JP3991833B2 - Vehicle constant speed travel control device - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention belongs to the technical field of a constant speed traveling control device for a vehicle that controls the own vehicle speed to a set vehicle speed based on a driver's setting and increases or decreases the set vehicle speed by continuous operation of the vehicle speed setting operation means.
[0002]
[Prior art]
A conventional constant speed travel control device for a vehicle uses an ACC (acceleration) switch 14 and a COAST (deceleration) switch 15 to command increase and decrease of a target vehicle speed (set vehicle speed) (for example, a patent) Reference 1).
[0003]
[Patent Document 1]
2002-192981 (paragraph 3 of the third page, FIG. 1)
[Problems to be solved by the invention]
A preceding vehicle follow-up control device having a constant speed traveling control function, in a configuration in which an operation device such as a switch / lever for increasing / decreasing the set vehicle speed is used to change the set vehicle speed during constant speed traveling. When the driver wants to change the set vehicle speed of the vehicle during use, if the driver's desired vehicle speed is significantly different from the current set vehicle speed, the set vehicle speed can be changed compared to when the difference is small. The operation required to increase or decrease the set vehicle speed for a long time. Therefore, there is a problem that the driver has to pay much attention to changing the set vehicle speed.
[0005]
In addition, when the driver wants to set a well-separated vehicle speed value, such as a public road speed limit, as the set vehicle speed, it is necessary to carefully monitor the change result of the set vehicle speed in order to match the desired set vehicle speed. It was. Therefore, there is a problem that the driver needs long-time visual recognition and frequent visual recognition in order to confirm the set vehicle speed.
[0006]
The present invention has been made paying attention to the above-mentioned problem, and when it is desired to change the set vehicle speed during constant speed traveling control, if the desired vehicle speed is far from the current set vehicle speed, the desired set vehicle speed is set. It is an object of the present invention to provide a vehicle constant speed traveling control device capable of achieving both change responsiveness that can be quickly approached and ease of setting to a separation vehicle speed value.
[0007]
[Means for Solving the Problems]
  In order to achieve the above object, in the present invention, in a vehicle constant speed traveling control device for controlling the own vehicle speed to a set vehicle speed based on a driver's setting, vehicle speed setting operation means for operating an increase or decrease in the set vehicle speed; A continuous operation time measuring means for measuring a continuous operation time when the set vehicle speed is increased or decreased by continuous operation of the vehicle speed setting operation means, and a vehicle speed value that is a good separation as a vehicle speed index for the driver is defined as a separation vehicle speed value. When the increase or decrease of the set vehicle speed by continuous operation of the vehicle speed setting operation means and the separation vehicle speed value setting means for setting the separation vehicle speed value based on the set vehicle speed, the amount of change in the set vehicle speed as the continuous operation time becomes longer And setting vehicle speed change amount changing means for decreasing the change amount of the set vehicle speed as the set vehicle speed approaches the separation vehicle speed value.The separation vehicle speed setting means stores in advance a vehicle speed value determined using the vehicle speed limit on public roads as an index as a separation vehicle speed value, and sets a minimum separation vehicle speed value larger than the currently set vehicle speed when the set vehicle speed increases. When the set vehicle speed decreases, the maximum delimiter vehicle speed value smaller than the current set vehicle speed is set.The configuration.
[0008]
Here, the “vehicle speed setting operation means” refers to, for example, a vehicle speed setting operation switch installed on the steering in consideration of operability by the driver.
[0009]
  What is “separated vehicle speed value”?, ExampleFor example, when the speed limit for public roads in Japan is used as a vehicle speed index, 40 [km / h], 50 [km / h], 60 [km / h], 80 [km / h], 100 [km / h] h] is the separation vehicle speed value andBecome.
[0010]
【The invention's effect】
  Therefore, in the vehicle constant speed traveling control device of the present invention, when the set vehicle speed is increased or decreased by continuous operation of the vehicle speed setting operation means, the set vehicle speed change amount changing means sets the longer the continuous operation time. Since the amount of change in the vehicle speed is increased and the amount of change in the set vehicle speed decreases as the set vehicle speed approaches the separation vehicle speed value, the desired vehicle speed is set to the current setting when it is desired to change the set vehicle speed during constant speed traveling control. When the vehicle speed is far away from the vehicle speed, it is possible to achieve both the change responsiveness that quickly approaches the desired set vehicle speed and the ease of setting the separation vehicle speed value.
