JPS5851313A - Speed controlling method for vehicle - Google Patents

Abstract

PURPOSE:To perform extremely slight acceleration and deceleration accurately to changing target speed in responce to the operation of an acceleration or deceleration switch. CONSTITUTION:A controller 1 consisting principally of a microcomputer 1A has its peripheral circuits, and the controller 1 inputs control signals from a car speed sensor 4 and various control switches 5-7 to calculate the displacement of an actuator 2 according to a preset control program, thereby outputting a control program, thereby outputting a control signal. The actuator 2 has an output rod for applying an operating force to the throttle valve 3 of a car prime motor; and the extent of movement of the output rod is adjusted by the air pressure of a diaphragm chamber and the air pressure is modulated intermittently by the suction negative pressure of the prime motor and the atmospheric pressure by using a solenoid valve.

Description

DETAILED DESCRIPTION OF THE INVENTION Suitable for devices that control a vehicle, especially for maintaining a constant traveling speed and increasing the speed if necessary. Regarding the speed control method for decelerating and maintaining the traveling speed at another constant value. A general example of realizing this bridge method is
-846? ? As stated in the issue, when the speed increase switch or deceleration switch is turned on, it acts on the output circuit, causes the actuator to operate the speed regulating element to the speed increase side or deceleration side, and at the timing of returning the switch. Acts on memory circuits.

A known vehicle is one in which an actual vehicle speed signal after speed increase or deceleration is newly stored as a control target value.

This device may suffer from the following drawbacks if the speed increase or deceleration switch is only operated for a short time. In general, speed control does not operate the actuator by simply comparing the actual speed and the target speed, but instead uses feedback of the actuator position and advance compensation to prevent hunting. This is due to the fact that the set deviation (that is, the difference between the actual driving speed and the target speed). For this reason, for example, if there is a negative set deviation and if the speed increase switch is operated for about 0.8 seconds, the actual driving speed will actually increase within the range of the set deviation. It may happen that the later stored value is less than the pre-operation value. Therefore, even after performing an image speed increasing operation, the traveling speed remains unchanged by 11, and is also decelerated by Kfl.

SUMMARY OF THE INVENTION An object of the present invention is to provide a control method that eliminates the drawbacks of the conventional device described above. Specifically, the present invention provides (1
) To be able to reliably perform slight speed increases and 11j decelerations with a short one-touch switch operation;
(g) Relatively long switch operation.

In other words, when a large increase or deceleration is required, the vehicle speeds up or decelerates in the same way as before, and when the switch operation is completed, the vehicle is able to travel at the current travel speed (allowing set deviation). It is something.

According to the present invention, the above object is to select a method for updating the set value indicating the target speed according to the operation time of the increase/deceleration switch, and to update the set value before the operation when a slight increase/deceleration with a short operation time is requested. When a large increase/decrease is requested by increasing/decreasing by a predetermined amount and requiring a long operation time, this is achieved by setting the actual speed value after the increase/deceleration as the set value.According to the preferred embodiment of the present invention, after the start of the operation, During a predetermined period of time, only the set value is changed, and no direct speed increase or deceleration commands are issued to the actuator. Therefore, sudden acceleration and deceleration are reliably prevented from occurring during speed increase and deceleration, and there is an advantage that shocks due to sudden speed fluctuations do not occur.

The illustrated example to which the present invention is applied! ! An example will be explained. 1
In Figure 1, the controller l consists of a microcomputer M as its main element and its peripheral circuits.
Vehicle speed sensor 4. and control signals of various control switches 6.6.7 are input, the displacement of the actuator 2 is calculated based on a preset control program, and the control signal is output.

yychi: s-eta 2 is the slot /L/ of the vehicle prime mover.
It has an output rondo that applies a force to the square 3, and the amount of movement of this output lot is adjusted by the air pressure in the diaphragm chamber, and the air pressure is intermittently modulated using a solenoid valve depending on the negative intake pressure of the prime mover and atmospheric pressure. It is configured as follows.

The vehicle speed sensor 4 generates a bus train signal having a frequency corresponding to the traveling speed of the vehicle. Switches 5, 6. ? This is a beam-turn type on/off switch located near the steering wheel. Set and coast switch B is used for set and deceleration operations, and stop and access switch 6 is used for return and speed increase operations.

