JP2782623B2 - Automatic cruise control system for vehicles - Google Patents

Description

Description: BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automatic traveling control device for a vehicle suitable for use in an automobile.

2. Description of the Related Art Conventionally, a device for controlling a vehicle engine to automatically control a traveling speed of a vehicle has been considered. This type of control includes a constant vehicle speed traveling control and an acceleration or deceleration traveling control. Generally, by controlling the engine of the vehicle,
It is possible to control the traveling at a constant vehicle speed, acceleration or deceleration.

[Problems to be Solved by the Invention] By the way, in order to automatically control a vehicle, a predetermined torque (target torque) is output from an engine of the vehicle.
It mainly adjusts the throttle valve opening of the engine. Therefore, calculation of the target torque is required. For proper engine control, it is desired to calculate the target torque with high accuracy.

The present invention has been devised in view of the above-described problem, and improves the accuracy of engine control by appropriately adopting vehicle weight data, which is a parameter for calculating a target torque, to improve vehicle travel control. It is an object of the present invention to provide a vehicular automatic travel control device capable of appropriately performing the following.

[Means for Solving the Problems] For this reason, an automatic traveling control device for a vehicle according to the present invention includes target traveling state quantity setting means for setting a traveling state quantity target value representing a traveling state of the vehicle, And a target torque required to bring the actual traveling state quantity closer to the target traveling state quantity set by the target traveling state quantity setting means, at least by the vehicle weight detecting means. A target torque setting means that is set based on the vehicle weight, and a normal driving mode in which the output of an engine mounted on the vehicle is controlled according to the operation amount of an accelerator pedal of the vehicle, and in a state where the accelerator pedal is not operated. Engine output adjusting means having an automatic driving mode for controlling the output of the engine based on the target torque set by the target driving state quantity setting means. In the automatic cruise control device for a vehicle, the target torque setting unit is configured to control the vehicle weight when the engine output control by the engine output adjustment unit is in a mode other than the automatic cruise mode when the vehicle is stopped and when the vehicle is running. While the target torque is set using the latest vehicle weight detected by the detection means, when the engine output control by the engine output adjustment means is the automatic driving mode, the engine output control by the engine output adjustment means is started. The target torque is set by using the vehicle weight detected by the vehicle weight detecting means immediately before the setting.

[Operation] In the above-described vehicle automatic traveling control device of the present invention, the target traveling state quantity setting means sets the target value of the traveling state quantity representing the traveling state of the vehicle, and the target torque setting means sets the actual traveling state. Setting a target torque required to bring the amount close to the target traveling state amount set by the target traveling state amount setting means based on at least the vehicle weight of the vehicle detected by the vehicle weight detecting means; The means controls the output of the engine such that the output torque of the engine mounted on the vehicle approaches the target torque set by the target torque setting means. At this time, when the engine output control by the engine output adjusting means is in a mode other than the automatic driving mode when the vehicle is stopped and when the vehicle is traveling, the target torque setting means may detect the latest torque detected by the vehicle weight detecting means. While the target torque is set using the vehicle weight of the vehicle, when the engine output control by the engine output adjusting means is the automatic driving mode, the vehicle weight detection is performed immediately before the engine output control by the engine output adjusting means is started. The target torque is set using the vehicle weight detected by the means.

Hereinafter, an embodiment of the present invention will be described with reference to the drawings. FIGS. 1 to 28 show an automatic traveling control device for a vehicle as one embodiment of the present invention.

The automatic cruise control device of the present invention comprises a vehicle engine control device 1 and an automatic transmission control device 101. Of the FIGS. 1 to 28, FIGS. 1 to 7 show the configuration of the present device. .

First, the overall configuration of the present device will be described with reference to FIGS. 1 and 2. FIG. 1 is a configuration diagram conceptually showing a main part of the present device, and FIG. 2 is a vehicle engine control device 1 of the present device. 3 is a specific overall configuration diagram of FIG.

Referring to FIG. 1, reference numeral 1 denotes a vehicle engine control device.

Reference numeral 2 denotes a manual operation means provided in the vehicle compartment and manually operated, and includes an accelerator pedal 27, a brake pedal 28, a shift selector 29 and an auto cruise switch 18 shown in FIG.
Etc. correspond to this.

Numeral 3 denotes a running state designating means, which specifically corresponds to the running state designating unit of the control unit 25 shown in FIG. The traveling state specifying means 3 is in a state where the transmission (corresponding to the automatic transmission 32 in FIG. 2) can transmit the output of the engine 13 to the driving wheels 33 and 34 (see FIG. 2), and , Accelerator pedal 27 (see FIG. 2) and accelerator pedal 28 (see FIG. 2)
By operating the manual operation means 2 when both are in the released state, one of the constant vehicle speed traveling state, the accelerated traveling state, and the decelerated traveling state can be designated. In other words, when the manual operation means 2 matches the condition for running at a constant vehicle speed, the constant speed traveling state is designated, and when the manual operation means 2 matches the condition for accelerating traveling, the acceleration traveling state is designated, and the manual operation means 2 decelerates. When the conditions for running are met, the deceleration running state is designated. The automatic transmission 32 is a general fluid transmission using a torque converter.

Reference numeral 4 denotes target acceleration setting means constituting the target traveling state quantity setting means, which corresponds to the target acceleration setting section of the control section 25 shown in FIG. The target acceleration setting means 4 sets the target value of the acceleration at the time of acceleration traveling as the target traveling state quantity when the traveling state is designated by the traveling state designating means 3 as acceleration traveling, and the designation of the traveling state is deceleration traveling. If there is, the target value of the deceleration during the deceleration traveling is set as the target traveling state quantity.

The setting by the target acceleration setting means 4 is performed so that the target acceleration changes according to the change in the vehicle speed.

5 is a vehicle speed detecting means for detecting the running speed of the vehicle,
Specifically, it corresponds to a vehicle speed sensor (not shown) provided in a transmission or the like of the vehicle.

Numeral 6 denotes a target vehicle speed setting means (target vehicle speed setting means) constituting the target traveling state quantity setting means, which corresponds to the target vehicle speed setting section of the control section 25 shown in FIG. The target vehicle speed setting means 6 sets the traveling speed at which the vehicle should travel after acceleration as the target traveling state quantity when the traveling state designation by the traveling state designation means 3 is switched to the acceleration traveling. When the mode is switched to decelerated running, the running speed at which the vehicle should run after deceleration is set as the target running state quantity.

Reference numeral 7 denotes an engine output adjusting means for adjusting the output of the engine 13 based on the variable control amount. Specifically, the engine output adjusting means 7 corresponds to the throttle valve rotating portion 26 and the throttle valve 31 shown in FIG. Note that the variable control amount specifically includes the second
The control amount sent from the control unit shown in FIG.

Reference numeral 8 denotes a constant vehicle speed control means, which specifically corresponds to a constant vehicle speed control unit shown in FIG. When the traveling state designating means 3 designates the constant vehicle speed traveling, the constant vehicle speed controlling means 8 controls an engine necessary for the target torque setting means 110 so that the vehicle can maintain the constant vehicle speed traveling at a predetermined speed. 1
A target value (target torque) of the output of (3) is set, and a control amount of the engine output adjusting means 7 for adjusting the engine output according to the target torque is set.

Reference numeral 9 denotes an acceleration control unit, which corresponds to an acceleration control unit shown in FIG. The acceleration control means 9 controls the target torque setting means 111 so that the vehicle can maintain the acceleration running at the acceleration set by the target acceleration setting means 4 when the specification by the running state specifying means 3 is the acceleration running. Then, a target value (target torque) of the output of the engine 13 necessary for this is set, and a control amount of the engine output control means 7 for adjusting the engine output according to the target torque is set.

Reference numeral 10 denotes a deceleration control unit, which corresponds to the deceleration control unit shown in FIG. The deceleration control means 10 controls the target torque setting means so that the vehicle can maintain the accelerated travel at the deceleration set by the target acceleration setting means 4 when the travel state designating means 3 designates the deceleration travel. At 112, a target value (target torque) of the output of the engine 13 necessary for this is set, and a required control amount by the engine output adjusting means 7 for adjusting the engine output according to the target torque is set.

Numeral 11 denotes an arrival detecting means, which specifically corresponds to the arrival detecting section shown in FIG. The arrival detecting means 11 detects that the traveling speed of the vehicle detected by the vehicle speed detecting means 5 has reached the reaching target vehicle speed when the designation by the traveling state designating means 3 is acceleration traveling or decelerating traveling.

Numeral 12 denotes a traveling state switching means, which specifically corresponds to a traveling state switching section shown in FIG. Arrival detection means 11
When it is detected that the vehicle speed has reached the target vehicle speed,
By the traveling state switching means 12, the designation of the traveling state by the traveling state setting means 3 is switched.

Reference numeral 101 denotes an automatic transmission control device that controls the automatic transmission 32 according to the control state of the engine control device 1.
Vehicle speed comparison and determination means 102 for comparing the actual vehicle speed with the target vehicle speed
And an acceleration comparison / determination means 103 for comparing the actual acceleration with a preset reference acceleration, and an actual output torque (actual torque)
And a torque comparison / determination means 104 for comparing the calculated actual torque with the maximum torque at the current engine speed, and calculating an engine speed when downshifting from the current gear position. And a shift change control means 106 for appropriately issuing a shift change instruction to the automatic transmission 32 based on the information from these determination means 102 to 105.

Next, based on FIG.
This will be described specifically.

Vehicle engine control device 1 of the present vehicle automatic travel control device
Is a stepping amount detecting unit 14, an accelerator switch 15, a brake switch 16, a shift selector switch 17, an auto cruise switch 18, a vehicle weight detecting unit 19, an intake air amount detecting unit 20, and an engine speed detecting unit. Section 21, an output shaft rotation number detecting section 22, a gear position detecting section 23, and a vehicle speed / acceleration detecting section 24.
A control unit 25 that outputs a control signal based on input signals from the detection units and the switches 14 to 24; and a throttle valve rotation unit 26 that receives a control signal from the control unit 25 and drives a throttle valve 31. And a vehicle longitudinal acceleration sensor (G sensor) 51 for directly detecting the longitudinal acceleration of the vehicle.

 Hereinafter, each of these components will be described.

The depression amount detection unit 14 detects the depression amount of an accelerator pedal 27 for artificially adjusting the output of the engine, and as shown in FIG. The potentiometer 37 outputs a voltage proportional to the amount of depression of the accelerator pedal, and an A / D converter 38 that converts the output voltage value of the potentiometer 37 into a digital accelerator pedal depression amount APS.

The accelerator switch 15 is linked with the accelerator pedal 27
When the accelerator pedal 27 is depressed, it is turned ON and OFF, and when it is depressed, it is turned OFF.

The brake switch 16 is turned on and off in conjunction with a brake pedal 28 which artificially operates a brake (not shown) for controlling the vehicle, is turned on when the brake pedal 28 is depressed, and the brake pedal 28 is not depressed. Sometimes it is in OFF state.

The shift selector switch 17 outputs the operation state of the automatic transmission 32 artificially designated by the shift selector 29 as a digital signal.
In the operating state indicated by, the N range at the time of neutral, the P range at the time of parking, the D range at the time of automatic shift traveling, and the L range at the time when the gear position of the automatic transmission 32 is held at the first speed.
There is a range and an R range when the vehicle is moving backward.

The auto cruise switch 18 is used to artificially designate the running state of the vehicle, and also functions as acceleration command means for giving an acceleration / deceleration command to the vehicle. As shown in FIG. A main lever 18a protruding from and functioning as an acceleration switch 45 and a changeover switch 46;
The main lever 18a includes a throttle switch 47 slidably mounted on the main lever 18a and a target vehicle speed change switch 48 rotatably mounted on the main lever 18a. The details of this auto cruise switch 18
It will be described later.

The vehicle weight detector 19 detects the relative position between the wheels and the vehicle body, that is, changes in the vehicle height, and outputs the detected value as a digital value.

The intake air amount detector 20 is connected to the engine through the intake passage 30.
It detects the amount of air sucked into 13, and outputs the detected value as a digital value.

The engine speed detector 21 is provided on a camshaft (not shown) of the engine 13, detects the speed of the engine 13, and outputs the detected value as a digital value.

The output shaft rotation number detection unit 22 is provided on an output shaft (not shown) of a torque converter (not shown) of the automatic transmission 32, detects the rotation number of the output shaft, and converts the detected value into a digital value. Output. 33 and 34 are a left front wheel and a right front wheel driven by the engine 13 via the automatic transmission 32.

The shift speed detecting section 23 detects a shift speed in use based on a shift command signal output from a shift command section (not shown) provided in the automatic transmission 32, and outputs the detected value as a digital value. Things.

The vehicle speed / acceleration detector 24 detects the actual vehicle speed (actual traveling speed) of the vehicle and the actual acceleration (actual acceleration) of the vehicle, and outputs the detected value as a digital value. As shown in FIG. 5, the vehicle speed / acceleration detector 24 detects a wheel speed of the right rear wheel 36 and outputs the detected value as a digital value. The rear left wheel speed detection unit 43 which detects the wheel speed of the vehicle and outputs the detected value as a digital value, based on the digital values output from the right rear wheel speed detection unit 42 and the left rear wheel speed detection unit 43 And a vehicle speed / acceleration calculator 44 for calculating the actual vehicle speed and the actual acceleration of the vehicle.