  In addition, the vehicle speed desired by the driver can be easily set to the limited vehicle speed, and convenience when setting the limited vehicle speed can be improved.
[0011]
DETAILED DESCRIPTION OF THE INVENTION
DESCRIPTION OF EMBODIMENTS Hereinafter, embodiments for realizing a vehicle constant speed traveling control device of the present invention will be described with reference to the drawings.
[0012]
(First embodiment)
First, the configuration will be described.
FIG. 1 is an overall system configuration diagram showing a vehicle constant speed traveling control apparatus according to a first embodiment. In FIG. 1, 1 is a follow-up control start operation device, 2 is a follow-up control release operation device, 3 is a vehicle speed setting operation device (vehicle speed setting operation means), 4 is an inter-vehicle setting operation device, 5 is an inter-vehicle distance / relative speed sensor, 6 Is a vehicle speed sensor, 7 is a display device, 8 is an audio device, 9 is a braking force control device, 10 is an engine output control device, and 11 is a controller.
[0013]
The follow-up control start operation device 1 is an operation device for starting preceding vehicle follow-up control by a cruise control system main switch or the like.
[0014]
The follow-up control release operation device 2 is an operation device for releasing the preceding vehicle follow-up control by a cancel switch or the like.
[0015]
The vehicle speed setting operation unit 3 is an operation unit for changing the set vehicle speed during constant speed traveling control, and includes, for example, an accelerator switch for increasing the set vehicle speed and a coast switch for decreasing the set vehicle speed. The
[0016]
The inter-vehicle distance setting operation device 4 is an operation device for changing the inter-vehicle distance between the preceding vehicle and the own vehicle in the preceding vehicle following control state (for example, switching between three stages of “long”, “medium”, and “short”). .
[0017]
The inter-vehicle distance / relative speed sensor 5 is a sensor that detects the inter-vehicle distance and relative speed between the preceding vehicle and the host vehicle. For example, a laser radar or millimeter that emits radio waves forward and receives reflected waves from the preceding vehicle or the like. A wave radar or the like is used.
[0018]
The vehicle speed sensor 6 is a sensor that detects the vehicle speed of the host vehicle.
[0019]
The display device 7 is a device that presents the operating state of the follow-up control device to the driver. For example, a system failure display, a preceding vehicle detection display, a set inter-vehicle display, a vehicle mark, Main switch energization display, set vehicle speed display, etc.
[0020]
The sound device 8 is a device that emits an alarm sound such as a buzzer sound when the control is switched or the preceding vehicle approaches.
[0021]
The braking force control device 9 is a device that operates an automatic brake to perform preceding vehicle follow-up control. For example, a booster control unit that adjusts brake fluid pressure is used.
[0022]
The engine output control device 10 is a device that adjusts and controls engine output to perform preceding vehicle follow-up control. For example, an electronic control throttle that opens and closes a throttle valve by operating a motor in response to a signal from an engine control unit is used. It is done.
[0023]
The controller 11 receives a driver's command from each of the operating devices 1, 2, 3, 4, and controls a control command for following the preceding vehicle based on sensor information from the inter-vehicle distance / relative speed sensor 5 and the vehicle speed sensor 6. This is given to the power control device 9 and the engine output control device 10. In addition, a command is also given to the display device 7 and the voice device 8 in order to give the preceding vehicle following control information to the driver. Here, “preceding vehicle follow-up control” refers to a constant speed traveling control function that travels at a constant speed according to the set vehicle speed set by the driver when the preceding vehicle is not captured, and driving when the preceding vehicle is captured. This is a control having a preceding vehicle follow-up control function that keeps the inter-vehicle distance according to the vehicle speed with the set vehicle speed set by the person as the upper limit.
[0024]
FIG. 2 is an external view showing the operating device of the vehicle constant speed traveling control device of the first embodiment, the following control start operating device 1, the following control release operating device 2, the vehicle speed setting operating device 3, and the inter-vehicle distance setting. The operating device 4 is arranged in a line on the right side of the steering device constituted by the steering grip 12 and the steering spoke 13. Here, the vehicle speed setting operation device 3 includes an acceleration switch (UP) that increases the set vehicle speed and a coast switch (DOWN) that decreases the set vehicle speed.
[0025]
Next, the operation will be described.
[0026]
[Leading vehicle tracking control process]
FIG. 3 is a flowchart showing the flow of the preceding vehicle follow-up control process executed by the controller 11, and each step will be described below.
