the appended claims. That is, in the present invention, it is determined whether or not the vehicle is traveling on a curved road, and the amount of change in the vehicle speed command value after determining that traveling on the curved road has been determined, the own vehicle speed at the end of traveling on the curved road, or The vehicle speed is set based on any one of the deviations of the vehicle speed at the start and end of traveling on a curved road.

When the vehicle speed is low at the end of a curved road or when the deviation of the own vehicle speed between the start and end of traveling on a curved road is large, the vehicle speed drops because the radius of curvature of the curved road is small (the curve is tight). It is estimated that. When the curved road is continuous (for example, an S-shaped curve), there is a high possibility that the above-described situation will occur. Therefore, the amount of change in the vehicle speed command value after determining that traveling on a curved road has been completed is determined by either the own vehicle speed at the end of traveling on a curved road or the deviation of the own vehicle speed between the start and end of traveling on a curved road. , It is possible to perform appropriate acceleration control and converge on the target acceleration.

More specifically, the vehicle speed is set so that the change amount of the vehicle speed command value becomes small when the vehicle speed is low, or the deviation of the vehicle speed is determined as described in claim 4. Is set so that the vehicle speed command value change amount decreases as the vehicle speed command value increases. As described above, when the vehicle speed at the end of the curve road is low or the deviation of the vehicle speed is large, the amount of change in the vehicle speed command value is reduced to reduce the acceleration of the vehicle speed control based on the vehicle speed command value. Accordingly, in a continuous curve (S-shaped road), a large acceleration is not performed every time the vehicle turns around the curve. Similarly, if the vehicle speed is high or the deviation of the vehicle speed at the end of the curved road is small, it is determined that the vehicle is a single curve, and the amount of change in the vehicle speed command value is increased.
As a result, since the vehicle is accelerated immediately after the end of a single curve, there is no danger that the acceleration will be slow and the driver will feel uncomfortable. It should be noted that the deviation of the vehicle speed between the start and the end of traveling on a curved road is more easily recognized as the tightness of the curve than the mere vehicle speed, so that more appropriate acceleration control becomes possible.

[0008]

According to the present invention, the characteristics of a curved road can be estimated from the vehicle speed at the end of the curved road or the deviation of the own vehicle speed between the start and end of traveling on the curved road. When the vehicle speed is low or the deviation of the vehicle speed is large, the amount of change in the vehicle speed command value is reduced to reduce the acceleration of the vehicle speed control based on the vehicle speed command value, so that in a continuous curve (S-shaped road), A large acceleration is not performed every time the vehicle turns a curve. If the vehicle speed is high at the end of the curved road or the deviation of the vehicle speed is small, it is determined that the vehicle is a single curve, and the amount of change in the vehicle speed command value is increased, so that after the end of the single curve, Since the vehicle is accelerated immediately, there is an effect that there is no danger that the driver will feel uncomfortable due to slow acceleration.

[0009]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS The overall structure of a vehicle speed control device will be described below. FIG. 1 is a block diagram showing the overall configuration of the vehicle speed control device of the present invention. Hereinafter, the configuration and operation of each block in FIG. 1 will be described. First, when a system switch (not shown) is turned on, the power of the entire apparatus is turned on, and the apparatus enters a standby state. When the set switch 20 is turned on in this state, the control is started. The vehicle speed control section 500 (portion surrounded by a broken line) is composed of a microcomputer and its peripheral parts. Note that the blocks inside the vehicle speed control section 500 are obtained by displaying the contents of the calculation by the computer in blocks.

In the vehicle speed control unit 500, the vehicle speed command value determination unit 510 determines the vehicle speed command value V every 10 ms.
_COM (t) is calculated. In addition, the sign attached with (t) means that the value changes with time. However, (t) may be omitted in the drawings.

The vehicle speed command maximum value setting unit 520 includes a set speed
Own vehicle speed V when switch 20 is pressed_A(t) is the speed finger
Command maximum value V_SMAX(Target vehicle speed). What
Contact, vehicle speed V_A(t) indicates the rotation of the tire by the vehicle speed sensor 10.
It is the actual speed of the vehicle detected from the number. Also,
The vehicle speed command maximum value V is set by the set switch 20 as shown in FIG.
_SMAXCoast switch 30 is set once after
Each time the button is pressed, the vehicle speed command maximum value setting unit 520 displays the vehicle speed finger.
Command maximum value V_SMAXTo a lower value by 5 km / h
You. That is, when pressed n times, n × 5 km / h (pressed and held
In this case, if the pressing time is t, for example, t / 10 m
s × 5 km / h). Also,
The vehicle speed command maximum value V is set by the set switch 20 as shown in FIG.
_SMAXIs set, the acceleration switch 40
Every time is pressed, the vehicle speed command maximum value setting unit 520
Vehicle speed command maximum value V_SMAXTo a higher value by 5 km / h.
Set. That is, when pressed n times, n × 5 km / h (press and hold
In the case of a digit, if the pressing time is t, for example, t / 1
0 ms × 5 km / h).

The lateral G vehicle speed correction amount calculation unit 580 receives the steering angle θ (t) of the steering wheel output from the steering angle sensor 100 and the own vehicle speed _VA (t), and outputs a vehicle speed command value described later in the lateral direction. The vehicle speed correction amount V _SUB (t) for correcting in accordance with the acceleration (hereinafter referred to as lateral G) is calculated. Note that the horizontal G
Specifically, as shown in FIG. 2, the vehicle speed correction amount calculation unit 580 includes a steering angle signal low-pass filter (hereinafter, referred to as a steering angle signal L).
PF unit) 581, a lateral G calculation unit 582, and a vehicle speed correction amount calculation map 583.