The control unit 25 includes a traveling state specifying unit 3, a target vehicle speed setting unit 6, a target vehicle speed change control unit 6a, and a constant vehicle speed control unit 8.
, An acceleration control unit 9, a deceleration control unit 10, and an arrival detection unit 11
And a running state switching section (running state switching control section) 12, and each control section sets an appropriate throttle opening in accordance with the designation by the traveling state designating section 3.

In other words, in the control unit 25, when the traveling state designation unit 3 designates the constant vehicle speed traveling, the constant vehicle speed control unit 8 sets the throttle opening required for the required constant vehicle speed traveling, and the control unit 25 designates the acceleration traveling. When the throttle opening required for required acceleration traveling is set by the acceleration control unit 9 and the vehicle is designated for deceleration traveling, the throttle opening required for required deceleration traveling is set by the deceleration control unit 10. The magnitude of the throttle opening thus set is output to the throttle valve rotating section 26 as a digital signal.

The throttle valve rotating unit 26 is configured such that the throttle valve 31 is
The throttle valve 31 is rotated so as to take the throttle opening set in the step (3). As shown in FIG. 4, the throttle valve 31 is rotated to the set opening based on a signal from the control unit 25. An actuator drive section 39 for outputting a drive signal for moving the throttle valve actuator; a throttle valve actuator 40 for receiving a signal from the actuator drive section 9 to rotate the throttle valve 31;
And a throttle opening detecting unit 41 which feeds back the detected value to the actuator driving unit 39 as a digital value. The throttle valve actuator 40 is an electric motor such as a stepper motor.

The throttle valve 31 is rotatably provided in the intake passage 30, and is opened and closed (opening adjustment) of the intake passage 30 by being adjusted to an appropriate angle to adjust the amount of intake air to the engine 13. It is.

The vehicle body longitudinal acceleration sensor 51 is a so-called G sensor, which can detect whether or not the longitudinal acceleration of the vehicle body has changed, and does not detect a detailed acceleration value but a vehicle speed / acceleration detecting section. If there is a change in the detected acceleration at 24, this change is detected separately from the vehicle speed / acceleration detector 24, and erroneous data due to disturbances or detection errors in the vehicle speed / acceleration detector 24 becomes unnecessary. This is provided so as not to be taken in as data of the control unit 25.

Here, the auto cruise switch 18 will be described in detail.

The acceleration switch 45 is switched by turning the main lever 18a around the steering goram 49, and is shown in FIG. , And are turned on at each of these positions. This acceleration switch 45 When the vehicle is in the position of, the vehicle will run at a constant speed at the specified speed, When the vehicle is at the position, the vehicle is accelerated at each target acceleration. Especially The target acceleration increases as you switch to Slow acceleration running at the position In the position of medium acceleration running, In the position, the vehicle is set to run at a rapid acceleration.

The changeover switch 46 is a driving state switching operation means,
By pulling the main lever 18a toward you, it is turned ON and the running state is switched according to the position of the acceleration switch 45,
When you release your hand from the main lever 18a after switching,
This lever 18a automatically returns to the original position.

For example, the acceleration switch 45 When the vehicle is in the position of, the changeover switch 46 switches between constant speed traveling and decelerated traveling. In other words, the acceleration switch 45 When the switch is operated while the vehicle is traveling at a constant vehicle speed in the position of, the vehicle switches from traveling at a constant vehicle speed to decelerating traveling. If the changeover switch is operated while the vehicle is traveling at a reduced speed in the position of, the vehicle is switched from traveling at a reduced speed to traveling at a constant vehicle speed.

On the other hand, the acceleration switch 45 , The changeover switch 46 switches between acceleration traveling and constant vehicle speed traveling. In other words, the acceleration switch 45 When this switch is operated while accelerating at the position of, the vehicle switches from accelerating traveling to constant speed traveling,
By this change, the acceleration switch 45 If the changeover switch is operated while the vehicle is traveling at a constant vehicle speed at the position of, the vehicle switches from traveling at a constant vehicle speed to traveling at an accelerated speed.

Furthermore, the target vehicle speed can be changed by the changeover switch 46, and if the ON state of the changeover switch 46 is continued to switch from the constant vehicle speed traveling to the acceleration traveling, the target vehicle speed increases in proportion to the duration, When the ON state of the changeover switch 46 is continued to switch from the constant vehicle speed running to the decelerating running, the attained target vehicle speed decreases in proportion to the continuation time.

The throttle switch 47 changes the control content according to the state of the access pedal 27 or the brake pedal 28 for the throttle valve 31. , And each of these positions is turned on.

This throttle switch 47 The accelerator pedal 27 and throttle valve
Control is performed in the same relationship as when the throttle valve 31 is mechanically directly connected, and the throttle valve 31 is adjusted according to the movement of the accelerator pedal 27.

Also, the throttle switch 47 The accelerator pedal 27 and throttle valve
There is no mechanical direct connection with 31 and the following control is performed.

In other words, the throttle switch 47 When the brake pedal 28 is depressed and decelerated by depressing the brake pedal 28, the throttle valve is released until the accelerator pedal 27 is depressed next time.
Control is performed such that the minimum opening at which the position 31 is always the idle position is maintained.

Throttle switch 47 When the brake pedal 28 is depressed and decelerated by depressing the brake pedal 28 and then releasing the brake pedal 28, the accelerator pedal 27 is depressed next or the acceleration switch 45 Or selector switch
Until the acceleration operation or the deceleration operation is designated by the operation of 46, the opening degree of the throttle valve 31 is controlled in order to maintain the vehicle speed when the brake pedal 28 is released and to run at a constant vehicle speed.

The target vehicle speed changeover switch 48 is for changing the set value of the target vehicle speed at the time of traveling at a constant vehicle speed, and is directed upward (in the (+) direction in FIG. 6) or downward [(-) in FIG. direction]
When the switch 48 is turned on, the switches 48 are turned on, and when the switch 48 is released, the switch 48 is automatically returned to the original position (the neutral state shown in FIG. 6) and released.
It becomes F state. When the target vehicle speed switching switch 48 is turned to the ON state on the (+) side, the attained target vehicle speed increases in proportion to the duration of the ON state. The target target vehicle speed decreases in proportion to the duration of the state. Therefore, if the user releases the switch 48 after turning the target vehicle speed switch 48 to increase or decrease the target vehicle speed, the target vehicle speed is set to the value at the time when the hand is released.

The circuit at the connection between the auto cruise switch 18 and the control unit 25 is configured as shown in FIG.

On the control unit 25 side, there are provided buffers BU1 to BU10 provided for signal input of the control unit 25, and pull-up resistors R1 to R10 provided on each input side of these buffers BU1 to BU10. . Note that these pull-up resistors R1 to R10
Are provided in parallel with the power supply 50 of the buffers BU1 to BU10.

The contacts of the acceleration switch 45, the changeover switch 46, the throttle switch 47, and the target vehicle speed change switch 48, which constitute the auto cruise switch 18, are connected to the control unit 25.
Of the buffers BU1 to BU10.

Note that the reference numerals given to the respective contacts of the acceleration switch 45 in FIG. Is the position in FIG. The contact (ON) of the changeover switch 46 comes into contact when the main lever 18a is pulled toward the user and turned ON. Also, the reference numerals attached to the respective contacts of the throttle switch 47 Is the position in FIG. (+) And (-) attached to each contact of the target vehicle speed change switch 48 are the target vehicle speed change switches, respectively.
A contact point which is brought into contact when 48 is rotated to the (+) side or the (-) side in FIG.

On the input side of the buffer connected to the ON state of the contacts of these switches, the buffers BU1 to BU10 are connected to the pull-up resistors connected to this input side.
A current flows from the power supply 50 of the, and as a result, a low-level digital signal is given to the buffer connected to the contact that has been turned on. A high-level digital signal is supplied to a buffer connected to another contact in the OFF state.

For example, when each contact is in the connection state as shown in FIG. 7, a low-level digital signal is supplied to the input side of the buffers BU1 and BU7 of the control unit 25, and BU2 to BU6 and BU8 to BU1
A high level digital signal is supplied to the input side of 0.

Next, control contents of the engine control device 1 will be described.

8 to 18 are flowcharts showing the control contents of this engine control device.
FIG. 1I is a main flowchart showing the main contents of the present control, and the control is performed at a constant control cycle (control cycle) according to the main flowchart.

This control cycle is obtained by adding a time (loss time) Td corresponding to a control delay generated due to inertia of a torque converter or a transmission of a vehicle to a predetermined time Ta (Ta +
Td). Since the control delay due to inertia differs for each gear, the loss time Td is determined for each gear. Also, the predetermined time Ta in this case is a certain time,
Alternatively, a value corresponding to the engine speed is set.

Then, the main flowchart is periodically interrupted, and interrupt control as shown in FIGS. 8 (ii) to (iv) is performed.

FIG. 8 (ii) shows an interrupt control (hereinafter, referred to as a second interrupt) which is executed preferentially by interrupting this control every 50 milliseconds when the main control shown in FIG. 8 (i) is being performed. 6 is a flowchart showing the contents of control performed on a counter CAPCNG.

FIG. 8 (iii) also shows the control shown in FIG.
An interrupt control (hereinafter, referred to as a second interrupt control) which is performed with priority given to an interrupt every 0 milliseconds.
4 is a flowchart showing the contents of control for obtaining a change speed DAPS of the depression amount APS based on the accelerator pedal depression amount APS detected by the ECU.

Further, FIG. 8 (iv) shows an interrupt control (hereinafter, referred to as a third interrupt control) in which the control shown in FIG. 8 (i) is similarly interrupted every 65 milliseconds and is preferentially performed. From the right rear wheel speed VARR detected by the right rear wheel speed detection unit 42 of the vehicle speed / acceleration detection unit 24 and the left rear wheel speed VARL detected by the left rear wheel speed detection unit 43, the vehicle Actual vehicle speed VA and actual acceleration DVA
6 is a flowchart showing the contents of control for obtaining the following. This control is performed by the vehicle speed / acceleration calculation unit 44.

FIGS. 8 (v) and 8 (vi) show the contents of the fail-safe control for compensating the error of the actual acceleration DVA obtained by the third interrupt control shown in FIG. 8 (iv). It is a flowchart which shows.

That is, in the third interrupt control, the vehicle speed / acceleration detector 24
The actual acceleration DVA is calculated using the detected value, but the vehicle speed / acceleration detecting unit 24 detects the speed of the vehicle based on the wheel speed, so if bumps or rebounds occur on the wheels 35 and 36 due to unevenness of the road surface, There is a possibility that a value different from the actual vehicle speed VA may be momentarily detected as the vehicle speed. The failsafe control shown in FIG. 8 (v) is based on the actual acceleration based on the vehicle speed value erroneously measured due to such bumps and rebounds.
This is to prevent DVA from being calculated.

Here, fail-safe control is performed based on a detection value of an air suspension air pressure detection device (not shown) provided as one of the vehicle weight detection units 19.
This is because when an error occurs in the wheel speed due to bumps or rebounds, the air pressure of the air suspension also changes at the same time, so the change in air pressure is adopted as a measure of the reliability of the measured value as the actual vehicle speed VA. It is.

In the fail-safe control shown in FIG. 8 (vi), the longitudinal acceleration of the vehicle body is directly detected by the G sensor 51, and it is determined whether or not the value of the actual acceleration DVA has an error based on the longitudinal acceleration of the vehicle body. This is a control that can widely determine and process an error in the acceleration value due to other causes irrespective of an error in the acceleration value due to a bump, a rebound, or the like.

FIG. 8 (vii) is a flowchart showing a procedure for setting vehicle weight data performed by the control unit 25 based on the vehicle weight detected by the vehicle weight detection unit 19.

In the main control shown in FIG. 8 (i), various controls are performed, and these control contents are shown in FIGS. 9 to 18.

FIG. 9 is a flowchart showing the details of the throttle direct drive control performed in step A117 of FIG. 8 (i). This throttle direct drive control means that the accelerator pedal 27 and the throttle valve 31 are mechanically connected. The throttle valve 31 is controlled for the accelerator pedal 27 to control the engine 13 in a relationship equivalent to the direct connection.

FIG. 10 is a flowchart showing the details of the throttle non-linear motion control performed in step A116 of FIG. 8 (i).
The engine 13 is controlled by controlling the throttle valve 31 which does not always have a mechanically directly connected relationship between the throttle valve 27 and the throttle valve 31.

FIG. 11 is a flowchart showing details of the accelerator mode control performed in step C137 of FIG. 10.The accelerator mode control includes the accelerator pedal depression amount APS detected by the depression amount detection unit 14, and The target acceleration of the vehicle is determined based on the accelerator pedal depression amount change speed DAPS obtained by the control unit 22 based on the depression amount APS and the value of the counter CAPCNG. The rotation of the engine 31 is controlled to control the engine 13.

FIG. 12 is a flowchart showing the details of the auto cruise mode control performed in step C144 of FIG. 10, and the auto cruise mode control is performed when the accelerator pedal 27 and the brake pedal 28 are released. At one time, each detection unit and each switch 14 to 14 in FIG.
Based on the information of 24, the opening of the throttle valve 31 is set by the acceleration control unit 9, the deceleration control unit 10, or the constant vehicle speed control unit 8 of the control unit 25, and the throttle valve 31 is set by the throttle valve rotation unit 26.
By rotating the vehicle, the engine 13 is controlled, and the traveling state of the vehicle is set to acceleration traveling, deceleration traveling, or constant vehicle speed traveling.