[0027]
In step S100, it is determined whether or not the driver has started the tracking control start operation device 1. If YES, the process proceeds to step S101. If NO, the determination in step S100 is YES. stand by.
[0028]
In step S101, the host vehicle speed Vm from the vehicle speed sensor 6 is read, and the process proceeds to step S102.
[0029]
In step S102, the set vehicle speed Vs at the time of constant vehicle speed traveling control when the preceding vehicle is not detected by the inter-vehicle distance / relative speed sensor 5 is set to the own vehicle speed Vm, and the process proceeds to step S103.
[0030]
In step S103, it is determined whether or not the driver has operated the vehicle speed setting controller 3. If YES, the process proceeds to step S20, the set vehicle speed Vs is changed, and the process proceeds to step S104. If NO is determined in step S103, the process proceeds to step S104.
[0031]
In step S20, a process for changing the set vehicle speed Vs is executed, and the process proceeds to step S104. The change processing of the set vehicle speed Vs in step S20 will be described later based on the flowchart of FIG.
[0032]
In step S104, it is determined whether or not a preceding vehicle has been detected by the inter-vehicle distance / relative speed sensor 5. If no preceding vehicle is detected, the process proceeds to step S105. If a preceding vehicle is detected, the process proceeds to step S106. Transition.
[0033]
In step S105, the engine output is calculated so as to travel at a constant speed at the set vehicle speed Vs, a command is given to the engine output control device 10, and the process proceeds to step S110.
[0034]
In step S106, it is determined whether or not the driver has operated the inter-vehicle distance setting controller 4. If YES, the process proceeds to step S107, and if NO, the process proceeds to step S108.
[0035]
In step S107, the driver changes the inter-vehicle distance setting desired by the driver according to the operation of the inter-vehicle distance setting operator 4, and the process proceeds to step S108.
[0036]
In step S108, the target inter-vehicle distance is calculated as much as possible as the inter-vehicle time according to the host vehicle speed Vm, and the process proceeds to step S109. Here, the initial value of the inter-vehicle time is an average inter-vehicle time (for example, 2.5 seconds) of a vehicle traveling on a public road, or an upper limit value (the longest inter-vehicle distance setting) that can be set as the inter-vehicle time.
[0037]
In step S109, the engine output and the braking force are calculated so that the actual inter-vehicle distance between the host vehicle and the preceding vehicle matches the target inter-vehicle distance calculated in step S108, and the braking force control device 9 and the engine output control device 10 are calculated. Is sent to step S110.
[0038]
In step S110, in order to convey the control state to the driver, a command is given to the display device 7 and the sound device 8, and the process proceeds to step S111.
[0039]
In step S111, it is determined whether or not the driver has operated the follow-up control canceling operation device 2. If the driver has performed the canceling operation, the follow-up control is terminated and the process returns to step S100. If the driver does not perform the release operation, the process returns to step S103, and the flow after step S103 is repeated.
[0040]
[Change setting vehicle speed]
FIG. 4 is a flowchart showing the flow of the set vehicle speed changing process executed in step S20 of FIG. 3, and each step will be described below.
[0041]
In step S214, it is determined whether or not a preceding vehicle is detected by the inter-vehicle distance / relative speed sensor 5. If no preceding vehicle is detected, the process proceeds to step S200. If it is determined that there is a preceding vehicle, the process proceeds to step S215. (Preceding vehicle capture determination means).
[0042]
  In step S215, if it is determined in step S214 that there is a preceding vehicle, the changing process is stopped regardless of the changing operation of the set vehicle speed Vs, and the process proceeds to step S106 in the flowchart of FIG.(SetConstant vehicle speed change amount change means).
[0043]
In step S200, counting of the driver operation time t after the driver starts continuous operation on the vehicle speed setting operation device 3 is started, and the process proceeds to step S201 (continuous operation time measuring means). Here, if the driver stops the continuous operation to the vehicle speed setting operation device 3, the set vehicle speed Vs at that time is stored, and the process proceeds to step S104 in FIG.
[0044]
In step S201, it is determined whether or not the driving vehicle operation on the vehicle speed setting operation device 3 is an increase operation of the set vehicle speed Vs. If the operation is an increase operation of the set vehicle speed Vs, the process proceeds to step S202 to decrease the set vehicle speed Vs. In the case of operation, the process proceeds to step S208 (vehicle speed setting operation determination means).