First, the steering angle signal LPF unit 581 receives the vehicle speed V _A (t) and the steering angle θ (t) and calculates a steering angle LPF value θ _LPF (t). θ _LPF is represented by the following equation. θ _LPF (t) = θ (t) / (TSTR · s + 1) where s is a differential operator (the same applies to the following formula) where the time constant TSTR of the LPF is TSTR = 1 /
(2π · fc), and the cutoff frequency fc of the LPF is determined by a map of the cutoff frequency fc with respect to the own vehicle speed V _A (t) as shown in FIG. In this map, the cutoff frequency fc is set lower in a higher vehicle speed range. For example, 100km compared to 50km / h
m / h takes a lower value.

The lateral G calculator 582 calculates a steering angle LPF value θ.
_{The LPF} (t) and the own vehicle speed _VA (t) are inputted, and the value Y _G (t) of the lateral G is calculated according to the following equation. Y _G (t) = {V _A (t) ² · θ _LPF (t)} / {N · W ·
[1 + A · _VA (t) ² ] where W is the wheelbase of the vehicle, N is the steering gear ratio, and A is the stability factor.

In the above equation, the lateral G is detected from the steering angle.
The yaw rate sensor is used.
Apply low-pass filter to late レ (t) to detect lateral G
In this case, the following equation may be used. Y_G(t) = V_A(t) ・ ψ_LPF  ψ_LPF= Ψ (t) / (T_YAW・ S + 1) where T_YAWIs the time constant of the low-pass filter,
Own vehicle speed V_AThe larger the value of (t), the larger the value
You.

The vehicle speed correction amount calculation map 583 includes a vehicle speed correction amount V for correcting a vehicle speed command value according to the lateral G.
_SUB (t) is calculated. The vehicle speed correction amount V _SUB (t) is
A predetermined vehicle speed command value change amount limit value [for example, 0.021 (km / 10 ms) = 0.06] is added to a correction coefficient determined by the lateral G.
G]. Note that the value of the vehicle speed command value change amount limit value is the vehicle speed command value change amount ΔV shown in FIG.
_It is equal to the maximum value of _COM (t). V _SUB (t) = correction coefficient × 0.021 (km / 10 m
s) As will be described later, when calculating the vehicle speed command value V _COM (t) that finally becomes a value for controlling the vehicle speed, the above-described vehicle speed correction amount V _SUB (t) is added as a subtraction term. . Thus the larger the value of the vehicle speed correction quantity _{V SUB} (t), command vehicle speed _{V CO M} (t) will be limited.

The above-mentioned correction coefficient is determined by the horizontal G as shown in FIG.
The larger the value Y _G (t), the larger the value. This is horizontal G
This is because a larger limit is imposed on the change in the vehicle speed command value V _COM (t) as the value is larger. However, as shown in FIG. 4, when the lateral G is 0.1 G or less, it is determined that it is not necessary to correct the vehicle speed command value, and the correction coefficient is set to zero. Also, horizontal G
Is 0.3G or more, it is a value that does not occur in normal use. In addition, in order to prevent the correction amount from becoming excessively large when the lateral G detection value becomes erroneously large, the value of 0.3G or more is used. The correction coefficient is fixed (for example, 2).

As will be described in detail later in the vehicle speed command value determination unit 510, when the target vehicle speed is increased by operating the accelerated switch 40, that is, when acceleration is requested, the current vehicle speed V _A (t) is added with the vehicle speed command value change amount ΔV _COM (t), and the vehicle speed correction value V
_The vehicle speed command value V is obtained by subtracting _SUB (t).
_COM (t) is calculated. Therefore, if the vehicle speed command value change amount ΔV _COM (t) is larger than the vehicle speed correction value V _SUB (t), the vehicle is accelerated, and if it is smaller, the vehicle is decelerated. As described above, the vehicle speed correction value V _SUB (t) corresponds to the vehicle speed command value change amount limit value (the maximum value of the vehicle speed command value change amount) in FIG.
For example, when the vehicle speed command value change amount limit value = the vehicle speed command value change amount, the correction coefficient is 1 (Y _G (t in the example of FIG. 4). ) = 0.
In the case of (2), the acceleration amount and the deceleration amount are equal, and the current vehicle speed is maintained. That is, in this example, the value Y _{G of the} horizontal _G
If (t) is smaller than 0.2, the vehicle is accelerated, and if (t) is large, the vehicle is decelerated. When the target vehicle speed is reduced by operating the coast switch 30, that is, when deceleration is requested, the current vehicle speed V
And calculates the command vehicle speed _{V C OM} (t) by subtracting the _A command vehicle speed from (t) variation [Delta] V _{C OM} (t) and vehicle speed correction value _{V SUB} (t). Therefore, in this case, the vehicle always decelerates, but the degree of deceleration increases as the vehicle speed correction value V _SUB (t) increases, that is, as the lateral G increases. The above value 0.021 (km / 10 ms) for the vehicle speed command value change amount limit value is a value assuming use on a highway.

As described above, the vehicle speed correction value V
_SUB (t) is obtained by the product of the correction coefficient corresponding to the lateral G and the vehicle speed command value change amount limit value. When the lateral G increases, the value of the subtraction term (vehicle speed correction value) increases and the lateral G does not increase. The vehicle speed is controlled as follows. However, as described in the steering angle signal LPF section 581 in FIG. 2, the cutoff frequency fc is lower in the higher vehicle speed range, so that the time constant TSTR of the LPF becomes larger and the steering angle LPF value θ
_LPF (t) decreases, and the lateral G estimated by the lateral G calculation unit 582 also decreases. As a result, the vehicle speed correction value V _SUB (t) obtained via the vehicle speed correction amount calculation map 583.
Becomes smaller, it is difficult to correct the vehicle speed command value (correction in the direction of decreasing acceleration) by the steering angle.