FIG. 13 is a flowchart showing the details of the changeover switch control performed in step E128 of FIG. 12, and the changeover switch control includes the designation of the traveling state of the vehicle by the traveling state designation unit 3 of the control unit 25. , The changeover switch 46 and the switching by the traveling state switching unit 12 of the control unit 25, the setting of the target vehicle speed by the target vehicle speed setting unit 6 of the control unit 25, and the target by the target vehicle speed change control unit 6a of the control unit 25. This is performed for changing the vehicle speed.

FIG. 14 is a flowchart showing details of the acceleration switch control performed in step E121 of FIG. This acceleration switch control means that the acceleration switch 45 is turned on in FIG. When the position is switched to the target position, the target acceleration setting unit 4 of the control unit 25
At the target acceleration DV performed according to this switching position.
Is the control of the S ₂ set. The target acceleration DVS ₂ is controlled by the operation of the acceleration switch 45 or the changeover switch 46.
Is a target value of acceleration that becomes constant after the vehicle starts accelerating as the traveling state is specified by the traveling state specifying unit 3.

FIG. 15 is a flowchart showing details of the deceleration control performed in step E131 in FIG. The deceleration control is performed by the negative target set by the target acceleration setting unit 4 of the control unit 25 when the traveling state designating unit 3 of the control unit 25 is operated by the operation of the acceleration switch 45 and the changeover switch 46 to indicate the deceleration traveling. The control is such that the vehicle is decelerated at the deceleration closest to the acceleration (that is, the target deceleration) and attainable. The deceleration control unit 10 of the control unit 25 and the target acceleration setting unit 4
It is performed in.

FIG. 16 is a flowchart showing the details of the target vehicle speed control performed in step E133 of FIG. 12, and the target vehicle speed control is performed by designating the traveling state of the control unit 25 by operating the acceleration switch 45 or the changeover switch 46 or the like. For maintaining a running speed of the vehicle at a constant vehicle speed when the designation of the part 3 is the same as the traveling speed at the time of the constant speed traveling; This is for changing the target value of the target vehicle speed at the time by the target vehicle speed change switch 48, and is mainly performed by the constant vehicle speed control unit 8 of the control unit 25.

FIG. 17 is a flowchart showing details of the acceleration control performed in step E122 of FIG. The acceleration control is a control for smoothly changing (decreasing) the acceleration. For example, when the traveling state designating unit 3 of the control unit 25 is designated as acceleration traveling by operating the acceleration switch 45 or the changeover switch 46, the target acceleration setting unit 6 of the control unit 25 corresponds to the position of the acceleration switch 45. The vehicle speed is smoothly increased and decreased to the set target acceleration, or the target vehicle speed set by the target vehicle speed setting unit 6 and the target vehicle speed change control unit 6a of the control unit 25 by acceleration traveling. The change in the acceleration when the traveling speed of the vehicle reaches the vehicle speed is smoothly performed.

FIG. 18 is a flowchart showing details of control of determination of the target acceleration DVS ₄ executed in step J115 of FIG. 16. The target acceleration DVS ₄ is a target value of the acceleration of the vehicle for maintaining the traveling speed of the vehicle in accordance with the target speed when the traveling state designation unit 3 of the control unit 25 designates the constant speed traveling.

19 to 26 are graphs each showing the correspondence between the parameters of the map used for the control of the engine control device 1 in the automatic traveling control device for the vehicle and the variables read in accordance with the parameters.

FIG. 27 shows an example of a change in the target acceleration and the traveling speed corresponding to the lapse of time after the switching when the acceleration switch 45 is switched and the designation of the traveling state designation unit 3 of the control unit 25 is set to the acceleration traveling. It is.

FIGS. 28 (i) to (iii) are flowcharts showing the contents of control of the automatic transmission 32 by the automatic transmission control device 101. By continuing the procedures of FIGS. 28 (i) and (ii), Downshift control of one cycle is performed. This control is performed during the constant speed control in the auto cruise mode control, for example, when climbing up or downhill (downhill) when the vehicle speed cannot be maintained only by the engine control.

This downshift control is an interrupt control every 20 ms,
FIG. 28 (i) mainly corresponds to control when going uphill, and FIG. 28 (ii) mainly corresponds to control when going downhill. Also, the 28th
FIG. (Iii) shows a modification of the control at the time of descending the slope shown in FIG. 28 (ii).

Note that this downshift control is performed by the vehicle speed / acceleration detector.
24, the actual vehicle speed VA and the actual acceleration DVA detected at 24, the target vehicle speed VS set at the attained target vehicle speed setting unit 6, the current engine speed DRPM detected at the engine speed detecting unit 21, the gear position detecting unit 2
This is performed by the downshift control 101 based on the data of the currently used gear position and the like detected in step 3.

The operation of the present control device having the above configuration is described in the first to 28th.
A description will be given based on the drawings.

First, an ignition switch (not shown) of the vehicle is turned on to start the engine 13, a crankshaft (not shown) of the engine 13 starts rotating by a starter motor (not shown), and a fuel control device (not shown) The amount of fuel necessary for starting the engine determined by (omitted) is supplied to the engine 13 by a fuel injection device (not shown).
At the same time, the ignition device (not shown) ignites the fuel at the timing determined by the ignition timing control device (not shown), and the engine 13 starts operating by itself.

At this time, the power supply is connected to the engine control device 1 at the same time, and the control of the engine is started according to the flowcharts shown in FIGS.

 Hereinafter, this control will be described.

First, in step A101 of FIG. 8 (i), all variables, flags, timers, and counters used in the control are reset so that the values become 0, and the process proceeds to the next step A102.

At this time, prior to the control of the main flow shown in steps A101 to A117 in FIG. 8 (i), step A118 in FIG.
-A120, a first interrupt control performed every 50 milliseconds, and steps A121-A of FIG. 8 (iii).
A second interrupt control performed every 10 milliseconds according to the flowchart of 122, and steps A123 to A128 in FIG.
The third interrupt control performed every 6 milliseconds according to the flowchart of FIG.

Among these interrupt controls, the first interrupt control is a control unit.
This is performed in step 25, and is interrupt control for the counter CAPCNG as described above.

That is, immediately after the control by the engine control device 1 is started, the counter value CAPCNG is reset in step A101, and the value of CAPCNG is set to 0.
The value obtained by adding 1 to CAPCNG in step A118 is added to the new CAPCNG
Then, the value of CAPCNG here is 1. Therefore, in the next step A119, the condition of CAPCNG = 1 is satisfied, and the routine proceeds to step A120. And this step A120
Then, the value obtained by subtracting 1 from CAPCNG (that is, 0) is the new CA
It becomes the value of PCNG.

When the first interrupt control starts again after a lapse of 50 milliseconds, the value of CAPCNG is 0 as in the previous start of the first interrupt control as described above. Therefore,
The content of the current first interrupt control is exactly the same as the previous first interrupt control, and the value of CAPCNG becomes 0 again after the end of the current first interrupt control. In other words, unless the value of CAPCNG is set to a value other than 0 in any step of the control of the main flow, the first interrupt control performed every 50 milliseconds is repeated with exactly the same contents, and the result is obtained. The value of CAPCNG is always 0.

The second interruption control is a control performed by the control unit 25. Here, the second interruption control is performed based on the accelerator pedal depression amount APS detected by the depression amount detection unit 14.
The change speed DAPS of is required.

The value of the accelerator pedal depression amount APS is determined by the potentiometer 37 of the depression amount detection unit 14 linked to the accelerator pedal 27.
A voltage proportional to the amount of depression of the accelerator pedal 27 is output, and this output voltage is output to the AD converter 38 of the amount-of-step detector 14.
Is a value obtained by converting to a digital value.

In the second interrupt control, the accelerator pedal depression amount APS is input in step A121, and the next step A
APS value entered at 122 and 100
The difference | APS−APS ′ | from the accelerator pedal depression amount APS ′ input and stored milliseconds ago is calculated as the DAPS value. Since this interrupt control is repeated every 10 milliseconds, APS,
APS 'and DAPS values are updated every 10 ms.

The third interrupt control is a control performed by the vehicle speed / acceleration detector 24 to calculate the actual vehicle speed VA and the actual acceleration DAV.

When the third interrupt control is started, first, in step A123, the wheel speed of the right rear wheel 36 detected by the right rear wheel speed detection unit 42 is input as VARR. The wheel speed of the left rear wheel 35 detected by the rear wheel speed detection unit 43 is input as VARL.

Next, in step A125, the average value of VARR and VARL is calculated and stored as the actual vehicle speed VA of the vehicle. Next steps
In A126, the change amount VA-VA 'between the actual vehicle speed VA calculated in step A125 and the actual vehicle speed VA' similarly calculated and stored in the interrupt control 390 milliseconds before the current interrupt control is calculated. Acceleration D
Calculated as VA ₆₅ .

Then, in step A127, the average value VAA of VA and VA 'and the actual vehicle speed VA ″ calculated and stored similarly in the interrupt control six milliseconds before the interrupt control in which VA was calculated.
And VA (calculated and stored 390 ms before VA ″) and VAA−VAA ′ are the actual acceleration
It is calculated and stored as DVA ₁₃₀ .

Further, in step A128, the average value of the latest four DVA ₁₃₀ of the DVA ₁₃₀ calculated in the same manner as the interrupt control up actual acceleration DVA ₁₃₀ and the previously calculated at step A127 is, actual acceleration DVA Calculated as ₈₅₀ .

VA, VA ′, VA ″, VA, VAA,
The values of VAA ′, DVA ₆₅ , DVA ₁₃₀ and DVA ₈₅₀ are updated every 65 ms because this third interrupt control is performed every 65 ms.

Among these actual accelerations, the DVA ₆₅ is calculated based on the two actual vehicle speeds (VA, VA ') as described above. As a result, when the error of one actual vehicle speed is increased, the effect is large and the stability is low. On the other hand, the DVA ₈₅₀ is obtained by using five actual accelerations DVA ₁₃₀ calculated based on the four actual vehicle speeds (VA, VA ', VA ", VA) as described above.
Although higher less stability effect of disturbances as opposed to the A _65, low followability. The DVA ₁₃₀ has intermediate stability and followability between the DVA ₆₅ and the DVA ₈₅₀ .

Here, the content of the fail-safe control performed to compensate for the error of the actual acceleration DVA obtained by the third interrupt control will be described. First, as shown in FIG. Whether the change in the detection value (degree of change in air pressure) detected by the air pressure detection device of the air suspension (air suspension) provided as one of the vehicle weight detection units 19 is greater than a preset reference value or not. Is determined.

After the change of the detection value is not greater than the reference value, the measured value of the actual vehicle speed VA is determined that no error occurs, set to 0 the value of the flag I ₁₄ proceeds to step N108, Proceeding to step N109, reset the timer (TMA ') and proceeding to step N110. In step N110, normally each actual acceleration _{(DVA 65, DVA 130, DVA} 850), that is, calculated according to step A126~A128 as described above.

However, if the state change of the detection value is not greater than the reference value continues from the failsafe control when the previous stage, the value of the flag I ₁₄ is 0 from the beginning, the timer (TMA ') also It has already been reset.

Incidentally, the flag I ₁₄ is already indicated by the value that changes in air pressure air suspension has become greater state than the reference value is 1. The timer TMA 'counts a continuous time when a state in which the change in the air pressure of the air suspension is large is continuous.

On the other hand, if the change in the detected value is larger than the reference value,
In step N101, it can be determined that an error has occurred in the measured value as the actual vehicle speed VA. In this case, first, the value of the flag I ₁₄ proceeds to step N102, it is determined whether or not 1.

Assuming that the first change in air pressure in the air suspension is greater than the reference value, since the value of the flag I ₁₄ still state of 0, after a 1 the value of the flag I ₁₄ proceeds to step N103, the timer at step N104 Start counting TMA '. Next, in step N105, each actual acceleration (DVA ₆₅ ,
The calculation of DVA ₁₃₀ and DVA ₈₅₀ ) is stopped, and the calculated values (final calculated values) calculated immediately before are stored as output data.

Subsequently, the process proceeds to step N106 to reset the control cycle. The resetting of the control cycle is described later with reference to FIG.
The control shown in the main flow of the initial state, that is, step A101
Is returned to the step, and control is newly started. Thereafter, the process proceeds to step N107.

If it is determined in the previous control that the change in the air pressure of the air suspension is larger than the reference value, the flag I ₁₄
Since has become 1 at step N102, the value of the flag I ₁₄ is determined to be 1. In this case, Step N103 ~
Jump to N106 and go directly to step N107.

Proceeding to step N107, the count value t of the timer TMA '
_TMA 'whether greater than the predetermined value t _C is determined. Here, the count value t _TMA ′ is a continuous time during which the change in the air pressure of the air suspension becomes larger than the reference value. Further, the predetermined value t _C is a reference time, which is set to a value appropriately larger than the natural vibration cycle of the suspension of the vehicle, for example, to about 750 ms.

The determination made in step N107 is a determination as to whether the change in the air pressure of the air suspension is due to bumps and rebounds of the wheels or the like because the vehicle speed has actually changed.
That is, if the change in the air pressure of the air suspension is caused by the bump rebound of the wheel, the change is eliminated if the bump rebound or the like is settled after the elapse of the reference time t _C.
Therefore, conversely, if the state where the change in air pressure is larger than the reference value continues for longer than the reference time t _C , it can be determined that the air pressure of the air suspension continues to change because the vehicle speed has actually changed.