[0045]
In step S202, if it is determined in step S201 that the operation is to increase the set vehicle speed, the first-speed vehicle speed of the current set vehicle speed Vs is stored as a new set vehicle speed, and the process proceeds to step S203 (initial set vehicle speed value). Setting means). Here, the first-digit vehicle speed is, for example, the vehicle speed of 80 [km / h] that is 2 [km / h] when the current set vehicle speed is 72 [km / h]. That means.
[0046]
  In step S203, a value obtained by adding the driver operation time t to the current set vehicle speed Vs is set as a new set vehicle speed Vs, and the process proceeds to step S204.(SetConstant vehicle speed change amount change means). For example, when the current set vehicle speed Vs is 80 [km / h], if the driver operation time t is 1 [sec], the new set vehicle speed Vs is 81 [km / h], and the driver operation time t Is 2 [sec], the new set vehicle speed Vs is 83 [km / h], and if the driver operation time t is 3 [sec], the new set vehicle speed Vs is 86 [km / h].
[0047]
  In step S204, the vehicle speed value determined using the limited vehicle speed on the public road as an index is stored in advance as a separation vehicle speed value, and when the set vehicle speed increases, a minimum separation vehicle speed value VL larger than the current set vehicle speed Vs is set, Move on to step S205(WardCutting vehicle speed value setting means). Here, when the speed limit for public roads in Japan is used as the vehicle speed index, the types are 40 [km / h], 50 [km / h], 60 [km / h], 80 [km / h]. ], 100 [km / h], and these vehicle speeds are separated vehicle speed values. For example, when the currently set vehicle speed Vs is 86 [km / h], a vehicle speed value of 100 [km / h] is set as the separation vehicle speed value VL in step S204.
[0048]
In step S205, it is determined whether or not the current set vehicle speed Vs exceeds a value obtained by subtracting the set value α from the delimiter vehicle speed value VL. If Vs ≦ VL−α, the process returns to step S203, and Vs> VL In the case of −α, the process proceeds to step S206. Here, the set value α is given as a one-digit integer value such as 2 [km / h], 3 [km / h], 4 [km / h], or the like.
[0049]
  In step S206, if it is determined in step S205 that Vs> VL-α, that is, the current set vehicle speed Vs is approaching the separation vehicle speed value VL, the new set vehicle speed Vs is the minimum unit of the current set vehicle speed Vs. Is calculated by adding 1 [km / h], which is the vehicle speed value, and the process proceeds to step S207.(SetConstant vehicle speed change amount change means).
[0050]
In step S207, it is determined whether or not the newly set vehicle speed Vs matches the separation vehicle speed value VL. If not, the process returns to step S206 and changes by 1 [km / h] until Vs = VL. The set vehicle speed Vs is updated repeatedly according to the quantity. When it is determined that the new set vehicle speed Vs matches the separation vehicle speed value VL, the process returns to step S203, and after increasing the change amount of the set vehicle speed Vs again, a decreasing loop is repeated.
[0051]
In step S208, if it is determined in step S201 that the operation is a set vehicle speed reduction operation, the first digit truncated vehicle speed of the current set vehicle speed Vs is stored as a new set vehicle speed, and the process proceeds to step S209 (set vehicle speed initial value). Setting means). Here, the first digit rounded down vehicle speed is, for example, the vehicle speed of 80 [km / h] with the first digit of 8 [km / h] rounded down when the currently set vehicle speed is 88 [km / h]. That means.
[0052]
  In step S209, a value obtained by subtracting the driver operation time t from the current set vehicle speed Vs is set as a new set vehicle speed Vs, and the process proceeds to step S210.(SetConstant vehicle speed change amount change means). For example, when the current set vehicle speed Vs is 80 [km / h], if the driver operation time t is 1 [sec], the new set vehicle speed Vs is 79 [km / h], and the driver operation time t Is 2 [sec], the new set vehicle speed Vs is 77 [km / h], and if the driver operation time t is 3 [sec], the new set vehicle speed Vs is 74 [km / h].