The cancel switch 7 is used for cancel operations. Note that the cancel switch 7 is preferably connected in parallel with a switch that operates in conjunction with the brake pedal μ and the clutch pedal.

The tlLs diagram shows the flow of arithmetic processing of the -t microcomputer. This device is connected through a key switch, and when the main switch is turned on, power is supplied to the microcomputer M to execute the program shown in the figure.

The basic control routine 101 performs processing to adjust the vehicle speed to a target speed based on a set operation and a cancel operation. Specifically, the period of the bus signal from the vehicle speed sensor is counted using a high frequency clock signal, and the result is determined as a first value indicating the actual vehicle speed. The first value is stored at a predetermined location in computer M's temporary memory (RAM). This operation is repeated every time the μmm non-101 is executed, and the latest actual speed value is always prepared.

The on/off status of switch 5.6 is checked.

When the set operation is completed, the first value is read out and stored as a second value in another area of the temporary memory. This second value indicates the target vehicle speed. Once the set operation is performed, it operates to control the displacement of the actuator 2 until the cancel A/operation is performed. In other words, as shown in the following equation, by multiplying the difference between the latest first value 8n and the old first value tl [8n −t detected previously and temporarily stored] by the compensation constant Gm, Predict the velocity after thousands of milliseconds, and set another gain constant Gl to the difference between this predetermined mf and the second 58 m.
Multiply by to obtain a value that indicates the number of displacements.

D=D6+01 (8m-Gg (8n-811-1)
/Δt1, and D is a constant indicating the initial displacement. The value thus calculated is output to the actuator 8 in step 11N to adjust the position of the throttle valve 8.

When the cancel μ operation is performed, an output is given to the actuator 3 to fully close the positions of the valve 3 (slot) to the valve 3.

While the main switch is turned on, the basic control routine 101 for carrying out normal constant speed fiJ control and the acceleration/deceleration control routine of step 1011NllO are processed.

In step 1011, it is checked whether or not the setting operation force is in the 9 state.
B.No? It is determined whether or not a speed increasing operation and a decelerating operation are being performed. The speed increase operation is checked by the resume, ACT 7 to switch 60 on/off state, and the deceleration operation is checked by the set and coast switch.

If any switch operation is performed, step 1
At 04 and 108, each operation time is checked. Then, the operation time is a predetermined fixed time (for example, 0.6
seconds), proceed to steps 106 and 109.

In steps 106 and 109, the stored eighth value is increased or decreased by a predetermined amount from the value before the operation. In other words, the eighth value is increased or decreased by a certain amount only once. The amount of increase and amount of decrease are determined to be, for example, a value corresponding to the vehicle speed Bkx/hour. Therefore, when a speed increase or deceleration operation is performed, the second value is immediately increased or decreased by Sm/hour, and the speed control routine 101 is subsequently processed, so that it indicates the amount of displacement of the actuator 8. The calculated value changes immediately, and a command to increase or decelerate the speed is given to the actuator 8. For this reason, actuator 8.
The prime mover actually attempts to increase or decrease vehicle speed with an inherent response delay.

Here, if the speed increase/deceleration switch is released before the operation time of the switch is less than a certain period of time, the second value remains increased or decreased only once. Therefore, the actual vehicle speed changes only at approximately 2 kIlZ and becomes stable.

When this one-touch switch operation is repeated, the second value changes by an amount corresponding to zb/hour by the number of times, and the vehicle speed can be changed.

On the other hand, if the switch operation time exceeds a certain time, the processing from steps 104 and 108 to steps 105 and 110 is performed.
Proceed to. When the resume accelerator switch 6 is turned on, the maximum displacement amount for fully opening the throttle with the actuator 8 is determined in step 106, and therefore, in step 111, a control output indicating the maximum displacement is output. At the same time, the first value corresponding to the vehicle speed, which is increasing moment by moment, is written as the second value to update the target speed. Therefore, as long as the switch is held down, the vehicle speed continues to increase rapidly.