That is, the predetermined value t _C 'count value t _TMA' of the timer TMA
If it is larger, the change in air pressure is due to the actual change in vehicle speed, and it can be determined that the calculated actual acceleration data can be used.If the count value t _TMA ′ of the timer TMA ′ is not larger than the predetermined value t _C, Since the change in air pressure may be caused by bumps and rebounds of the wheels, it can be determined that the actual acceleration data cannot be used.

If it is determined in step N107 that the count value t _TMA ′ is not larger than the predetermined value t _C , this control is terminated, and conversely,
'When is determined to be greater than the predetermined value t _C, the flow advances to step N108, after the value of the flag I ₁₄ 0, the timer (TMA at step N109' count value t _TMA to reset),
Proceeding to step N110, each actual acceleration (DVA ₆₅ , DVA ₁₃₀ , DVA
₈₅₀ ) is calculated according to steps A126 to A128 as usual.

The fail-safe control shown in FIG. 8 (v) for compensating for the error of the actual acceleration DVA is repeated every predetermined time (however, a time shorter than the reference time t _C ).

Next, the actual acceleration DV obtained by the third interrupt control
The content of another fail-safe control performed to compensate for the error of A will be described. Also in this control, in its initial state, the flag I ₁₅ is zero, is reset to the timer TMA "stops to 0.

Incidentally, the flag I ₁₅ indicates by the value that the error was observed in the value of the actual acceleration within a reference time than currently before the preceding control cycle is 1. Timer TM
A "counts the elapsed time from the occurrence of a change in the actual acceleration larger than the reference value as a count value _tTMA ".

First, at step N201, the flag I ₁₅ is equal to or a 1 is determined.

When the flag I ₁₅ is a 1, the process proceeds to step N208,
If no error is found in the actual acceleration value until the previous fail-safe control, or if an error is found in the actual acceleration value in the previous fail-safe control, the reference time t _C ′
During the above, if not observed error in the value of the actual acceleration, since the value of the flag I ₁₅ is 0, step
In N201, it is a flag I ₁₅ is not 1, the process proceeds to step N202.

In step N202, it is determined whether or not the actual acceleration has changed greater than the reference value in the current control cycle.

If the actual acceleration does not change more than the reference value, there is no need to perform any special fail-safe operation, and the process proceeds to step N211 and the actual acceleration (DVA ₆₅ , DVA ₁₃₀ , D
The calculation of VA ₈₅₀ ) is performed as usual, that is, according to steps A126 to A128 as described above, and the current control is completed.

If the actual acceleration has changed more than the reference value, the process proceeds to step N203, and it is determined whether the output value from the G sensor (vehicle longitudinal acceleration sensor) 51 has changed more than the reference value.

If the output of the G sensor 51 changes by more than the reference value, the actual acceleration actually changes more than the reference value, and the data of the actual acceleration can be relied on. DVA ₆₅ , DVA ₁₃₀ , DVA ₈₅₀ ) are calculated as usual, and the current control is completed.

If it is determined in step N203 that the output of the G sensor 51 does not change by more than the reference value, the actual acceleration data has changed, although the actual acceleration has not actually changed by more than the reference value. It can be determined that some error has occurred in the data for calculating the acceleration value, and the actual acceleration data is determined to be unreliable.
_In step N205, the timer TMA "is started counting.

Further, in the following step N206, the actual acceleration of the counter (DV
A ₆₅ , DVA ₁₃₀ , DVA ₈₅₀ ) are stopped, and the calculated values (final calculated values) calculated immediately before are stored as output data.

Subsequently, the process proceeds to step N207 to reset the control cycle. The resetting of the control cycle is described later with reference to FIG.
The control shown in the main flow of the initial state, that is, step A101
Is returned to the step, and control is newly started.

 Then, the current control ends.

As described above, when it is determined that an error has occurred in the value of the actual acceleration, in the subsequent control cycle, step
In N201, it is determined that the flag I ₁₅ is 1, step
Proceed to N208.

In step N208, when the value of the count value t _TMA "is the reference time t _C 'whether greater than or not. Reference time t _C' is to some error in the calculation data of the actual acceleration has occurred, the The effect is the actual acceleration (DVA ₆₅ , DVA ₁₃₀ , DV
A ₈₅₀ ) is set in advance as a time until the calculated value does not exceed the calculated value.

If the value of the count value t _TMA ″ is not larger than the reference time t _C ′, the calculated value of the actual acceleration may still be affected by a data error. Then, the current control is ended without performing the above-mentioned operations, and the values stored in step N206 are used as the actual accelerations (DVA ₆₅ , DVA ₁₃₀ , DVA ₈₅₀ ).

If the count value t _TMA ″ becomes larger than the reference time t _C ′ after several control cycles after it is determined that some error has occurred in the value of the actual acceleration, in step N209, the flag I The value of ₁₅ is set to 0, and in step N210, the timer TMA ″ is reset to 0,
Proceed to step N211.

At step N211, resumes actual acceleration calculated in accordance with step A126~A128 is, in order to calculate new data input from the control period, later than the control cycle, a new actual acceleration (DVA _65, DVA ₁₃₀ , DVA ₈₅₀ ) is used until the value stored in step N206 is calculated.

The fail-safe control shown in FIG. 8 (vi) for compensating for the error in the actual acceleration DVA is also repeated every predetermined time (however, a time shorter than the reference time t _C ′).

As described above, when it can be determined that the actual acceleration data is reliable, the actual acceleration is calculated in a predetermined manner, and almost the current actual acceleration data is employed. On the other hand, actual acceleration DV
If it can be determined that an error has occurred in the value of A, the latest (final calculated value) among the already calculated appropriate data is used as the data of each actual acceleration DVA (DVA ₆₅ , DVA ₁₃₀ , DVA ₈₅₀ ). Adopt it.

On the other hand, in the main flow of steps A101 to A117 in FIG. 8 (i), following step A101, in step A102, the timer TMB for determining the timing of opening and closing the throttle valve 31 starts counting time, and Step A
Go to 103.

At step A103, a third of the actual vehicle speed VA calculated by an interrupt control in step A123~A128 of vehicle speed and acceleration detection unit 24, the actual acceleration _{DVA 65, DVA 130, DVA 850} , depression amount detecting part 14
Accelerator pedal depression amount APS detected by the control unit, APS change speed DAPS calculated by control unit 25 by interrupt control in steps A121 to A122, intake air amount AE detected by intake air amount detection unit 20, engine speed detected by the detecting unit 21 engine speed N _E, vehicle weight detection unit detected vehicle weight W by 19, the torque converter output shaft of the automatic transmission 32 detected by the output shaft rotating speed detector 22 (not shown) rotational speed N _D of are input. Further, in this step A103, the accelerator switch 1
5, the contact information of each of the acceleration switch 45, the changeover switch 46, the throttle switch 47, the target vehicle speed change switch 48 of the brake switch 16, the shift selector switch 17 and the auto cruise switch 18, and the gear position detection unit 23 detects the contact information. The shift speed information of the automatic transmission 32 is taken in.

In the next step A 104, the value of the flag I ₄ is 1 whether or not. The flag I _4, the control unit 25
The value 0 indicates that the constant vehicle speed traveling should be designated by the traveling state designation unit 3 of FIG.
In this step A104, it is determined that I ₄ = 1 is not set when the constant vehicle speed running state is designated, and step A105
Proceed to. Conversely, if the constant vehicle speed running state is not specified, I
It is determined that ₄ = 1, and the process proceeds to step A107.

Proceeding to step A105, the value of the flag I ₈ is whether or not 1 is determined. That the flag I ₈ is in the target vehicle speed control performed at step E133 of Fig. 12 to be described later, the value that the vehicle speed is the control after almost coincides with the target vehicle speed of the constant speed traveling is performed is 0 Is indicated by Then, in step A105, the process proceeds to step A107 if it is determined that I ₈ = 1, if it is determined that it is not I ₈ = 1 proceeds to step A106.

In step A106, the cycle of the timing for opening and closing the throttle valve 31 Is designated as a preset constant value T _K.

In step A107, the cycle There are designated by the product of the coefficient of preset fixed value and the reciprocal of the input engine speed N _E alpha in step A103. Therefore, when the traveling state designating unit 3 of the control unit 25 designates the constant vehicle speed traveling, the opening and closing of the throttle valve 31 is limited to the rotation speed of the engine 13 until the vehicle speed reaches the target vehicle speed in the target vehicle speed control. When the control is performed after the vehicle speed substantially coincides with the target vehicle speed, the opening and closing of the throttle valve 31 is performed at a constant period.

Step A106 or step A107 to step A108
The time t _TMB counted by the timer _TMB
When Is compared with Is determined.

In this step A108, If it is determined that is, proceed to step A109, If not, the process proceeds to step A112.

In this case, since the current control cycle corresponds to the timing of opening and closing the throttle valve 31, in step A109, the timer TMB is reset and the value of t _TMB is determined in order to determine the next opening and closing timing of the throttle valve 31. together with the 0 and the time counted by the timer TMB is again started in step A110, the flag I ₁₁ at step A111 1
And Incidentally, the flag I _11, after the counting of time by the timer TMB was again started in step A110,
The control cycle for opening and closing the throttle valve 31 is indicated by a value of 1.

Also, If not, the current control cycle
Since it can be determined that the timing does not correspond to the timing of opening and closing (adjustment of the engine output) the flag I in step A112,
The value of ₁₁ is set to 0.

Step A111 or step A112 to step A113
In step A103, it is determined whether or not the shift selector 29 is at the position of the D range based on the contact information of the shift selector switch 17 input in step A103. Here, when it is determined that the vehicle is at the position of the D range, the process proceeds to step A114. However, when it is determined that the vehicle is not at the position of the D range, complicated control based on the running state of the vehicle other than the D range is performed. Since it is unnecessary, the process proceeds to step A117, where the throttle direct drive control is performed.

When the process proceeds to step A114, the throttle switch 47 of the auto cruise switch 18 is turned on in FIG. Is determined. Throttle switch
47 is When the throttle valve 31 is in the position of, the throttle valve 31 and the throttle valve 31 are mechanically directly connected.
Is operated, so that the routine proceeds to step A117, where the throttle direct drive control is performed.

Conversely, in step A114, the position of the throttle switch 47 is If not, the process proceeds to step A115. Step A1
At 15, the engine speed N _E input at step A103
Is less than a reference value N _K which is set slightly lower than the idle speed after the completion of the warm-up operation of the engine 13, and N _E <N
It is determined whether it is _K or not.

When it is determined that N _E <N _K , the process proceeds to step A117, where the throttle direct drive control is performed. When it is determined that N _E <N _K is not satisfied, the process proceeds to step A116, where the throttle non-linear drive control is performed. Done.

Therefore, during the start of the engine, during the period until the rotation speed of the engine 13 rises from the engine stopped state to the rotation speed in the steady state, or the operating state of the engine 13 becomes unstable due to any cause, the engine rotation speed decreases. At times, the throttle valve 31 operates only in response to the movement of the accelerator pedal 27, and the engine 13 is controlled.

Throttle non-linear operation control in step A116 or step A1
When the throttle direct drive control of 17 is completed, one control cycle is completed, the process returns to step A103, and the above-described control of step A103 to step A116 or A117 is repeated. Therefore, step A103 is performed for each control cycle.
Then, each detected value and each contact information are updated and input, and the above-described control is performed based on the detected value and the contact information.

Next, the throttle linear motion control in step A117 of FIG. 8 (i) will be described. This throttle linear motion control is performed according to the flowchart shown in FIG.

That is, first, in step B101 in FIG. 9, the accelerator pedal depression amount APS input in step A103 in FIG. 8 (i) is obtained from the map ♯MAPS shown in FIG. The throttle valve opening θ _{THD to} be read is read and set, and the routine proceeds to step B102.

In Step B 102, whether or not the value of the flag I ₁₁ described above is 1 is determined. If it is determined that I ₁₁ = 1, the current control cycle corresponds to the timing of opening and closing the throttle valve 31, so the process proceeds to step B103, where the throttle valve 31 is opened and closed. Is terminated. On the other hand, I ₁₁ =
When it is determined that it is not 1, the current control cycle does not correspond to the timing of opening and closing the throttle valve 31, so that nothing is performed and the throttle direct drive control in the current control cycle is ended.

In step B 103, to the throttle valve pivoting section 26 from the control unit 25 sends a signal indicating the throttle valve opening theta _THD set in step B101. The throttle valve rotation unit 26 receives this signal from the actuator drive unit 39 and sends a drive signal to the throttle valve actuator 40 so as to rotate the throttle valve 31 to a position where the throttle valve opening becomes _θTHD . Based on this, the throttle valve actuator 40 rotates the throttle valve 31.

At this time, the opening of the throttle valve 31 is detected by the throttle valve opening detector 41, and the detection result is fed back to the actuator driver 39. An opening drive signal for the throttle valve 31 for keeping the opening at θ _THD is continuously transmitted. Then, when the throttle valve opening degree detecting section 41 detects that the throttle valve 31 has been rotated to such a position, the actuator driving section 39 stops sending a driving signal in accordance with the detection result. Then, the throttle valve 31 stops at the position where the throttle valve opening is set to _θTHD .

As described above, in the throttle linear motion control, the throttle valve opening _θTHD is determined based only on the amount of depression of the accelerator pedal 27. The throttle valve opening θ _THD and the accelerator pedal depression amount APS are in a proportional relationship as shown in FIG. Therefore, the throttle valve 31 operates according to the movement of the accelerator pedal 27 in a state where the accelerator pedal 27 and the throttle valve 31 are mechanically directly connected.