[0053]
  In step S210, a vehicle speed value determined using the limit vehicle speed on the public road as an index is stored in advance as a separation vehicle speed value, and when the set vehicle speed increases, a maximum separation vehicle speed value VL smaller than the current set vehicle speed Vs is set, Move on to step S211(WardCutting vehicle speed value setting means). Here, using the speed limit for public roads in Japan as a vehicle speed index, 40 [km / h], 50 [km / h], 60 [km / h], 80 [km / h], 100 [km / h] In the case where the separation vehicle speed value is set, for example, when the currently set vehicle speed Vs is 74 [km / h], in step S210, a vehicle speed value of 60 [km / h] is set as the separation vehicle speed value VL.
[0054]
In step S211, it is determined whether or not the current set vehicle speed Vs is less than the value obtained by adding the set value α to the separation vehicle speed value VL. If Vs ≧ VL + α, the process returns to step S209, and if Vs <VL + α. Then, the process proceeds to step S212. Here, the set value α is given as a one-digit integer value such as 2 [km / h], 3 [km / h], 4 [km / h], or the like.
[0055]
  In step S212, if it is determined in step S211 that Vs <VL + α, that is, the current set vehicle speed Vs is approaching the delimiter vehicle speed value VL, the new set vehicle speed Vs is the minimum unit vehicle speed with respect to the current set vehicle speed Vs. The value is calculated by subtracting 1 [km / h], and the process proceeds to step S213.(SetConstant vehicle speed change amount change means).
[0056]
In step S213, it is determined whether or not the newly set vehicle speed Vs matches the delimiter vehicle speed value VL. When it is determined that they do not match, the process returns to step S212 and changes by 1 [km / h] until Vs = VL. The set vehicle speed Vs is updated repeatedly according to the quantity. When it is determined that the new set vehicle speed Vs matches the separation vehicle speed value VL, the process returns to step S209, and after increasing the change amount of the set vehicle speed Vs again, a decreasing loop is repeated.
[0057]
[Driving control action]
While traveling on the highway, a preceding vehicle existed in front, so the driver operated the tracking control start operation device 1 with the intention of following the preceding vehicle.
[0058]
In this case, in the flowchart of FIG. 3, the process proceeds from step S100 → step S101 → step S102 → step S103 → step S104 → step S106 → step S108 → step S109 → step S110 → step S111, and the preceding vehicle following control is started. . Thereafter, unless the inter-vehicle distance setting is changed, the flow of steps S103 → step S104 → step S106 → step S108 → step S109 → step S110 → step S111 is repeated, and the own vehicle has the set vehicle speed set by the driver. While keeping the upper limit vehicle speed, the vehicle follows the vehicle while maintaining a predetermined distance from the preceding vehicle.
[0059]
When the preceding vehicle does not exist in front of the host vehicle in order to enter the service area, the process proceeds to step S103 → step S104 → step S105 → step S110 → step S111 in the flowchart of FIG. Is done. Thereafter, unless the set vehicle speed Vs is changed, the flow from step S103 to step S104 to step S105 to step S110 to step S111 is repeated, and the vehicle is set by the driver by controlling the throttle opening. The vehicle accelerates slowly to the set vehicle speed Vs, and then, when the set vehicle speed Vs is reached, the vehicle is maintained at a constant speed according to the set vehicle speed Vs.
[0060]
[Setting vehicle speed change effect]
When the driver operates the vehicle speed setting controller 3 to increase the set vehicle speed Vs in a constant speed traveling state where no preceding vehicle exists before the host vehicle, the process proceeds from step S103 to step S20 in the flowchart of FIG. A process for changing the set vehicle speed Vs is performed.
[0061]
The change of the set vehicle speed Vs by the set vehicle speed increasing operation proceeds from step S214 → step S200 → step S201 → step S202 → step S203 → step S204 → step S205 in the flowchart of FIG. The flow of Step S203 → Step S204 → Step S205 is repeated until Vs reaches the separation vehicle speed value VL, and a value obtained by adding the driver operation time t to the current set vehicle speed Vs is set as a new set vehicle speed Vs. .
[0062]
Then, immediately before the set vehicle speed Vs reaches the delimiter vehicle speed value VL, in the flowchart of FIG. 4, the process proceeds from step S205 to step S206 to step S207, and until the set vehicle speed Vs becomes the delimiter vehicle speed value VL1, step S206 → The flow of step S207 is repeated, and a value obtained by adding 1 [km / h] to the current set vehicle speed Vs is set as a new set vehicle speed Vs.
[0063]
As an example of changing the set vehicle speed in the current vehicle, if the switch provided for increasing / decreasing the set vehicle speed is kept pressed for a predetermined time, the set vehicle speed is increased in increments of 5 [km / h] km / h] to decrease the set vehicle speed.