To explain this point in detail, the characteristic of the natural frequency ω _nSTR of the vehicle response to the steering angle is expressed by the following equation. ω _nSTR = (2W / V _A ) √ [Kf · Kr · (1 + A
・ V _A ² ) / m _VI・ where Kf and Kr are the cornering power of the front and rear tires
(One wheel min), W is wheel base, _{m V} is the vehicle mass, A
Is a stability factor, and I is a vehicle yaw moment of inertia. Characteristics of natural frequency omega _NSTR, natural frequency omega _NSTR decreases as the vehicle speed increases as shown in FIG. 5, while the vehicle response is degraded to the steering angle,
It can be seen that as the vehicle speed decreases, the natural frequency _ωnSTR increases, and the vehicle responsiveness to the steering angle improves. That is, in a high vehicle speed range, lateral G is less likely to occur even when steering is performed, and in a low vehicle speed range, lateral G is likely to occur even with a small amount of steering. Therefore, as shown in FIG. 3, by decreasing the cutoff frequency fc in a higher vehicle speed range, the response is slowed, and the correction of the vehicle speed command value by the steering angle is hardly performed. Next, the vehicle speed command value change amount determination unit 590, which is a gist of the present invention, will be described. The vehicle speed command value change amount determination unit 590 in FIG. 1 uses the map shown in FIG. 6 to _{calculate the} vehicle speed command value change amount ΔV _COM (based on the absolute value of the deviation between the vehicle speed _VA (t) and the vehicle speed command maximum value _VSMAX . Calculate t). In this map, when the absolute value of the deviation is within a certain range (range B in FIG. 6), the larger the absolute value is, the smaller the absolute value of the deviation is, the larger the absolute value of the vehicle speed command value change is. The amount ΔV _COM (t) is increased to accelerate or decelerate as quickly as possible. Then, the vehicle speed command value change amount ΔV _COM (t) is made small so that the sense of acceleration is not impaired as the absolute value of the deviation becomes smaller, so that the vehicle speed command maximum value _VSMAX is not overshot.
In a range where the absolute value of the deviation is large (range A in FIG. 6), a constant value (for example, 0.06) that does not exceed the acceleration limit value α.
G). In a small range (range C in FIG. 6), a constant value (for example, 0.03G) is set.

Further, the vehicle speed command value change amount determining section 590
Is output from the lateral G vehicle speed correction amount calculation unit 580.
Vehicle speed correction value V_SUB(t) is monitored and the vehicle speed is corrected
Value V _SUBThe value of (t) has changed from zero to non-zero once
If it returns to zero again later, driving on a curved road ends.
And the vehicle speed V_A(t) and vehicle speed command
Maximum value V_SMAXIs equal to
You. If it is determined that the curve has ended,
Own vehicle speed V_A(t) and vehicle speed command maximum value V_SMAXDeviation from
Vehicle speed command value change amount Δ using FIG. 6 based on the absolute value of
V_COMCurve ends instead of determining (t)
Own vehicle speed V when it is determined that_A(t) to vehicle speed command value
Change amount ΔV_COM(t) is determined. The characteristics at that time are
A characteristic showing the same tendency as that of No. 6 is used. That is, in FIG.
The horizontal axis is | V_A(t) -V_SMAX| Instead of own car
Speed V_AUsing the map (not shown) changed to (t),
Vehicle speed V_A(t) is smaller, the vehicle speed command value change amount ΔV
_COM(t) is a characteristic set to be a small value.
Has become. This processing is performed based on the vehicle speed V._A(t) and
Vehicle speed command maximum value V_SMAXEnds when.

It should be noted that the vehicle speed command value change amount ΔV is calculated from the actual vehicle speed V _A (t) when it is determined that the curve has been completed.
Instead of the above-described example to determine the _COM (t), when the vehicle speed correction value V _{SU B} (t) becomes a non-zero value, it determines the curved road traveling is started, vehicle speed V _A at that time (sta
rt) is stored in advance, and a difference ΔV _A = V _A (s) from the own vehicle speed V _A (end) when it is determined that the curved road is ended.
tart) -V _A (end) (ie, the vehicle speed command value change amount ΔV from the magnitude of the vehicle speed command value correction).
_COM (t) may be determined. At this time, a characteristic having a tendency opposite to that of FIG. 6 is used. That is, the horizontal axis of FIG. 6 is expressed by | V _A (t) −V _SMAX |
Using a map (not shown) changed to _VA , the vehicle speed difference ΔV
_The vehicle speed command value change amount ΔV _COM (t) is set to be smaller as _A is larger. This process ends when the vehicle speed V _A (t) becomes equal to the vehicle speed command maximum value V _SMAX .

When traveling on a curved road, the vehicle speed command value is corrected so that the value of the lateral G does not become excessively large, so that the vehicle speed generally decreases. Therefore, as described above, after traveling on a curved road and the vehicle speed drops, the vehicle speed V _A (t) at the end of the curved road or at the start and end of the curved road (the vehicle speed is corrected by correcting the vehicle speed command value). Vehicle speed difference ΔV before and after
_The vehicle speed command value change amount ΔV according to the magnitude of _A
COM (t) is changed.

[0024] Incidentally, if either the vehicle speed is low or the vehicle speed difference [Delta] V _A is large when the curved road terminates, small radius of curvature of the curved road (curve tight) is estimated to fell vehicle speed for. When the curved road is continuous (for example, an S-shaped curve), there is a high possibility that the above-described situation will occur. Therefore, if either the vehicle speed at the curved road ends is low or the vehicle speed difference [Delta] V _A is large, to reduce the acceleration of the vehicle speed control by the vehicle speed command value to reduce the vehicle speed command value change amount ΔV _COM (t). Accordingly, in a continuous curve (S-shaped road), a large acceleration is not performed every time the vehicle turns around the curve. Similarly, if either the vehicle speed is high, or the vehicle speed difference [Delta] V _A is small at the curved road terminates, it is determined to be a single curve, the vehicle speed command value change amount Δ
V _COM (t) is increased. As a result, since the vehicle is accelerated immediately after the end of a single curve, there is no danger that the acceleration will be slow and the driver will feel uncomfortable. The above is the description of the gist of the present invention.