Moreover, the second value indicating the target vehicle speed corresponds to the actual vehicle speed.

However, when I resume and release the accelerator switch 6,
Step 10B to Stella 7” IO?

The rounding program process returns via step 111, and the maximum displacement output command to be performed at step 10& is stopped. Furthermore, the second value does not need to be further updated while still indicating the vehicle speed at the time when the switch operation was stopped. Therefore, the basic control routine 101 determines the actuator displacement amount so as to maintain the vehicle speed after the switch operation is stopped.

Make the vehicle drive at a constant speed.

On the other hand, if the set/coast switch 5 is turned on and the predetermined time is exceeded, the actuator 8 is turned on in step 110.
Since the minimum displacement amount for fully closing the throttle is determined in step 111, a control output indicating the minimum displacement is output. At the same time, the first value is written as the eighth value, and the target speed is further increased. Therefore, as long as the switch is kept pressed, the vehicle speed continues to decrease rapidly.

When the set and coast switch b is released, the basic control routine 101 changes the actuator displacement to maintain the vehicle speed at the time the switch operation is stopped, in order to perform the program processing that returns from step 107 to step 11.1. determine the amount and drive at a constant speed.

FIG. 8 shows a more specific example of the control program shown in FIG. Here, basic control routine 201. The set state determination step gos, the output step glo of the displacement scale are as described above.O step gos, 20B and! ! The fufugu cosw- used in step B16 indicates the previous operating state of the set and coast switches, and the fufugu C3W-□ used in step B16 indicates the previous operating state of the resume and accelerator switches.

Step go8,811&.

Routine B14 is set for ACT7/L/(speed increase) processing, but since it is symmetrical to the coast (deceleration) processing of steps 804 to g1g, a description thereof will be omitted.

Course) To explain the M theory, first step 804
It is determined whether the SET, COASTOS, ITSEN 204 is pressed or not. If 0 is off, the previous value cosw-, is set to 0 in step gos. If it is on, it is determined in step 206 whether the previous value C08W-, is l. Therefore, when the off state changes from the off state, the determination at that point is NO in step g06, and immediately after this, step i? At i08, coast operation is performed as C08W-, t-1. In this way, the processes of steps 207 and 208 are executed only once during one timing of the coast switch turning from off to on.

That is, in step 207, a timer count is started by an interrupt program (not shown), and in step 11
In step 09, a constant value C is subtracted from the eighth value 8m indicating the target speed.

On the other hand, if steps 207 to 209 are processed only once,
If the coast operation is continued after that, step 2
Processing from 06 onwards goes to step 211. In step jllll, the timer count value is set to a constant value, for example 0.
It is checked whether the value is equivalent to 5 seconds, and when 0.5 seconds have elapsed, steps BIB and g1g are processed. In step gig, the actuator displacement value is set to the minimum value Dmi
Set to n. tfiIJAIj in step g1g!
A first value 8n indicating the vehicle speed is set as a second value 8m. If the coast operation continues and 0.5 seconds have elapsed.

The processing of steps 812 and 218 is repeated until the set/coast switch is released.

As described above, in the present invention, by changing the operation method of the switch, there is an excellent effect of slightly increasing or decreasing the speed.

[Brief explanation of drawings]

FIG. 1 is a block diagram showing one embodiment of the present invention. FIG. 8 is a flowchart showing the control program of the microcomputer in FIG. 1, and FIG. 8 is a flowchart showing a more specific example thereof. 1. Microcomputer, B. Actuator, 8. Throttle valve as speed regulating element, 4.
阜(Speed sensor, 5...set, coast switch (deceleration switch), 6...resume, accelerator switch (speed increase switch).

Claims (1)

[Claims] Adjusting the position of the speed adjustment element of the vehicle so that the first value indicating the actual vehicle speed approaches the third value indicating the target vehicle speed, and operating the acceleration switch or deceleration switch. A speed control method for a vehicle in which the target speed is changed in response to an operation of the switch, the operation time being compared with a predetermined value when the switch is operated, and if the operation time is short, the second A speed control method for a vehicle, characterized in that the value of is increased or decreased by a predetermined value, and if the operation time is long, the first value is set as the third value.