[0064]
Therefore, when the desired vehicle speed is far from the currently set vehicle speed, 5 [km / h] When the vehicle speed is changed in increments, in order to adjust to the desired set vehicle speed, the set vehicle speed is increased and decreased carefully while monitoring the result of changing the set vehicle speed. There is a problem that requires. In addition, when driving on public roads, there is a strong demand for a driver who wants to match the speed limit on the own vehicle travel path. However, if the limit vehicle speed is set to the desired set vehicle speed, for example, if the vehicle speed is changed in increments of 5 [km / h], it may not be possible to match the limit vehicle speed by changing the set vehicle speed.
[0065]
On the other hand, in order to achieve ease of setting to the desired vehicle speed, for example, when the set vehicle speed is increased or decreased in increments of 1 [km / h] every time the switch is pressed, Although it can be adjusted to the vehicle speed value, when the desired vehicle speed is far from the currently set vehicle speed, there is a problem that it takes a long continuous operation time to reach the desired set vehicle speed.
[0066]
On the other hand, in the first embodiment apparatus, when the set vehicle speed Vs is increased or decreased by continuous operation of the vehicle speed setting controller 3, the driver operation time t is increased in the change processing of the set vehicle speed Vs shown in FIG. The change amount of the set vehicle speed Vs increases (increase / decrease change proportional to the driver operation time t), and the change amount of the set vehicle speed Vs decreases as the set vehicle speed Vs approaches the separation vehicle speed value VL (in steps of 1 [km / h]) Therefore, if you want to change the set vehicle speed Vs during constant speed driving control, and the desired vehicle speed is far from the current set vehicle speed Vs, the change response that quickly approaches the desired set vehicle speed Vs And the ease of setting the delimiter vehicle speed value VL such as the limit vehicle speed can be achieved.
[0067]
As a specific example, in order to increase the set vehicle speed Vs to a vehicle speed of 100 [km / h] while the constant speed running control is being performed while maintaining the vehicle speed of 82 [km / h], the vehicle speed setting operation unit 3 is set. A case where the operation is continued to the vehicle speed increasing side will be described.
[0068]
When the vehicle speed setting operation unit 3 is operated to the vehicle speed increase side, first, the set vehicle speed Vs is set to 90 [km / h] (step S202). After that, although the increase in the set vehicle speed Vs is small in the operation start range, the set vehicle speed Vs increases at an accelerated rate while the operation continues, and the set vehicle speed Vs increases to 98 [km / h] ( Step S203). Then, after the set vehicle speed Vs has increased to 98 [km / h], the set vehicle speed Vs slowly increases in increments of 1 [km / h] (step S206), and the driver has a vehicle speed of 100 [km / h]. When the vehicle speed reached, the operation of the vehicle speed setting controller 3 was stopped.
[0069]
As a result, the vehicle can change the set vehicle speed Vs to the vehicle speed 100 [km / h] desired by the driver in a short time after the start of the operation to the vehicle speed setting operation device 3, and the vehicle speed 100 [km / h] It is possible to start constant speed running.
[0070]
Next, the effect will be described.
In the vehicle constant speed traveling control apparatus of the first embodiment, the effects listed below can be obtained.
[0071]
(1) In a vehicle constant speed travel control device that controls the own vehicle speed to a set vehicle speed Vs based on a driver's setting, a vehicle speed setting operation device 3 for operating increase or decrease of the set vehicle speed Vs, and the vehicle speed setting operation device 3 Step S200 for measuring the continuous driver operation time t when the set vehicle speed Vs is increased or decreased by the continuous operation, and when a good vehicle speed as a vehicle speed index for the driver is defined as a separated vehicle speed value VL, When the set vehicle speed Vs is increased or decreased by continuous operation of the vehicle speed setting operation unit 3 in step S204 and step S210 for setting the separation vehicle speed value VL based on the set vehicle speed Vs, and the driver operation time t becomes longer, the set vehicle speed Steps S203, S206 and S20 in which the amount of change in Vs is increased and the amount of change in the set vehicle speed Vs decreases as the set vehicle speed Vs approaches the separation vehicle speed value VL. , S212, and when it is desired to change the set vehicle speed Vs during constant speed running control, if the desired vehicle speed is far away from the current set vehicle speed Vs, the change quickly approaches the desired set vehicle speed Vs. It is possible to achieve both responsiveness and ease of setting the separation vehicle speed value VL.