Next, the vehicle speed command value determination unit 510 in FIG.
Own vehicle speed V _A (t), vehicle speed correction value V _{S UB} (t), vehicle speed command value change amount ΔV _COM (t), and vehicle speed command maximum value V
_SMAX, and input the vehicle speed command value V as follows.
_COM (t) is calculated. (1) When the vehicle speed command maximum value _VSMAX is higher than the own vehicle speed _VA (t), that is, the acceleration switch 40
(Or when there is a request for acceleration by operating the resume switch) V _COM (t) = min [V _SMAX , _VA (t) + ΔV
_COM (t) −V _SUB (t)] That is, the vehicle speed command maximum value V _SMAX and _VA (t) + ΔV
_COM (t) -V _SUB (t), whichever is smaller, is selected as the vehicle speed command value V _COM (t). (2) When _VSMAX is equal to _VA (t), that is,
When the constant vehicle speed is maintained V _COM (t) = V _SMAX −V _SUB (t) That is, the vehicle speed correction value V is _calculated from the vehicle speed command maximum value V _SMAX.
SUB (t) is subtracted to obtain a vehicle speed command value V _COM (t). (3) When the vehicle speed command maximum value V _SMAX is smaller than the own vehicle speed _VA (t), that is, when there is a deceleration request by operating the coast switch 30 V _COM (t) = max (V _SMAX , V _A (t ) −ΔV
_COM (t) -V _SUB ) That is, the vehicle speed command maximum values V _SMAX and _VA (t) -ΔV
_COM (t) -V _SUB is selected, and the larger one is selected as the vehicle speed command value V _COM (t). The vehicle speed command value V _COM (t) is determined as described above, and the vehicle speed is controlled accordingly.

Next, the drive torque command value calculation section 530
Vehicle speed command value V_COM(t) and own vehicle speed V_AEnter (t),
As shown below, the drive torque command value d_FC(t)
Calculate. FIG. 7 shows a drive torque command value calculation unit 530.
FIG. 3 is a block diagram showing an example of the configuration of FIG. First, the vehicle speed command
Value V_COM(t) as input, and own vehicle speed V_Aoutput (t)
Transfer characteristics G_V(s) can be expressed by the following equation.
Wear. G_V(s) = 1 / (T_V・ S + 1) ・ e^{(-Lv · s)}  Where T_VIs the first-order lag time constant, L_VIs the powertrain
This is the dead time due to the delay of the system.

The vehicle model to be controlled is modeled by using the drive torque command value d _FC (t) as an operation amount and the own vehicle speed V _A (t) as a control amount. It can be represented by a simple linear model shown in the following equation. _{V A (t) = 1 /} (m V · Rt · s) e (-Lv · s) ·
d _FC (t) However, Rt is the effective radius of rotation of the tire, _{m V} is vehicle mass. As described above, a vehicle model that receives the drive torque command value d _FC (t) and outputs the own vehicle speed _VA (t) has a 1 / s form, and thus has an integral characteristic.

It should be noted, dead time L _V also included, and nonlinear characteristic values of dead time L _V by an actuator and the engine to be used to change, such as described later approximated by delay of the power train system to the characteristics of the controlled object By using the disturbance estimator based on the zeroing technique, a vehicle model that receives the drive torque command value d _FC (t) and outputs the own vehicle speed _VA (t) can be represented by the same equation as above.

Here, the vehicle speed command value V_COMEnter (t)
And own vehicle speed V_A(t) is the output of control
The response characteristic is set to a predetermined first-order delay T_VAnd dead time L_VRequired
Transfer characteristic G_VWhen matching the characteristics of (s),
C as shown in 7₁(s), C₂(s) and C₃(s)
Can be defined as follows using However,
C ₁(s), C₂(s) is the disturbance by the approximate zeroing method
Shows the estimator and suppresses the effects of disturbances and modeling errors
Is a compensator that works like₃(s) is a model match
2 shows a compensator based on the tuning method. Compensator C₁(s) = e^{(-Lv · s)}/ (T_H・ S + 1) Compensator C₂(s) = (m_V・ Rt · s) / (T_H・ S +
1) At this time, the disturbance estimation value d_V(t) is d_V(t) = C₂(s) · V_A(t) -C₁(s) · d_FC
(t).

In addition, ignoring the dead time of the control object,
Model Model G_V(s) is the time constant T_VPrimary low-pass fill
Compensator C₃(s) is the following constant
You. Compensator C₃(s) = m_V・ Rt / T_V  Above C₁(s), C₂(s), C₃By the compensator of (s)
Drive torque command value d_FC(t) is calculated by the following equation
Is done. d_FC(t) = C₃(s) · ｛V_COM(t) -V
_A(t)｝-｛C₂(s) · V_A(t) -C₁(s) · d
_FC(t)｝ The above drive torque command value d_FCdrive based on (t)
Control Luke. That is, measurement in advance as shown in FIG.
Drive torque using the engine non-linear steady-state characteristic map
Command value d_FC(t) shows the actual driving torque d._FAMatch (t)
Calculate the throttle opening command value to cause
If the engine's negative drive torque is not enough,
Distribute to supplement with brakes. Thus, the slot
Control the throttle opening, transmission, and brake
The engine nonlinearity can be linearized.
You.