It should be noted that the throttle valve 31 operates in this manner to operate the intake passage.
When the opening and closing of the engine 30 is performed, the amount of air taken into the engine 13 changes, and accordingly, the fuel control device (based on the amount of air detected by the intake air amount detection unit 20 and the operating state of the engine 13) The fuel supply amount to the engine 13 determined by (not shown) changes. As a result, the amount of fuel actually injected by the combustion injection device (not shown) into the intake passage 30 changes,
The output of the engine 13 changes.

Next, the throttle non-linear movement control in step A116 of FIG. 8 (i) will be described. This throttle non-linear motion control is performed according to the flowchart shown in FIG.

That is, first, in step C101, FIG.
Based on the contact information input in step A103, it is determined whether the contact of the brake switch 16 is in the ON state.

At this time, the brake pedal 28
If the brake pedal 28 is depressed, the contact of the brake switch 16 is ON in step C101, so the process proceeds to step C102.If the brake pedal 28 is not depressed,
Since the contact of the brake switch 16 has not been turned ON, the process proceeds to step C113. Therefore, different control is performed between when the brake pedal 28 is depressed and when it is not depressed.

When advanced brake pedal 28 is depressed to step C102, in step C102, the value of the flag I ₇ is set to 0. The flag I ₇ shows a to having been depressed the brake pedal 28 in the preceding control cycle by the value is 0. And then whether it is the value of the flag I ₂ is 1 at step C103 is determined.

The flag I _2, as described later, the brake pedal 2
A value of 1 indicates that the rapid braking state in which the deceleration is larger than the reference value has continued for longer than the reference time when the vehicle was decelerated by the brake (not shown) by depressing step 8. . The reference value and the reference time are set in advance.

If it is determined in step C103 that I ₂ = 1,
The process directly proceeds to step C112 described later, and if it is determined that I ₂ = 1 is not satisfied, the process proceeds to step C104.

Proceeding from step C103 to step C 104, with respect to the negative reference value K ₂ of the actual acceleration DVA ₁₃₀ is preset input in step A103 of FIG. 8 (i), whether DVA ₁₃₀ <K ₂ Is determined. Actual acceleration DVA ₁₃₀ is a positive value when the acceleration of the vehicle is performed, so when becoming a negative value for deceleration of the vehicle is performed, DVA ₁₃₀ to the negative reference value K ₂ < determining whether or not a K ₂ is the vehicle deceleration becomes equal to the greater or not than a preset reference value determination.

When large sudden braking deceleration by the brake (not shown) is being performed, it is determined that DVA ₁₃₀ <K ₂ in step C 104, processing proceeds to step C 107. If no sudden braking is performed, it is determined not to be the DVA ₁₃₀ <K ₂ in step C 104, the process proceeds to step C105.

Proceeding to step C 107, the value of the flag I ₁ is equal to or a 1 is determined. The flag I ₁ is the actual acceleration DVA ₁₃₀
The timer TMA time but to measure the duration of the reference value K ₂ is smaller than the state (i.e. the state deceleration is greater than a reference value), which indicates by the value of 1 that is being counted.

If the timer TMA has already counted the time,
It is determined that I ₁ = 1, and the process proceeds to step C110. If timer TMA is not counting time, I ₁
= 1, and the routine proceeds to step C108, where the flag I
A value of ₁ to 1, the process proceeds to step C110 starts to count time by the timer TMA at step C 109.

In step C110, the time t _TMA counted by the timer TMA is set to a predetermined reference time. For Is determined.

If it is determined that, the process progresses to step C111, the processing proceeds to step C112 after one the value of the flag I _2. on the other hand, If it is determined that it is not, the value of the flag I ₂ proceeds directly to step C112 remains at 0.

On the other hand, in step C 104, when it advanced it is determined that not the DVA ₁₃₀ <K ₂ to step C105 is less than the reference value deceleration by the brake (not shown) timer TM
The time counting by A becomes unnecessary. So, timer T
Steps in case MA counting is required
The value of the flag I ₁ is set to 0 in C105, the timer T at step C106
Reset MA and stop counting time,
After setting the count time t _TMA to 0, the process proceeds to step C112.

Incidentally, the control of such steps C103～C111, brake the value of the (not shown) deceleration is greater than that reference value continues longer than a reference time by the flag I ₂ is 1, the flag I ₂ Is set to 1 once, and does not change even if the deceleration becomes equal to or less than the reference value, unless the value is set to 0 in any step other than steps C103 to C111.

In step C112, a signal designating the minimum opening of the throttle valve at the engine idle position is transmitted from the control unit 25 to the throttle valve rotating unit. The throttle valve rotation unit 26 receives the above signal, and its actuator drive unit 39 causes the throttle valve actuator 40
Then, a drive signal for rotating the throttle valve 31 to the minimum opening of the throttle valve 31 is transmitted, and the throttle valve actuator 40 receiving the drive signal rotates the throttle valve 31.

At this time, the opening of the throttle valve 31 is detected by the throttle valve opening detector 41, and the detection result is fed back to the actuator driver 39 to perform feedback control. That is, in the actuator drive unit 39,
Based on the detection result of the throttle valve opening, the throttle valve 31
Until it is confirmed that has been rotated to the predetermined position, the drive signal necessary for rotating the throttle valve 31 is continuously transmitted. When the throttle valve opening detector 41 detects that the throttle valve 31 has been rotated to the predetermined position, the transmission of the drive signal from the actuator driver 39 ends, and the throttle valve 31 is moved to the predetermined position. It stops, and braking force is generated by the engine brake.

As described above, when the brake pedal 28 is depressed, the purpose is to decelerate the vehicle.
After the control of step 11, the throttle valve 31 is always kept at the minimum opening at the engine idle position, so that the vehicle can be braked by the engine brake (not shown).
It is performed together with the braking force of the vehicle.

Brake pedal 28 is not depressed, if the procedure advances from step C101 to step C113, the value of the flag I ₇ whether it is 1 or not. The flag I _7, while indicating whether the brake pedal 28 as described above has been depressed in the previous control cycle, the value if it is not depressed 1
The value is 0 if the pedal is depressed. Therefore, in step C113, it is determined whether or not the current control cycle is the first control cycle after the brake pedal 28 is not depressed.

If it is determined in step C113 that I ₇ = 1, that is, it is not the first control cycle after the brake pedal 28 has not been depressed, the process proceeds to step C133. Conversely, if I ₇ = 1 is not satisfied, that is, if it is determined that the current control cycle is the first control cycle after the brake pedal 28 has not been depressed, the process proceeds to step C114.
Proceed to.

When the process proceeds from step C113 to step C114, various settings and determinations are made according to steps C114 to C118.

First, in step C114, since the brake pedal 28 has not been depressed, it is not necessary to count the time by the timer TMA. Therefore, the value of the flag I ₁ 0, in the next and subsequent control cycles, provided when again counts.

Then, in the next step C115, and 1 the value of the flag I ₇ since the brake pedal 28 is not depressed, in step C116, the timer TMA for the same reason as in step C114
Is reset to stop counting the time and count time t
The value of _TMA is set to 0.

Then, the zero value of the flag I ₁₂ at step C 117.
The flag I ₁₂ is the control cycle (opening and closing timing cycle) which corresponds to the timing of the first throttle valve 31 closing visit from thereby performing the automatic cruise mode control at step C144 at each control cycle, the opening and closing of the throttle valve 31 Has not been performed yet, or the opening degree has already been performed, but in the opening / closing timing cycle first visited after the designation of the traveling state of the vehicle is changed by operating the acceleration switch 45 or the changeover switch 46 in the auto cruise mode control. The fact that the throttle valve 31 has not been opened or closed has been indicated by a value of 0.

At step C118, it is determined from the contact information input at step A103 of FIG. 8 (i) whether or not the contact of the accelerator switch 15 is in the ON state. When the contact of the accelerator switch 15 by the accelerator pedal 27 is depressed it is in the OFF state, and 0 the value of the flag I ₂ proceeds to step C135,
After setting the value of the flag I ₃ to 1 in step C136,
Proceed to 137. The flag I ₃ is that it should retain the throttle valve 31 to the minimum opening comprising an engine idle position, in which indicated by the value is 0.

In the case where the value of the flag I ₂ is set to 1 at step C111, the value of I ₂ until the control of the step C135 is performed remains at 1. That the value of the flag I ₂ is become zero when the accelerator pedal 27 is depressed.

In step C137, as described above, the accelerator pedal depression amount APS detected by the depression amount detection unit 14, the change speed DAPS of the depression amount APS obtained in the control unit 25 from the depression amount APS, and the counter CAPCNG. Based on the value, the target acceleration is determined and accelerator mode control is performed. The accelerator mode control controls the output of the engine 13 by rotating the throttle valve 31 so that the vehicle speed becomes the target acceleration. Then, when the accelerator mode control is performed, the throttle non-linear motion control in the current control cycle ends.

When the accelerator pedal 27 is not depressed and the contact of the accelerator switch 15 is turned on and the process proceeds from step C118 to step C119, the value of DAPMXQ is set to 0. This DAPMXQ
Indicates the maximum value of the change speed DAPS of the accelerator pedal depression amount APS when the depression amount of the accelerator pedal 27 increases.

Then, in the next step C120, the value of DAPMXS is set to 0. This DAPMXS is the change speed DA when the stepping amount decreases.
Shows the minimum value of PS.

Further, in step C121, the latest actual vehicle speed VA _I calculated by the interrupt control in steps A123 to A128 in FIG.
Is entered.

Next, in step C122, the value of V _OFF indicating the actual vehicle speed immediately after releasing the brake pedal 28 is set in step C122.
The value of the actual vehicle speed VA _I entered at 121 is substituted.

Next, in step C123, the position of the throttle switch 47 of the auto cruise switch 18 is determined based on the contact information input in step A103 of FIG. Is determined. Note that the throttle switch 47 is The brake pedal 28 as described above.
After decelerating the vehicle by depressing the brake pedal,
It is specified that, when the accelerator pedal 27 is released, the throttle valve 31 is maintained at the minimum opening which is the engine idle position unless the accelerator pedal 27 is depressed.

In step C123, the position of the throttle switch 47 is In a case where it is determined that, the flow advances to step C126, to rotate the throttle valve 31 as described above in the rear step C112 to the value of the flag I ₃ 0 to throttle idle position where the minimum opening.

On the other hand, in step C123, the throttle switch 47
Is If it is determined that V _OFF does not hold, it is determined in step C 124 whether V _OFF <K ₁ with respect to the preset reference value K ₁ .

In step C124, when it is determined that V _OFF <K _1, the process proceeds to step C125, the value of the flag I ₂ is whether a 1 is determined. When it is determined that the I ₂ = 1, after the zero value of the flag I ₃ proceeds to step C126, to rotate the throttle valve 31 as described above in step C112 to a position where the minimum opening.

On the other hand, in step C124, when it is determined that it is not the V _OFF <K _1, or if it is determined that it is not I ₂ = 1 at step C125, the processing proceeds to step C145.

Therefore, when the vehicle is braked by depressing the brake pedal 28, the state where the deceleration is larger than the reference value continues for longer than the reference time, and the vehicle speed when the braking is stopped is lower than the reference value. If the accelerator pedal 27 is not depressed, the braking of the vehicle is prioritized, and the throttle valve 31 is kept at the minimum opening even after the brake pedal 28 is released, and the braking by the engine brake is performed.

For example, when decelerating with a brake for stopping at an intersection or the like, the brake pedal 27 is temporarily released just before the stop to reduce the impact at the time of stopping, and at this time, the throttle valve 31 is released as described above. The engine is braked automatically with the minimum opening maintained.

Step C124 or Step C125 to Step C145
If the process proceeds to step C, the value of the flag I ₄ is set to 0,
Proceed to 127. Note that the flag I ₄ indicates that the constant vehicle speed traveling is to be designated by the traveling state designating unit 3 of the control unit 25 by a value of 0.

At step C127, it is not necessary to hold the throttle valve 31 to the minimum opening, the value of the flag I ₃ is set to 1, after the 1 value of the flag I ₈ proceed to the next step C128,
In step C129, the actual vehicle speed VA _I to the target vehicle speed VS upon constant speed running input at step C121 is substituted.

Next, in step C130, the target torque TOM ₁ necessary to maintain running at the target vehicle speed VS is calculated by the following equation (1).

TOM ₁ = [{W · r / g) · k _S + k _i } · (DVS ₃ −DVS ₆₅ ) +
T _Q · TEM] / T _Q (1) In the above equation (1), W is the weight of the vehicle, r which is detected by the vehicle detection unit 19 and input in step A103 of FIG. 8 (i). Is the tire effective radius of the left front wheel 33 or the right front wheel 34 stored in advance, and g is the gravitational acceleration.

Among them, the data of the weight W of the vehicle input in step A103 of FIG. 8 (i) uses a measured value instead of a fixed value.

That is, the vehicle weight detector 19 detects the vehicle weight at all times or at a predetermined cycle when the vehicle stops and travels. Based on the detected value, the controller 25 controls the vehicle weight, for example, as shown in FIG. 8 (vii). The vehicle weight data is set according to the flow shown in FIG.

First, in step R101, it is determined whether or not the vehicle speed Va is 0, that is, whether or not the vehicle is stopped, and if it is determined that the vehicle is stopped, the process proceeds to step R102, and the data of the vehicle weight W (WHGT)
Always set the newly detected stopped vehicle weight value (WHGT1). Therefore, during the stop, the detected vehicle weight (WHGT
As soon as 1) changes, the vehicle weight W data (WHGT) is updated one after another.