[0072]
(2) In the process of changing the set vehicle speed Vs, the driver operating time of the vehicle speed setting operator 3 is set to the current set vehicle speed Vs from the start of the operation to the vehicle speed setting operator 3 to immediately before the set vehicle speed Vs reaches the separation vehicle speed value VL. Since the value to which t is added or subtracted is set to the new set vehicle speed Vs, the change speed of the set vehicle speed Vs gradually increases with the slow change speed of the set vehicle speed Vs. While responding to a slight increase / decrease of the set vehicle speed Vs due to the time t, it is possible to achieve change responsiveness that quickly brings the set vehicle speed Vs close to the vehicle speed value VL.
[0073]
(3) In the process of changing the set vehicle speed Vs, the minimum vehicle speed value 1 [km / h] is added to the current set vehicle speed Vs until the set vehicle speed Vs reaches the delimiter vehicle speed value VL immediately before it reaches the delimiter vehicle speed value VL. Alternatively, since the subtraction steps S206 and S212 are provided, the set vehicle speed Vs can be easily matched with the separation vehicle speed value VL in increments of 1 [km / h].
[0074]
  (4) Step S204 and step S210, which are the delimiter vehicle speed setting means, store in advance a delimiter vehicle speed value VL as a delimiter vehicle speed value VL determined using the limit vehicle speed on the public road as an index. The minimum separation vehicle speed value VL larger than the vehicle speed Vs is set, and when the set vehicle speed Vs decreases, the maximum separation vehicle speed value VL smaller than the current set vehicle speed Vs is set. If it is a limited vehicle speed, it can be easily set to the limited vehicle speed.SexCan be improved.
[0075]
(5) A vehicle speed setting operation determination step S201 for determining whether the operation to the vehicle speed setting operation unit 3 is an increase operation or a decrease operation of the set vehicle speed Vs, and at the time of determining the increase operation of the set vehicle speed Vs, one digit of the current set vehicle speed Vs Because step S202 for setting the new vehicle speed Vs as the new set vehicle speed Vs and step S208 for setting the vehicle speed Vs as the new set vehicle speed Vs when the reduction operation of the set vehicle speed Vs is determined are provided. The set vehicle speed Vs can be changed with a high initial response at the beginning of the operation on the vehicle speed setting controller 3.
[0076]
(6) When a preceding vehicle is being captured, the device shall have a preceding vehicle following control function that maintains the inter-vehicle distance according to the vehicle speed with the set vehicle speed set by the driver as the upper limit, and whether or not the preceding vehicle has been captured. A preceding vehicle capture determination step S214 for determining is provided. When the preceding vehicle is captured, the process proceeds to step S215, and the operation of changing the set vehicle speed change amount is stopped, so that the host vehicle follows the preceding vehicle and travels. Rather than considering the ease of setting the separation vehicle speed value VL, it is possible to finely set the vehicle speed and change the set vehicle speed corresponding to the distance between the vehicle and the preceding vehicle. It becomes possible.
[0077]
As mentioned above, although the constant-speed traveling control apparatus for vehicles of this invention has been demonstrated based on 1st Example, about a specific structure, it is not restricted to this 1st Example, Each claim of a claim Design changes and additions are permitted without departing from the spirit of the invention according to the paragraph.
[0078]
  For example, in the first embodiment, an example in which a vehicle speed value determined using a public road limit vehicle speed in Japan as a vehicle speed index is used as the separation vehicle speed value, but a vehicle speed value determined using a foreign road limit vehicle speed as a vehicle speed index is used. AnywayYes.
[0079]
In the first embodiment, an example of application to a preceding vehicle following control device having a constant speed traveling control function is shown, but the present invention can also be applied to a constant speed traveling control device having no preceding vehicle following control function.
[0080]
The first embodiment shows an example in which the change amount of the set vehicle speed Vs is increased by an increase / decrease change proportional to the driver operation time t, and the change amount of the set vehicle speed Vs is decreased by an increase / decrease change by 1 [km / h]. However, if the driver's continuous operation time is longer, the change amount of the set vehicle speed Vs is increased, and if the set vehicle speed Vs approaches the separation vehicle speed value VL, the change amount of the set vehicle speed Vs is reduced. Another method may be used such as changing the set vehicle speed Vs with respect to t by a function.