When the continuously variable transmission 70 has a fluid converter with lock-up, the continuously variable transmission 7
Enter the lockup condition signal LU _S 0 controller, it time when it is determined that the lockup state by a constant T _{H (C 1 (s} in Fig. 7), C
₂ (described in the denominator of (s)). As a result, the vehicle speed control feedback correction amount (correction coefficient of a feedback loop for maintaining a desired response characteristic) is reduced, and can be adjusted to the response characteristic of a controlled object that is delayed at the time of unlocking as compared with the time of lockup. The stability of the vehicle speed control system is ensured both when the vehicle is up and when the vehicle is unlocked.

In the driving torque command value calculating section 530 shown in FIG. 7, the designer has set a compensator C ₁ (s) and a compensator C ₂ (s) for compensating the transfer characteristic of the controlled object. Although the compensator C ₃ (s) for achieving the response characteristic has been configured, as shown in FIG. 12, the pre-compensator C 3 for compensating for an arbitrary response characteristic determined by the designer.
_F (s), a reference model calculation unit C _R (s) for calculating an arbitrary response characteristic determined by the designer, and a reference model calculation unit C
_R (s) deviation from response characteristics (target vehicle speed-own vehicle speed)
May be constituted by a feedback compensator C ₃ (s) ′ for compensating for

The pre-compensator C _F (s) has a vehicle speed command value V
_In order to achieve the transfer function G _V (s) of the actual vehicle speed _VA (t) with respect to _COM (t), the reference drive torque command value d _FC1 (t) is calculated using a filter expressed by the following equation. . d _FC1 (t) = m _V · _RT · s · V _COM (t) / (T
_V · s + 1) The reference model calculation unit C _R (s) converts the target response V _T (t) of the vehicle speed control system into the transfer function G _V (s) and the vehicle speed command value V
Calculate from _COM (t). That is, V _T (t) = G _V (s) · V _COM (t).

Feedback compensator C₃(s) ’is the goal
Response V_T(t) and actual vehicle speed V_A(t)
The drive torque command value to eliminate this deviation.
Positive amount d_V(t) 'is calculated. That is, d_V(t) ’is
Is shown by the following equation. d_V(t) '= [(K_P・ S + K_I) / S] [V_T(t)
-V_A(t)] where K_PIs the feedback compensator C₃(S) ’ratio
Example control gain, K_IIs the feedback compensator C
₃(S) '. In addition, drive torque
Command value correction amount d_V(t) 'is the disturbance estimation described in FIG.
Value d_V(t). At this time, the lock-up state
Signal LU_SDetermined to be unlocked by
Correction amount d_V(t) 'is calculated. Sand
D_V(t) '= [(K_P’· S + K_I') / S] [V
_T(t) -V_A(t)]. Where K_P’<K_P  K_I’<K_I  Therefore, the feedback gain becomes smaller. did
Therefore, the drive torque command value d_FC(t) is the reference drive
Luc command value d_FC1(t) and drive torque command value correction amount d
_VFrom (t) ', d_FC(t) = d_FC1(t) + d_V(t) '. In this way, compared to the time of lock-up
When locking up, reduce the feedback gain
Change speed of the drive torque command value correction amount is low
The lockup time is slower than the lockup time.
Can be matched to the response characteristics of the controlled
Vehicle speed control system for both lock-up and unlock-up
Stability is ensured.

Next, the actuator drive system shown in FIG. 1 will be described. The shift command value calculation unit 540 receives the drive torque command value d _FC (t), the own vehicle speed _VA (t), the output of the coast switch 30 and the output of the accelerator pedal sensor 90, and receives the shift command value DRATIO as follows. (t) is calculated and output to the continuously variable transmission 70. (1) when off the coast switch 30 on the basis of the vehicular velocity _{V A} (t) and command drive torque _{d FC} (t), the throttle opening estimation map from the throttle opening estimation value _{TVO ESTI} as shown in FIG. 9 Is calculated. Next, the estimated throttle opening TVO _ESTI and the vehicle speed V
Based on the _A (t), and calculates the engine rotation speed command value _{N IN_C OM} from CVT shift map shown in FIG. 10. Then, the shift command value DRATIO (t) is _obtained from the following equation _based on the own vehicle speed _VA (t) and the engine speed command value _{NIN_COM} . DRATIO (t) = N _{IN_COM} · 2π · Rt / [6
0 · V _A (t) · Gf] where Gf is the final gear ratio.

(2) When Coast Switch 30 is On Coast switch 30 is turned on and vehicle speed command maximum value V
_{When the SMAX} is lowered, the shift command value DRATIO
The previous shift command value DRATIO (t-1) is held as (t). Therefore, even when the coast switch 30 is continuously turned on, the shift command value is not changed.
Since the previous value, that is, the value immediately before the coast switch 30 is turned on, is held until is turned off, no downshift is performed. Accordingly, when the set vehicle speed is returned by the accelerator switch 40 after the set vehicle speed is greatly reduced, the engine speed is rapidly increased in a state where the downshift is not performed, even if the throttle opening is controlled to open in order to accelerate. It is possible to prevent generation of noise given to the driver.

The actual gear ratio calculator 550 of FIG. 1 includes an engine rotation sensor 80 detects the ignition signal of the engine the engine speed N _E (t), by the vehicle speed V _A (t), according to the following equation, The actual speed ratio RATIO (t) is calculated. _{RATIO (t) = N E (} t) / _{[V A (t) · Gf ·} 2
π · Rt] The engine torque command value calculation unit 560 of FIG. 1 calculates the engine torque command value TE _COM (t) from the drive torque command value d _FC (t) and RATIO (t) according to the following equation. TE _COM (t) = d _FC (t) / [Gf · RATIO
(t)].