Then, in step R101, the vehicle speed Va is not 0, ie,
If it is determined that the vehicle is traveling, proceed to step R103,
If braking is in progress, the process proceeds to step R104, and a newly detected vehicle weight value (WHGT2) is always set as the vehicle weight W data (WHGT). Therefore, during traveling and during braking, the data (WHGT) of the vehicle weight W is updated one after another as soon as the detected vehicle weight (WHGT2) changes.

If it is determined in step R103 that the vehicle is running but not braking, the latest vehicle weight value (WHGT1 or WHGT2) that has already been updated is used as vehicle weight data (WHGT).

Note that “during braking” in step R103 means “when throttle control is not performed” .During a normal driving state in which throttle control is performed, disturbance such as vibration during driving affects vehicle weight data, Since the stability of the data is insufficient and the throttle control becomes unstable, the data of the vehicle weight W is not updated. However, when the throttle control is not performed, the data of the vehicle weight W may be updated one after another.

The vehicle weight measurement during braking by the vehicle weight detection unit 19 is calculated by correcting the inclination of the vehicle body.

Further, ks is a coefficient set in advance for converting the speed used in the automatic transmission 32 into the first speed, which is detected by the speed detecting unit 23 and is determined in step A103.
The value is set in accordance with the gear position of the currently used automatic transmission 32 input in the step S. Ki is a correction amount related to the inertia of the engine 13 and the automatic transmission 32 around the drive shaft of the vehicle.

Further, T _Q is a torque ratio of the automatic transmission 32, and the torque ratio T _Q is detected by the output shaft rotation number detecting unit 22 and is set in advance based on characteristics of the automatic transmission 32 using the speed ratio e as a parameter. It is determined by the map ♯MTRATQ (not shown). Incidentally, the speed ratio e is the output shaft speed N _D of the torque converter in the automatic transmission 32 which is input (not shown) at step A103, is detected by the engine speed detecting unit 21 is inputted at step A103 engine obtained by dividing the rotational speed N _E.

DVS ₃ is a target acceleration for making the vehicle speed equal to the target vehicle speed VS and maintaining the same, and using a difference VS-VA between the target vehicle speed VS and the actual vehicle speed VA as a parameter, as shown in FIG. Is determined by a map ♯MDVS3 set in advance. In step C130, since the target vehicle speed VS is the actual vehicle speed immediately after releasing the brake pedal 28 as described above,
In the above equation (1), the value of the difference VS-VA is set to 0, and the target acceleration D
Make a VS ₃ decision. As a result, the value of the target acceleration DVS ₃ also becomes 0 from the correspondence shown in FIG.

In addition, as described above, the DVA ₆₅ is used in step A of FIG. 8 (iv).
This is the actual acceleration calculated by the interrupt control of 123 to A128 and input in step A103.

TEM is the actual torque of the current output of the engine 13,
The intake air amount A _E input in step A103 detected by the intake air amount detector 20, divided by the engine speed N _E value A
_E / N _E and, as the engine rotational speed N _E parameter, preset map ♯TEMAP based upon the characteristics of the engine 13
(Not shown), but here, this actual torque TEM is obtained as follows based on the characteristics of the automatic transmission (torque converter) 32.

Assuming that the torque capacity coefficient of the torque converter 32 is C and the engine speed is N _E as described above, the absorption torque Tti of the torque converter 32 is Tti = C · N _E ² (1-1).

The torque capacity coefficient C is determined by the characteristics of the torque converter 32 using the above-described speed ratio e as a parameter. Here, a map ♯MTRATQC (not shown) using the speed ratio e as a parameter is provided in advance. Determined based on this map ♯MTRATQC. The speed ratio e is N _E
As described above, during normal driving (e.g., during acceleration) where N _D > N _D , the value obtained by dividing the output shaft rotation speed N _D of the torque converter 32 by the engine rotation speed N _E (that is, e = N _D / N _E) At the time of the reverse drive in which N _E <N _D (during coasting or the like), the value obtained by dividing the engine speed N _E by the output shaft speed N _D of the torque converter 32 (that is, e = N _E) / N _D) to become.

Further, the output torque Tto of the torque converter 32 corresponding to the actual torque TEM is the absorption torque Tti of the aforementioned torque converter 32, because the product of the torque ratio T _Q is determined by the map ♯MTRATQ, TEM = Tto = T _Q · Tti = T _Q · C · N _E ² (1-2), and the actual torque TEM is expressed as
Determined from the rotational speed N _E of the torque ratio T _Q and the torque capacity coefficient C and the engine of the torque converter 32.

Note that the torque ratio T determined by the map ♯MTRATQ
_When the value of the reciprocal of _Q (1 / T _Q ) is used as a parameter, the reciprocal of T _Q is used every time (1 / T _Q ) is used, based on the torque ratio T _Q obtained from the map ♯MTRATQ. There is also a means to obtain by calculation, but in order to suppress the control delay, separate from the map ♯ MTRATQ, a map dedicated to (1 / T _Q ) ♯ MTRATTQ
(Not shown) is set in advance based on the characteristics of the automatic transmission 32 using the speed ratio e as a parameter.
The value of (1 / T _Q ) is determined based on RATTQ.

In this manner, when the target torque TOM ₁ at step C130 in is calculated, the next step C131, reads the throttle opening theta _TH1 map ♯MTH (not shown). This map ♯MTH is be those the rotational speed N _E of the target torque TOM and the engine 13 is previously set based on characteristics of the engine 13 as a parameter, equal the torque output from the engine 13 to the target torque TOM It is used for the purpose of determining the throttle valve opening θ _TH necessary for the operation. Therefore, the read throttle valve opening Is the target torque TOM ₁ calculated in step C130,
Which corresponds to the engine speed N _E which is input at step A103 which is detected by the engine speed detecting unit 21.

In step C132, the throttle valve opening read in step C131 The throttle valve 31 is driven based on. In other words, the throttle valve opening Is sent from the control unit 25 to the throttle valve rotating unit 26. In the throttle valve rotating unit 26, the actuator driving unit 39 receives this signal, and opens the throttle valve 31 to the throttle valve actuator 40 by opening the throttle valve. Every time The drive signal is transmitted so as to rotate to the position where. Thus, the throttle valve actuator 40 rotates the throttle valve 31.

Also at this time, the opening of the throttle valve 31 is adjusted by feedback control through the throttle valve opening detector 41.When the throttle valve 31 is rotated to a predetermined position, the actuator driver 39 sends a signal. And the throttle valve 31 stops at a predetermined position.

The intake passage 30 is opened and closed by such adjustment of the throttle valve, and the amount of air taken into the engine 13 changes as described above, and the fuel control device (not shown) detects the amount of air in the engine 13 based on the result of detection of this amount of air. The amount of fuel to be supplied to is determined, and the amount of fuel also changes. As a result, the engine output is adjusted so that a torque substantially equal to the target torque TOM ₁ is generated.
It will be output from 13.

As described above, the torque output from the engine 13 is substantially equal to the torque required to maintain the target vehicle speed constant, using the actual vehicle speed immediately after the release of the brake pedal 28 as the target vehicle speed.

Under the control of steps C129 to C132 described above, immediately after the release of the brake pedal 28, the reference time Even if it is not the opening and closing timing cycle determined by
The throttle valve 31 is moved to the position of the throttle valve opening which is assumed to be able to maintain the vehicle speed immediately after releasing the brake pedal 28.
Is provisionally rotated to prepare for shifting to the constant vehicle speed running at the target vehicle speed.

Step C113 to step C114 in the previous control cycle
Is performed willing control as described above to, when the brake pedal 28 in the present control cycle remains released, the value of the flag I ₇ at step C115 in the preceding control cycle is the 1 Therefore, in step C113, I ₇ =
It is determined that it is 1 and the process proceeds to Step C133, and Step A103
The contact of the accelerator switch 15 is determined from the contact information
It is determined whether it is in the ON state.

If the accelerator pedal 27 is depressed, step C133 is executed.
In is determined that the contact of the accelerator switch 15 is not in the ON state, after the zero value of the flag I ₁₂ proceeds to step C134, and 0 the value of the flag I ₂ advances to step C135, further, at step C136 Step C with the value of the flag I ₃ set to 1
Proceed to 137.

Note that the flag I _2, as described above, step C111
When the value is set to 1, the value does not change until the control in step C135 is performed. Also, the process proceeds to step C135 from step C118, and from step C133 to step C135.
In some cases, the accelerator switch 27 is depressed and the contact of the accelerator switch 15 is turned off.
It is a case where it became a state. Therefore, the accelerator pedal
By performing the re-acceleration of the vehicle is depressed to 27, the value of the flag I ₂ at step C135 is zero.

In step C137, the accelerator mode control is performed. However, as in step C135, the accelerator mode control is always performed when the accelerator pedal 27 is depressed.

If the accelerator pedal 27 is not depressed, step C1
It is determined that the contact of the accelerator switch 15 is in the ON state at 33, the value of the maximum value DAPMXO to 0 at step C138, after the zero value of the minimum value DAPMXS at step C139, the flag I ₃ at step C140 It is determined whether the value is 1 or not.

Here, the accelerator switch 15 is turned on because the brake (not shown) is used to decelerate, the brake pedal 28 is released, and the accelerator pedal 27 is decelerated.
Is not depressed, and corresponds to the case where the control of the above-described steps C113 to C132 was performed in the previous control cycle.

By the flag I ₃ is zero value as described above, which indicates that it should retain the throttle valve 31 to the position of minimum opening for the engine idling position, is I ₃ = 1 at step C140 If it is determined that
Proceeding to 141, if it is determined that I ₃ = 1 is not satisfied, proceeding to step C112, the opening of the throttle valve 31 is set to the minimum opening at the engine idle position as described above.

Incidentally, the value of the flag I ₃ is 0, a case where, as described above, proceeds to step C126. Therefore, the throttle switch 47 is Or when the deceleration is greater than the reference value during deceleration by a brake (not shown) for longer than the reference time and the vehicle speed at the end of deceleration is smaller than the reference value. While both of the brake pedals 28 are released, the throttle valve 31 is always kept at the minimum opening, and braking by the engine brake is performed.

Also, if the process proceeds from step C140 to step C141, whether or not the value of the flag I ₁₂ is 1 is determined, I ₁₂
If it is determined that = 1, the process proceeds to step C143, and I ₁₂
When it is determined that = 1, the process proceeds to step C142.

The value of the flag I ₁₂ is 0, come as described above, first from thereby performing the automatic cruise mode control at step C144 at each control cycle throttle valve
The throttle valve 31 has not been opened and closed in the control cycle corresponding to the opening and closing timing of the throttle valve 31, or the opening and closing of the throttle valve 31 has already been performed but the vehicle is running by operating the acceleration switch 45 or the changeover switch 46 in the auto cruise mode control. This indicates that the throttle valve 31 has not been opened / closed in the control cycle corresponding to the timing of opening / closing the throttle valve 31 which comes first after the state designation is changed.

Therefore, if the value of the flag I ₁₂ is 0, when transition or change of the vehicle running state by the operation of the acceleration switch 45 or the changeover switch 46 after the transition to the vehicle travel mode with the auto cruise mode control, the throttle There is a possibility that the opening degree of the valve 31 changes significantly.

For this reason, in order to more accurately open and close the throttle valve 31 to the required opening degree and to perform a quick shift or change, the throttle valve 31 best follows the change in the actual value immediately before opening and closing, and this value Is required.

Therefore, the process proceeds to step C142, where the value of the actual acceleration DVA used in the auto cruise mode control has the value closest to the actual vehicle acceleration as described above, and the DVA having the highest followability to the change in the acceleration. Adopt ₆₅ .

On the other hand, the flag if the value of I ₁₂ is 1, the above transition or opening and closing is already made of the time change, the change in the opening degree of the throttle valve 31 is not increased. Therefore, the difference between the actual value and the measured data is small even if the followability is somewhat reduced, and rather the stability of the control should be emphasized. Therefore, the process proceeds to step C143, where the actual acceleration DVA
As the value of the DVA ₁₃₀ , the followability is lower than that of the DVA ₆₀ but the DVA ₁₃₀ is more stable.

After setting the value of the acceleration DVA in step C142 or step C143, when the process proceeds to the next step C144, the auto cruise mode control described later is performed, and the throttle non-linear motion control in the current control cycle ends.

As described above, by performing the throttle non-linear motion control shown in steps C101 to C144 in FIG. 10, when the brake (not shown) is depressed by depressing the brake pedal 28, the throttle valve 31 is set to the engine idle state. While maintaining the position at the minimum opening, braking by the engine brake is performed in parallel with the brake braking. On the other hand, when the brake pedal 28 is released and the accelerator pedal 27 is depressed, accelerator mode control described later is performed.

If the deceleration of the vehicle due to the brake pedal 28 is greater than the reference value for longer than the reference time and the vehicle speed immediately after releasing the brake pedal 28 is less than the reference value, the brake pedal 28 is released. However, the throttle valve 31 is maintained at the minimum opening until the accelerator pedal 27 is depressed, and the braking by the engine brake is continuously performed.

If the deceleration is equal to or less than the reference value, or if the duration of the state in which the deceleration is greater than the reference value is equal to or less than the reference time, or if the vehicle speed after releasing the brake pedal is equal to or greater than the reference value, As long as the accelerator pedal 27 is not depressed, the throttle valve 31 is set to a throttle valve opening that maintains a vehicle speed immediately after the brake pedal 28 is released and that drives at a constant vehicle speed.
Is temporarily rotated, and thereafter, auto cruise mode control is performed.