[Brief description of the drawings]
FIG. 1 is an overall system diagram showing a constant speed travel control device for a vehicle according to a first embodiment.
FIG. 2 is an external view showing an operating unit of the vehicle constant speed traveling control apparatus according to the first embodiment;
FIG. 3 is a flowchart showing a flow of a preceding vehicle follow-up control process executed by a controller of the vehicle constant speed traveling control apparatus according to the first embodiment.
4 is a flowchart showing a flow of a setting vehicle speed changing process executed in step S20 of FIG.
[Explanation of symbols]
1 Follow-up control start actuator
2 Follow-up control release controller
3 Vehicle speed setting operation device (vehicle speed setting operation means)
4 Distance setting operation device
5 Inter-vehicle distance / relative speed sensor
6 Vehicle speed sensor
7 Display device
8 Audio equipment
9 Braking force control device
10 Engine output control device
11 Controller
12 Steering grip
13 Steering spoke
Step S214: Precedence vehicle catching judgment means
Step S215SettingConstant vehicle speed change change means
Step S200: Continuous operation time measuring means
Step S201 Vehicle speed setting operation determining means
Step S202: Setting vehicle speed initial value setting means
Step S203SettingConstant vehicle speed change change means
Step S204WardCutting vehicle speed value setting means
Step S206SettingConstant vehicle speed change change means
Step S208 Setting vehicle speed initial value setting means
Step S209SettingConstant vehicle speed change change means
Step S210WardCutting vehicle speed value setting means
Step S212SettingConstant vehicle speed change change means

Claims (5)

In a vehicle constant speed traveling control device that controls the vehicle speed to a set vehicle speed based on a driver's setting,
Vehicle speed setting operation means for operating increase or decrease of the set vehicle speed;
Continuous operation time measuring means for measuring continuous operation time when the set vehicle speed is increased or decreased by continuous operation of the vehicle speed setting operation means;
Separation vehicle speed value setting means for setting the separation vehicle speed value based on the set vehicle speed when a good vehicle speed as a vehicle speed index for the driver is defined as the separation vehicle speed value;
When the set vehicle speed is increased or decreased by continuous operation of the vehicle speed setting operation means, the change amount of the set vehicle speed increases as the continuous operation time becomes longer, and the change amount of the set vehicle speed decreases as the set vehicle speed approaches the separation vehicle speed value. Setting vehicle speed change amount changing means to
Equipped with a,
The separation vehicle speed setting means stores in advance a vehicle speed value determined using the limit vehicle speed on a public road as an index as a separation vehicle speed value, and sets a minimum separation vehicle speed value larger than the currently set vehicle speed when the set vehicle speed increases. The vehicle constant speed travel control device is characterized in that when the set vehicle speed decreases, a maximum separation vehicle speed value smaller than the current set vehicle speed is set . In the vehicle constant speed travel control device according to claim 1,
The set vehicle speed change amount changing means is a value obtained by adding or subtracting a continuous operation time of the vehicle speed setting operation means to the current set vehicle speed from the start of operation to the vehicle speed setting operation means to immediately before the set vehicle speed reaches the separation vehicle speed value. Is a new set vehicle speed. In the vehicle constant speed traveling control device according to claim 1 or 2,
The set vehicle speed change amount changing means adds or subtracts a minimum vehicle speed value to or from a current set vehicle speed from immediately before the set vehicle speed reaches the delimiter vehicle speed value until the delimiter vehicle speed value is reached. Travel control device. In the vehicle constant speed traveling control device according to any one of claims 1 to 3,
Vehicle speed setting operation determination means for determining whether the operation to the vehicle speed setting operation means is an increase operation or a decrease operation of the set vehicle speed;
When an operation for increasing the set vehicle speed is determined, the vehicle speed increased by the first digit of the currently set vehicle speed is set as the new set vehicle speed. Setting vehicle speed initial value setting means,
A constant speed travel control device for a vehicle characterized by comprising: In the vehicle constant speed traveling control device according to any one of claims 1 to 4,
The vehicle constant speed travel control device has a preceding vehicle follow-up control function that keeps the inter-vehicle distance according to the vehicle speed with the set vehicle speed set by the driver as the upper limit when the preceding vehicle is captured,
Providing a preceding vehicle capture determining means for determining whether or not a preceding vehicle is captured,
The set vehicle speed change amount changing means stops the operation of changing the set vehicle speed change amount when a preceding vehicle is captured .

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