The target throttle opening calculating section 570 shown in FIG.
The engine torque command value _{TE COM} (t) and on the basis of the engine speed _{N E} (t), the engine performance map shown in FIG. 11, the target throttle opening TVO
_COM is calculated and output to the throttle actuator 60.

The brake pressure command value calculating section 630 of FIG.
Based on the engine rotational speed _{N E} (t), 'seek, engine brake torque _{TE COM'} throttle fully closed state of the engine brake torque _{TE COM} from the engine performance map shown in FIG. 11 and the engine torque command value TE
_{From COM} (t), the brake pressure command value REF is calculated by the following equation.
_{PBR K} (t) is calculated, and the brake actuator 50 is calculated.
Output to REF _PBRK (t) = (TE _COM -TE _COM ').
Gm · Gf / {4 · (2 · AB · RB · μB)} where Gm is the gear ratio of the automatic transmission, AB is the wheel cylinder force (cylinder pressure × area), RB is the effective radius of the disk rotor, and μB is the pad The coefficient of friction.

Next, the suspension processing of the vehicle speed control will be described. The vehicle speed control interruption determination unit 620 of FIG. 1 receives the accelerator operation amount APO detected by the accelerator pedal sensor 90 and compares the accelerator operation amount APO with a predetermined value. This predetermined value is the accelerator operation amount APO ₁ corresponding to the target throttle opening TVO _COM input from the target throttle opening calculation unit 570, that is, the accelerator opening corresponding to the automatically controlled vehicle speed at that time. When the accelerator operation amount APO is larger than the predetermined value, that is, when the driver has depressed the accelerator pedal, the throttle opening is more than the throttle opening by the throttle actuator 60 at that time. And outputs a vehicle speed control interruption signal.

In response to the vehicle speed control interruption signal, the drive torque command value calculation section 530 and the target throttle opening degree calculation section 570 initialize the calculation up to that point, and the continuously variable transmission 70 is controlled by the transmission controller at a constant speed. Switching from the traveling shift map to the normal traveling shift map is performed.
That is, the constant-speed traveling by the automatic control is interrupted, and the normal traveling control corresponding to the driver's accelerator operation is performed.

The continuously variable transmission 70 has a shift map for normal running and a shift map for constant speed running. When the constant speed running control is interrupted, the vehicle speed control device sends the transmission to the transmission. The command for switching to the gear change map is output. Here, the shift map for normal traveling is, for example, a control map that is steep (has a good response) so that the downshift does not become slow during acceleration, and the shift map for constant-speed traveling is gentle so as to give a feeling of looseness. By using the control map, the driver does not feel uncomfortable when switching from constant-speed running to normal running.

The vehicle speed control interruption determining section 620 stops outputting the vehicle speed control interruption signal when the accelerator operation amount AP0 returns to a value less than the predetermined value, and sets the own vehicle speed _VA (t) to the vehicle speed designated maximum value. If it is larger than V _SMAX , a deceleration request is output to drive torque command value calculation section 530. Then, the drive torque command value calculation unit 530 stops outputting the vehicle speed control interruption signal from the vehicle speed control interruption determination unit 620,
When a deceleration request is input, the deceleration is controlled by the throttle opening calculated by the target throttle opening calculator 570 so that the calculated driving force command value d _FC (t) is realized by the throttle. When the braking force is not sufficient only by fully closing the throttle, the gear ratio command value calculation unit 540 sends the gear ratio command value DRATIO (shift down request, ) Is output to perform the downshift control of the continuously variable transmission 70 so as to compensate for the insufficient braking force.

The driving (in this case, braking) force command value d
_{When FC} (t) is large and the braking force due to the downshift of the continuously variable transmission is at the upper limit, the braking force is supplemented by the normal brake on a flat road, but the braking torque is calculated from the driving torque command value calculation unit 530 on a downhill road. A brake control prohibition signal _BP is output to the pressure command value calculation unit 630, thereby prohibiting brake control on a downhill road. The reason for such control is as follows. That is, when the vehicle is decelerated on a downhill, it is necessary to apply the brake continuously when decelerating with the brake, and there is a possibility that a problem such as a brake fade may occur. Therefore, as described above, braking is performed without using a brake by controlling to obtain a necessary braking force only by deceleration by the throttle opening and the downshift control of the continuously variable transmission on a downhill road. I have.

According to the above-described method, even when the constant-speed running control is interrupted by the driver temporarily depressing the accelerator pedal to accelerate and then returned to the constant-speed running control, the shift of the transmission is also performed. Since the deceleration can provide a deceleration larger than the deceleration of only the throttle opening fully closed control, the convergence time to the target vehicle speed can be shortened. Also, by using a continuously variable transmission,
Shift shock does not occur even on a long downhill, it is larger than the deceleration of only the throttle opening fully closed control, and
Since the throttle and the gear ratio are controlled so as to realize the driving torque based on the vehicle speed command value change amount ΔV _COM , the vehicle can be smoothly decelerated while maintaining a predetermined deceleration. Incidentally, since a shock occurs at the time of downshifting in a normal step-variable transmission, conventionally, even when the deceleration control request is large as described above, only the throttle control is performed, and the downshift control of the transmission is not performed. However, if the continuously variable transmission is used, the downshift can be performed smoothly, so by performing the control as described above, it is possible to smoothly decelerate at a large deceleration greater than the deceleration of only the throttle opening fully closed control. Next, the vehicle speed control suspension process will be described. The drive wheel acceleration calculation unit 600 in FIG. 1 receives the vehicle speed V _A (t) and calculates the drive wheel acceleration α by the following equation.
Calculate _OBS (t). α _OBS (t) = [K _OBS · s / (T _OBS · s ² +
s + K _OBS )] · V _A (t) where K _OBS is a constant and T _OBS is a time constant. The own vehicle speed V _A (t) is a value calculated from the rotation speed of the tire (drive wheel) as described above. Therefore, this value itself is a value corresponding to the rotation speed of the drive wheel. drive wheel acceleration alpha _OBS (t) is in the values obtained a variation in the vehicle speed from the driving wheel speed V _a (t) (drive wheel acceleration).