In this auto cruise mode control, the brake pedal
If there is no change in the contact information of the auto cruise switch 18 after the release of the vehicle 28, the vehicle travels at a constant speed as described later. At this time, the timing of releasing the brake pedal 28 and the timing of opening and closing the throttle valve 31 There is no relevance, and the time when the brake pedal 28 is released does not always coincide with the opening / closing timing.

For this reason, immediately after the release of the brake pedal 28, the throttle valve 31 is temporarily moved to a position where the throttle valve opening degree (throttle valve opening degree capable of maintaining a constant vehicle speed running at the vehicle speed immediately after the release of the brake pedal) is provided. After the rotation, the throttle valve 31 is rotated by the auto cruise mode control in the throttle valve opening / closing timing cycle after the next control cycle.

By controlling the vehicle speed in this manner, the vehicle speed is smoothly shifted to a constant vehicle speed immediately after the brake pedal 28 is released, with little change in the vehicle speed.

Also, release the brake pedal 28 and release the accelerator pedal 27
After the accelerator mode control described later is performed
Such an auto cruise mode control is performed even when the accelerator pedal 27 is released.

The accelerator mode control performed in step C137 of the throttle non-linear motion control (FIG. 10) will be described in detail. The accelerator mode control is performed by the control unit 25 in accordance with the flowchart of steps D101 to D126 shown in FIG. .

That is, first, in step D101, the map ♯MDVS is used to obtain the target acceleration DVS ₆ in the previous control cycle.
It is determined whether 6S has been used. This map ♯ MDVS
6S is the accelerator pedal depression amount APS as shown in FIG.
As a parameter, it is for obtaining a target acceleration DVS _6, the amount of depression of the accelerator pedal 27 is used to decrease. Note that the accelerator pedal depression amount APS is detected by the depression amount detection unit 14 and is input in step A103 in FIG. 8 (i).

If it is determined in step D101 that the map # MDVS6S has been used in the previous control cycle, the control proceeds to step D112, assuming that the control at the time of reducing the stepping amount was performed last time.
On the other hand, when it is determined that the map ♯MDVS6S is not used in the previous control cycle, the control at the time of decreasing the stepping amount was not performed last time, that is, the control was performed at the time of increasing the stepping amount last time, and the process proceeds to step D102. move on.

When the process proceeds to step D102, the changing speed DAPS of the accelerator pedal depression amount APS is changed to a predetermined negative reference value K ₆
Respect, whether or not DAPS <K ₆ is judged. The change speed DAPS of the accelerator pedal depression amount APS is
This is calculated by the interrupt control in steps A121 to A122 in FIG. 8 (iii) and input in step A103 in FIG. 8 (i).

In step D102, if it is determined that DAPS <K _6, the process proceeds to step D103 as the amount of depression of the accelerator pedal 27 is currently reduced in, if it is determined that it is not DAPS <K _6, the accelerator pedal 27 It is determined that the stepping amount is increasing, and the process proceeds to Step D105.

When the process proceeds to step D103, the control in the previous control cycle is performed when the stepping amount is increased, and this time the stepping amount is being reduced. Therefore, in step D103, the value of the maximum value DAPMXO of the change speed DAPS when the depression amount is increased is set to 0, and in the next step D104, the value of the minimum value DAPMXS of the change speed when the depression amount is decreased is set to 0, and the process proceeds to step D115. Note that DAPMXO is always a value of 0 or more because the depression amount of the accelerator pedal 27 is increased, and DAPMXS is always a value of 0 or less because the depression amount of the accelerator pedal 27 is decreased.

On the other hand, if the procedure advances from step D101 to step D112, to the positive reference value K ₇ change rate DAPS is preset whether DAPS <K ₇ is judged. In this step D112, the step as when it is determined that DAPS <K ₇ is the amount of depression of the accelerator pedal 27 is being increased
Proceed to the D113, if it is determined that it is not DAPS <K ₇ is,
It is determined that the depression amount of the accelerator pedal 27 is decreasing, and the process proceeds to Step D115.

When the process proceeds to step D113, the control in the previous control cycle is performed when the stepping amount is reduced, and this time the stepping amount is increasing. Therefore, the value of DAPMXO is set to 0 in step D113, the value of DAPMXS is set to 0 in the next step D114, and the process proceeds to step D105.

Therefore, when it is determined that the depression amount of the accelerator pedal 27 is increasing (continuously increasing), the process proceeds to step D105.
After the control of D111 to D111, the control of steps D122 to D130 and further the control of steps D123 to D126 are performed. On the other hand, when it is determined that the depression amount of the accelerator pedal 27 is decreasing (continuously decreasing), after the control of steps D115 to D121, the control of steps D131 to D133 and further the control of steps D123 to D126 are performed. .

If the procedure advances to step D 105, the target acceleration DVS ₆ corresponding to the accelerator pedal depression amount APS input in step A103 of FIG. 8 is detected by the depression amount detecting unit 14 (i), reading the map ♯MDVS6O Is done. This map ♯ MDVS6O
The accelerator pedal depression amount APS as a parameter, be for obtaining a target acceleration DVS ₆ when in increased amount of depression of the accelerator pedal 27, and the values of APS and DVS ₆ in FIG. 20 ♯MDVS6O Has the correspondence shown in FIG.

In the next step D106, the value of DAPMXO stored in the previous control cycle and the value of DA
The value of PS is compared. If it is determined that DAPMXO <DAPS, in step C107, the DAPS sets a new DAPM
Substituted into DAPMXO as the value of XO and stored, step D1
Go to 08. If it is determined that DAPMXO is not smaller than DAPMXO, the DAPMXO stored in the previous control cycle is stored as it is, and the process proceeds to step D108.

At step D108, the target acceleration DVS ₇ corresponding to the DAPMXO as described above is read out from the map ♯MDVS7O. This map ♯MDVS7O is for obtaining a target acceleration DVS ₇ when the depression amount of increase of the accelerator pedal 27 the DAPMXO as a parameter, shown in ♯MDVS7O in FIG. 21 the DAPMXO and DVS ₇ Have a correspondence.

As is clear from the correspondence shown by ♯MDVS7O in FIG. 21, the target acceleration DV increases as the depression amount of the accelerator pedal 27 is increased faster by the control of steps D106 to D108.
The value of S ₇ is increased. However, if the DAPMXO exceeds a certain value, the value of the target acceleration DVS ₇ becomes constant, so that a sudden sudden acceleration that causes a decrease in safety is not performed.

In the next step D 109, the reference value K ₈ change rate DAPS of the accelerator pedal depression amount APS is set in advance, DAP
Whether S> K ₈ is determined. As if it is determined that DAPS> is K _8, the process proceeds to step D110 as a large change at the time of depression amount increases the accelerator pedal 27, if it is determined that it is not DAPS> K _8, the change is not greater Proceed to step D111. Then, when the process proceeds from step D109 to step D110, the value of the counter CAPCNG is set to 1, and the process proceeds to step D111.

At step D111, the target acceleration DVS ₈ corresponding to the value of the counter CAPCNG is read from the map ♯MDVS8O. Map ♯ MDVS8O uses the value of the counter CAPCNG as a parameter,
Target acceleration DV when the amount of depression of accelerator pedal 27 is increasing
It is for obtaining the S _8, the value of the counter CAPCNG
The value of DVS ₈ has a correspondence shown by ΔMDVS8O in FIG.

The value of the counter CAPCNG used in step D111 is set by the interrupt control of steps A118 to A120 in FIG. 8 (ii) as described above, and is always 0 unless a value other than 0 is substituted. If this value is 0, the target acceleration DVS ₈ read from the map # MDVS8O in step D111 also becomes 0, as is clear from # MDVS8O in FIG. Also, when the change rate DAPS is greater than the reference value K _8, since the value of the counter CAPCNG and 1 at step D110 as described above, while the change rate DAPS is greater than the reference value K ₈ always The value of the counter CAPCNG is 1. Therefore, at this time, the target acceleration DVS ₈ read from the map # MDVS8O in step D111 is the largest in the map $ MDVS8O, as is clear from # MDVS8O in FIG.

After the value of the counter CAPCNG is set to 1 in step D110, when the process proceeds to step D109 again via step D102 in the next control cycle, the increase in the amount of depression of the accelerator pedal 27 is moderated or stopped. Then
It is determined that it is not the DAPS> K _8, without going through the step D110, the process proceeds to step D111. In this step D111, the value of the counter CAPCNG is changed to steps A118 to A120 in FIG. 8 (ii).
Becomes the value determined by the interrupt control. In this interrupt control, in step A118, a value obtained by adding 1 to the previous value of the counter CAPCNG is designated as a new value of the counter CAPCNG.

In the next step A119, it is determined whether or not the value of the counter CAPCNG is 1. As described above, if the value of the counter CAPCNG is set to 1 in step D110, the new value of the counter CAPCNG is set to 2 in step AW118. Step A119
By the determination in step A120, the value of the counter CAPCNG at the end of the current interrupt control is 2, without going to step A120.

Moreover, even after the next control cycle is performed controlled by step D 109, the state is not a DAPS> K ₈ continues,
As described above, the value of the counter CAPCNG is 1 due to the interrupt control.
Increase by one.

When the process proceeds from step D102 to step D109 via step D105, the change speed is determined by the determination in step D102.
DAPS whereas the reference value K _6, DAPS <instead K _6, DAPS ≧ K
₆ Therefore, steps D109 to D111
When the change speed DAPS has a value such that K ₆ ≦ DAPS ≦ K ₈ , the reference value K ₆ has a negative value, and the reference value K ₈ has a positive value, as described above. Each has a value. Therefore, if the depression amount of the accelerator pedal 27 is kept constant,
As described above, the value of the counter CAPCNG increases by one.

At this time, the target acceleration DVS ₈ read from the map # MDVS8O in step D111 decreases as the value of the counter CAPCNG increases, and finally becomes zero, as is apparent from # MDVS8O in FIG. Therefore, the accelerator pedal
After increasing the stepping amount of 27, if this stepping amount is kept almost constant, the value of the target acceleration DVS ₈ having a positive value becomes
It gradually approaches 0 with the passage of time after holding.

On the other hand, when the process proceeds to step D115 from step D104 or D112,
The target acceleration DVS ₆ corresponding to the accelerator pedal depression amount APS input in step A103 of FIG.
Read from S6S. Incidentally, the map ♯MDVS6S is an accelerator pedal depression amount APS as a parameter, be for obtaining a target acceleration DVS ₆ when in amount of depression of the accelerator pedal 27 is reduced, FIG. 20 as APS and DVS ₆ ♯MDVS6S in
Has the correspondence shown in FIG.

In the next step D116, DAPMXS stored in the previous control cycle is compared with DAPS in the current control cycle. If it is determined that DAPMXS> DAPS, the value of DAPS is substituted for the DAPMXS in step D117 and stored as a new value of DAPMXS, and step D118
Proceed to. When it is determined that DAPMXS> DAPS is not satisfied, DAPMXS stored in the previous control cycle is stored as it is, and the process proceeds to step D118.

In step D118, the DAPM determined as described above
Target acceleration DVS ₇ corresponding to the XS is read out from the map ♯MDVS7S. This map ♯MDVS7S is for obtaining a target acceleration DVS ₇ when depression amount is in reduction of the accelerator pedal 27 DAPMXS as a parameter, shown in ♯MDVS7S in FIG. 21 and DAPMXS and DVS ₇ Have a correspondence. DA
PMXS is a change speed of the depression amount when the depression amount of the accelerator pedal 27 is decreasing, and therefore becomes 0 or a negative value as described above, and the target acceleration DVS ₇ is also represented by ♯MDVS7S in FIG.
Has a negative value as shown in FIG. Therefore, the target acceleration DV
The absolute value of the S ₇ is a deceleration.

As described above, in the control of steps D116 to D118, as is clear from the correspondence shown in FIG.
The value of the target acceleration DVS ₇ as performing 27 fast decrease in the depression amount of the less negative value.

In the next step D119, with respect to the negative reference value K ₉ change rate DAPS of Akuserupeda depression amount APS is set in advance, D
APS <whether K ₉ is determined. DAPS <If it is determined that the K ₉ proceeds as a change in time of depression loss of the accelerator pedal 27 is large to step D120, DAPS <K ₉
If it is not determined that the change is not large, the process proceeds to Step D121. Also, from step D119 to step D120
If you proceed to, set the value of the counter CAPCNG to 1, then
Proceed to step D121.

At step D121, the target acceleration DVS ₈ corresponding to the value of the counter CAPCNG is read from the map ♯MDVS8S. Map ♯ MDVS8S uses the value of the counter CAPCNG as a parameter,
Target acceleration DV when the amount of depression of accelerator pedal 27 is decreasing
It is for obtaining the S _8. Counter CAPCNG value and DV
The value of S ₈ has a corresponding relation shown in ♯MDVS8S in Figure 22. Note that this target acceleration DVS ₈ is represented by ♯MDVS8S in FIG.
As shown in (2), the target acceleration DVS ₈ is a deceleration since it is 0 or a negative value.

As described above, the value of the counter CAPCNG used in step D121 is set by the interrupt control of steps A118 to A120 in FIG. 8 (ii), and is always 0 unless a value other than 0 is substituted. Therefore, if the value of this CAPCNG is 0,
Target acceleration DVS ₈ read out from the map ♯MDVS8S at step D121 also become zero, as is apparent from ♯MDVS8S in Figure 22. Also, when the change rate DAPS is smaller than the reference value K _9, in step D120 as described above, the counter
The value of CAPCNG is set to 0.