The vehicle speed control suspension determination unit 610 determines the drive wheel acceleration α obtained by the drive wheel acceleration calculation unit 600.
_OBS (t) is compared with a predetermined acceleration limit value α (this acceleration is a value corresponding to a change amount of the vehicle speed, for example, 0.2 G), and the drive wheel acceleration α _OBS (t) is set to the acceleration limit value α.
, A vehicle speed control stop signal is output. In response to the vehicle speed control stop signal, the drive torque command value calculation section 530
And the target throttle opening calculating section 570 initializes the calculation. Note that once the vehicle speed control is stopped, the vehicle speed control does not return until the set switch 20 is turned on again.

The apparatus shown in FIG. 1 includes a vehicle speed command value change amount determining unit 5.
Since the system controls the vehicle speed with the vehicle speed command value based on the vehicle speed command value change amount ΔV _COM determined at 90, the vehicle speed command value change amount limit value [for example, 0.
06G = 0.021 (km / 10 ms)]. Therefore, the driving wheel acceleration α
_OBS (t) is a predetermined acceleration limit value α (for example, 0.2) larger than a value corresponding to the vehicle speed command value change amount limit value.
When the value exceeds G), there is a high possibility that a slip has occurred in the drive wheels. Thus, the driving wheel acceleration α
_The occurrence of slip can be detected by comparing _OBS (t) with a predetermined acceleration limit value α. For this reason, a normal vehicle speed sensor (rotational speed of the driving wheel) can be used without separately providing an acceleration sensor with a slip suppression device such as a TCS (traction control system) or detecting a rotational speed difference between a driving wheel and a driven wheel. By determining the drive wheel acceleration α _OBS from the output from the sensor for detecting the slip, it is possible to make a slip determination and a control suspension determination. In addition, by increasing the vehicle speed command value change amount ΔV _COM , it is possible to improve the responsiveness to the target vehicle speed. It should be noted that the vehicle speed command value change amount ΔV _COM calculated by the vehicle speed command value change amount determination unit 590 is used instead of determining the suspension of the constant speed traveling control from the comparison between the drive wheel acceleration α _OBS (t) and the predetermined value. The control may be stopped when the difference from the wheel acceleration α _{OB S} (t) becomes a predetermined value or more.

The vehicle speed command value determining unit 510 shown in FIG.
And the vehicle speed command value V calculated by itself. _COM(t)
Own vehicle speed V_Ahigher than (t) and in the deceleration direction
If changed (V_SMAX<V_AOr not).
Then, the vehicle speed command value V_COMIs the vehicle speed V_A(t)
Is a predetermined speed V below that_COM(t) (for example,
5km / h minus the value) and Fig. 7
C in the driving torque command value calculating section 530 shown in FIG.
₂(s) · V_A(t) -C₁(s) · d_FC(t) = d
_Vso that the output of (t) becomes zero,₂(s) and C
₁The initial value of the integrator of (s) is the vehicle speed V_A(t). This
Result C₁The output of (s) is also C₂The output of (s) is also V_A(t)
Which results in a disturbance estimate d_V(t) is zero
You. Further, as a timing for performing the above control, V
_COMΔV which is the rate of change of (t)_COM(t) is a predetermined value
(0.06G) on the deceleration side. this
Unnecessary initialization (V_A(t) → V_COMThe first of (t)
(Initialization and initialization of the integrator)
Is reduced. As described above, the vehicle speed command value (
Control command value) is greater than the actual vehicle speed.
Time change of the vehicle speed command value changes in the deceleration direction
The vehicle speed command value is equal to or less than the actual vehicle speed.
Quickly converges to target vehicle speed by changing to constant vehicle speed
I can do it. Also, if the actual vehicle speed
Or a driving torque command value calculating unit 5 using a vehicle speed lower than that.
Maintain control continuity by initializing 30
Can be.

The target vehicle with the preceding vehicle set by the driver
The actual inter-vehicle distance is set to the target
In a vehicle speed control device that controls to match the distance
Is set so that the vehicle speed command value maintains the target inter-vehicle distance.
In this case, the actual inter-vehicle distance is equal to or less than a predetermined value.
And the vehicle speed command value change amount ΔV_COMIs on the deceleration side
Value (0.06G), the vehicle speed command value V
_COMChange (V_A→ V _COM) And drive torque command value calculation
The output unit 530 (specifically, the integrator therein) is initialized.
U. With this configuration, the target inter-vehicle distance can be quickly increased.
Because it can be converged at a distance, it is too close to the preceding car
Eliminates the risk of control and maintain control continuity
be able to. This also allows unnecessary initialization (V_A
(t) → V _COM(t) initialization and integrator initialization)
Because there is less, the deceleration shock is less.

[Brief description of the drawings]

FIG. 1 is a block diagram showing the overall configuration of a vehicle speed control device according to the present invention.

FIG. 2 is a block diagram showing a configuration of a lateral G vehicle speed correction amount calculation unit 580.

FIG. 3 is a characteristic diagram showing a relationship between a vehicle speed _VA and a cutoff frequency fc of a low-pass filter.

FIG. 4 is a characteristic diagram showing a relationship between a correction coefficient for calculating a vehicle speed correction amount V _SUB (t) and a value _{G G} (t) of a lateral G;

[5] characteristic diagram showing the relationship between the natural frequency omega _NSTR and vehicle speed V _A.

FIG. 6 shows the vehicle speed V _A (t) and a vehicle speed command maximum value V _SMAX
And the vehicle speed command value change amount ΔV
FIG. 4 is a characteristic diagram showing a relationship with _COM (t).

FIG. 7 is a block diagram showing a configuration of a drive torque command value calculation unit 530.

FIG. 8 is a diagram showing an example of an engine non-linear steady-state characteristic map.

FIG. 9 is a diagram showing an example of a throttle opening degree estimation map.

FIG. 10 is a diagram showing an example of a CVT shift map.

FIG. 11 is a diagram showing an example of an entire engine performance map.

FIG. 12 is a block diagram showing another configuration example of the drive torque command value calculation unit 530.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 10 ... Vehicle speed sensor 20 ... Set switch 30 ... Coast switch 40 ... Accelerate switch 50 ... Brake actuator 60 ... Throttle actuator 70 ... Continuously variable transmission 80 ... Engine rotation sensor 90 ... Accelerator pedal sensor 100 ... Steering angle sensor 500 ... Vehicle speed control Unit 510: Vehicle speed command value determination unit 520: Vehicle speed command maximum value setting unit 530 ... Drive torque command value calculation unit 540 ... Shift command value calculation unit 550 ... Real gear ratio calculation unit 560 ... Engine torque command value calculation unit 570 ... Target throttle Opening degree calculating unit 580 ... lateral G vehicle speed correction amount calculating unit 581 ... steering angle signal LPF unit 582 ... lateral G calculating unit 583 ... vehicle speed correction amount calculating map 590 ... vehicle speed command value change amount determining unit 600 ... driving wheel acceleration calculating unit 610 ... Vehicle speed control suspension determination unit 620 ... Vehicle speed control suspension determination unit 630: brake pressure command value calculation unit _VA (t): own vehicle speed _VSMAX
... Vehicle speed command maximum value θ (t) ... Steering angle V
_SUB (t): vehicle speed correction amount θ _LPF (t): steering angle LPF value V
_COM (t): vehicle speed command value ΔV _COM (t): vehicle speed command value change amount d
_FC (t) ... command drive torque d _V (t) ... estimated disturbance value d _V (t) '... command drive torque correction quantity d _FA (t) ... actual driving torque C _F (s)
... predistorter C _R (s) ... norm model calculating section d _FC1 (t) ... reference driving torque command value _{C 1 (s), C 2} (s), C 3 (s) ... compensator C ₃ (s ) '... feedback compensator s ... differential operator fc ... LPF
... Y _G (t) ... value of lateral G ψ ... yaw rate ω _nSTR ... natural frequency of vehicle response to steering angle α _OBS (t) ... drive wheel acceleration TVO _ESTI ... throttle opening estimated value TVO _COM ... target Throttle opening APO…
Accelerator operation amount N _{IN_COM} ... engine speed command value DRATIO (t) ... shift command value TE _COM (t) ... engine torque command value TE _COM '... engine brake torque REF _PBRK (t) ... brake pressure command value _BP ... brake Control inhibit signal

 ──────────────────────────────────────────────────続 き Continued on the front page (72) Inventor Hideki Kato Fuji Nissan Motor Co., Ltd. (72) Inventor Junsuke Ino Nissan Automobile Co., Ltd. Nissan Motor Co., Ltd. F-term (reference) 3D044 AA01 AA45 AB01 AC05 AC26 AC28 AC31 AC56 AD04 AD16 AD21 AE01 AE04 AE14 AE19 AE21 3G093 AA06 BA15 BA23 CB10 DA01 DB00 DB05 DB18 EA09 EB03 EB04 FA04 FA10 3G301 JA03 KB02 PE06 ZO03

Claims (4)

[Claims] A drive system is controlled so that an actual vehicle speed matches a vehicle speed command value, and it is determined whether or not the vehicle is traveling on a curved road, and it is determined that traveling on the curved road has been completed. The vehicle speed is set based on either the own vehicle speed at the end of traveling on a curved road or the deviation of the own vehicle speed between the start and end of traveling on a curved road. Control device. A vehicle speed command value change amount calculating section for calculating a vehicle speed command value change amount based on a deviation between the own vehicle speed and a target vehicle speed set by a driver; a lateral acceleration of the own vehicle; A lateral G vehicle speed correction amount calculating unit that calculates a correction amount with predetermined characteristics according to the following: at least a target vehicle speed value set by the driver;
Or a vehicle speed command value determining unit that calculates a vehicle speed command value by subtracting the correction amount from a value calculated based on the own vehicle speed and the vehicle speed command value change amount, and drives the own vehicle speed to be the vehicle speed command value. Control means for controlling a system, and the vehicle speed command value change amount determination unit determines whether or not the vehicle is traveling on a curved road, and determines that the traveling on the curved road is completed. The vehicle speed command value change amount, instead of the deviation between the own vehicle speed and the target vehicle speed set by the driver,
A vehicle speed control device which is set based on either the own vehicle speed at the end of traveling on a curved road or a deviation of the own vehicle speed between the start and end of traveling on a curved road. 3. The vehicle speed command value change amount determining unit determines the vehicle speed command value change amount after judging that traveling on a curved road has been completed in accordance with the vehicle speed at the end of traveling on a curved road. 3. The vehicle speed control device according to claim 2, wherein the characteristic is set such that the smaller the vehicle speed command value, the smaller the amount of change in the vehicle speed command value. 4. The vehicle speed command value change amount determining section determines the vehicle speed command value change amount after judging that traveling on a curved road has ended, as a deviation of the own vehicle speed between the start and end of traveling on a curved road. 3. The vehicle speed control device according to claim 2, wherein the characteristic is set such that the larger the deviation is, the smaller the amount of change in the vehicle speed command value is.