Thus, always the value of the counter CAPCNG becomes 1 while changing speed DAPS is smaller than the reference value K _9, the target acceleration DVS ₈ read out from the map ♯MDVS8S this time at step D121
Is the map in Figure 22 as evident from MDVS8S.
It has the least negative value in MDVS8S and this DVS ₈ has the greatest deceleration.

For example, after the value of the counter CAPCNG is set to 1 in step D120, the process proceeds to step D112 again through step D112 in the next control cycle.
DAPS <
If it is determined not to be K _9, the process proceeds from step D119 to step D121. In this case, since the process does not go through step D120, the value of the counter CAPCNG is set to the value shown in FIG. 8 (ii).
The value is determined by the interrupt control of A118 to A120. In this interrupt control, in step A118, the counter CAPC
This counter CAPCNG is obtained by adding 1 to the previous value of NG.
Is set as the new value of

In the next step A119, it is determined whether or not the value of the counter CAPCNG is 1. Since the new value of the counter CAPCNG is 2 in step D120 as described above, the step A1 is executed.
According to the determination at 19, the process does not proceed to Step A120. As a result, the counter CAPCNG at the end of the current interrupt control is
Is 2. Then, even further subsequent next control cycle, the control by the step D119 is executed, the DAPS <state not K ₉ continues, the value of the counter CAPCNG as mentioned above by the interrupt control is incremented by 1.

If the process proceeds from step D112 to step D119 via step D115, the change speed DA
PS is relative to the reference value K _7, no longer a DAPS> K _7, DAPS
A ≦ K _7. Therefore, steps D119 to D
Proceeding directly to 121 is when the change rate DAPS is K ₉ ≦ DAPS ≦ K ₇
And the reference value K ₇ has a positive value and the reference value K ₉ has a negative value, as described above, so that when the depression amount of the accelerator pedal 27 is held constant, As described above, the value of the counter CAPCNG increases by one.

At this time, the target acceleration DVS ₈ read out from the map ♯MDVS8S in step D121, as is clear if ♯MDVS8S in Figure 22, increases with increasing value of the counter CAPCNG, and finally becomes zero. Therefore, the accelerator pedal
After reducing the stepping amount of 27, if this stepping amount is kept almost constant, the value of the target acceleration DVS ₈ having a negative value becomes
It gradually approaches 0 with the lapse of time after the holding of the depression amount.

When proceeding from step D111 to step D122, step D1
Target acceleration DVS ₆ and DVS obtained by the control of 05 to D111
The sum of ₇ and DVS ₈ is calculated as the total target acceleration DVS _AP in accelerator mode control.

Then, in the following step D127, this accelerator pedal 27
It is determined whether or not target acceleration DVS _AP based on stepping on is greater than target acceleration DVS _AC specified by auto cruise switch 18. Note that the designation of the target acceleration DVS _AC with the auto cruise switch 18 will be described later. However, when the target acceleration DVS _AC is not designated with the auto cruise switch 18 or when the designation of the target acceleration is released, the target acceleration DVS _AC Is set to 0.

If the target acceleration DVS _AP is larger than the target acceleration DVS _AC , the process proceeds to step D129, and the target acceleration DVS _AP based on the depression of the accelerator pedal 27 is adopted as the target acceleration DVS. Then, in the next step D130, the target acceleration DVS
_The process proceeds to step D123 with the value of _AC set to 0.

If the target acceleration DVS _AP is not greater than the target acceleration DVS _AC , the process proceeds to step D128, where the target acceleration DVS is set to the target acceleration specified by the auto cruise switch 18.
Adopt DVS _AC and proceed to step D123.

On the other hand, when the process proceeds from step 121 to D131, step D115
Target acceleration DVS ₆ , DVS ₇ obtained by the control of D121
And DVS ₈ are calculated as the total target acceleration DVS _AP in the accelerator mode control.

Then, in the following step D132, after the value of the target acceleration DVS _AC specified by the auto cruise switch 18 is set to 0,
Proceeding to step D133, the target acceleration DVS _A based on the depression of the accelerator pedal 27 is adopted as the target acceleration DVS, and the flow proceeds to step D123.

As described above, when the accelerator pedal 27 is depressed, the target acceleration DVS _AP based on the depression of the accelerator pedal 27 is changed to the target acceleration DVS specified by the auto cruise switch 18.
The reason why the target acceleration DVS _AC specified by the auto cruise switch 18 is adopted as the target vehicle speed until the vehicle speed becomes larger than _AC is as follows.

That is, while the depression amount and the depression speed of the accelerator pedal 27 are small, the target acceleration based on the depression of the accelerator pedal 27 is
Since the respective values of the target accelerations DVS ₆ , DVS ₇ and DVS ₈ which are components of the DVS _AP also become smaller, the target accelerations DVS ₆ , DVS ₇ and DVS ₈
Of the target acceleration DVS _AP , which is the sum of At the start of depression of the accelerator pedal 27, since the depression amount and the depression speed of the pedal 27 are still small, the target acceleration DVS _AP
May be small, and the value of the target acceleration DVS _AP may be less than or equal to the value of the target acceleration DVS _AC specified by the auto cruise switch 18.

Therefore, when the travel of the vehicle is controlled based on the target acceleration DVS _AC (at the time of auto cruise control), when the accelerator pedal 27 is depressed to change to the accelerator mode control,
At the beginning of the change, the target acceleration may temporarily decrease. Since the change to the accelerator mode control is usually performed when it is desired to obtain an acceleration higher than the current one, it is not preferable that the target acceleration is reduced, even temporarily, in order to accelerate quickly or smoothly. .

Therefore, in such a period, the target acceleration DVS _AC is adopted.

It will be described later characteristics of target acceleration DVS _6, DVS ₇ and DVS _8.

Next, in step D123, the target torque TOM _A required to obtain the target acceleration DVS as the actual acceleration of the vehicle
Is calculated by the following equation (2).

TOM _A = [｛(W · r / g) · ks · ki｝ · DVS + R ′ · r] / T
_Q (2) In the above equation (2), W, r, g, ks, ki, and T _Q are used in equation (1) shown in the above description of the throttle non-linear motion control. R ′ is the running resistance during running of the vehicle calculated by the following equation (3).

R ′ = μr · W + μair · A · VA ² (3) In the above equation (3), μr is the rolling resistance coefficient of the vehicle, and W is the same vehicle as used in the above equation (2). Weight, μair is the air resistance coefficient of the vehicle, A is the front projected area of the vehicle, and VA is calculated by the interrupt control of steps A123 to A128 in FIG. 8 (iv) and is input in step A103 in FIG. 8 (i). The actual vehicle speed.

When proceeding from step D123 to step D124, step D1
And the target torque TOM _A calculated at 23, the throttle valve opening degree corresponding to the engine speed N _E of the engine 13 input at step A103 of FIG. 8 is detected by the engine speed detecting unit 21 (i) θ _THA is read from map $ MTH. Map ♯ MTH is the 10th
These are the same as those used in step C131 in the figure.

In the next step D125, it is flag I ₁₁ is 1 whether or not, the flag I ₁₁ is, as described above, that the value is 1, the present control cycle is a throttle valve
This indicates that this is a control cycle for opening and closing 31.

Thus, since if the value of the flag I ₁₁ is 1 is a control cycle for opening and closing, the flow advances to step D126, when the value of the flag I ₁₁ is not 1, it is not a control cycle for opening and closing Without proceeding to step D126, the accelerator mode control in the current control cycle ends.

In step D126, a signal indicating the throttle valve opening θ _THA read in step D124 is sent from the control unit 25 to the throttle valve rotating unit. This throttle valve rotation part
At 26, the actuator drive section 39 receives the above signal and sends a required drive signal (for rotating the throttle valve 31 to a position where the throttle valve opening _θTHA is reached) to the throttle valve actuator 40. The throttle valve actuator 40 rotates the throttle valve 31.

At this time, the opening of the throttle valve 31 is detected by the throttle valve opening detector 41, and the detection result is sent to the actuator driver 39 to perform feedback control.

When the throttle valve 31 is rotated to the predetermined position, the actuator drive section 39 stops sending a drive signal, the throttle valve 31 stops at the predetermined position, and the accelerator mode control in the current control cycle ends.

As described above, the opening and closing of the intake passage 30 through the throttle valve 31 changes the amount of air and the amount of fuel sucked into the engine 13 and adjusts the output of the engine 13 as described above. As a result, the target acceleration DVS The vehicle is accelerated at an acceleration substantially equal to the following.

As described above, the accelerator mode control determines the target acceleration based on the depression amount of the accelerator pedal 27, the changing speed of the depression amount, and the direction of the change in the depression amount, and corresponds to the target acceleration. The throttle valve 31 is opened and closed to control the engine 13.

That is, when the depression amount APS of the accelerator pedal 27 is increased, DVS ₆ , DVS ₇ and DVS ₈ constituting the target acceleration DVS
The three target acceleration values change as follows.

First, since the value of DVS ₆ is determined based on the correspondence shown by ♯MDVS6O in FIG. 20, with respect to the value of the stepping amount APS,
The value increases with the increase in the stepping amount APS.
The faster the PS increase, the greater the percentage of DVS ₆ increase.

In addition, the value of DVS ₇ is the maximum value DAPMXO of the changing speed of the stepping amount while the increasing of the stepping amount APS is continued,
Because they are determined based on the correspondence relationship shown in ♯MDVS7O of FIG. 21, as performed faster increase in the depression amount APS, the value of DVS ₇ is a large value.

Furthermore, the value of DVS ₈ is different from the value of the counter CAPCNG,
When the increase in the stepping amount APS exceeds the standard, the CAP
As CNG = 1, DVS8 becomes the largest value.

Since the target accelerations DVS ₆ , DVS ₇ , and DVS ₈ change in this manner, the faster the accelerator pedal 27 is pressed, the more the vehicle accelerates.

When the increase in the amount of depression is stopped and the amount of depression of the accelerator pedal 27 is kept constant, the target accelerations DVS ₆ , DVS ₇ ,
DVS ₈ values are as follows.

Since the value of DVS ₆ is determined based on the correspondence shown by ♯MDVS6O in FIG. 20 with respect to the depression amount APS, it is a constant value.

In addition, the value of DVS ₇ retains the value determined based on the correspondence shown by ♯MDVS7O in FIG. 21 as described above when the stepping amount increases before the stepping amount APS is held constant. , Is constant.

Further, since the value of DVS ₈ increases according to the elapsed time from the time when the increasing speed of the stepping amount APS falls below the reference value, the time elapses as shown by ♯MDVS8O in FIG. 22. And gradually decreases to eventually become zero.

Therefore, the increase in the depression amount is stopped and the accelerator pedal 27 is stopped.
When the stepping amount is kept constant, the target acceleration DVS becomes
It will gradually approach a certain value.

That is, when the depression amount ASP of the accelerator pedal 27 is increased to an appropriate amount, the acceleration changes smoothly from the rapid acceleration state to the slow acceleration state.

On the other hand, when the reduced amount of depression APS of the accelerator pedal 27, the value of each target acceleration DVS _6, DVS _7, DVS ₈ is as follows.

The value of DVS _{6 is} the value of ♯MDVS6S
Is determined based on the correspondence shown in FIG. For this reason, the value decreases as the stepping amount APS decreases. This DVS
The rate of decrease of ₆ increases as the depression amount APS decreases more quickly.

In addition, the value of DVS ₇ corresponds to the minimum value of the changing speed of the stepping amount (that is, the maximum value of the decreasing speed) DAPMXS while the stepping amount APS continues to decrease, as shown in ΔMDVS7S in FIG. Since the value is determined based on the relationship, the value of DVS ₇ becomes smaller (a negative value and a smaller absolute value) as the depression amount APS is reduced more quickly.

Further, the value of DVS ₈ becomes CAPCNG = 1 when the reduction of the stepping amount APS exceeds the reference value, and the value of MDV in FIG.
As shown in VS8S, it is the smallest value (negative and the absolute value is the largest).

Therefore, as the depression amount APS of the accelerator pedal 27 is reduced more rapidly, the acceleration of the vehicle becomes faster and slower, and the vehicle is in a deceleration state.

As shown by ♯MDVS6O and ♯MDVS6S in FIG. 20, when the value of DVS ₆ corresponding to the same stepping amount is compared between when the stepping amount is increasing and when the stepping amount is decreasing, the stepping amount is increasing. Is set larger.

Therefore, even when the stepping amount is the same, a more rapid acceleration is performed when the stepping amount is increased than when the stepping amount is reduced.

Also, as shown by ΔMDVS6S in FIG. 20, the DVS ₆ becomes a negative value when the stepping amount is continuously reduced after the stepping amount is reduced to zero. Therefore, the target acceleration DVS plus the target acceleration DVS _6, DVS ₇ and DVS ₈ also becomes a negative value, this results in the deceleration of the vehicle is performed based on the negative target acceleration.

In addition, the reduction of the depression amount APS is stopped and the accelerator pedal 27
When the stepping amount of the target is kept constant, each target acceleration DV
The values of S ₆ , DVS ₇ and DVS ₈ are as follows.

Since the value of DVS ₆ is determined on the basis of the correspondence indicated by ΔMDVS6S in FIG. 20 with respect to the depression amount APS, it is a constant value here.

The value of DVS ₇ is the minimum value of the change speed of the stepping amount when the stepping amount is reduced before the stepping amount APS is held constant (that is, the maximum value of the decreasing speed) with respect to DAPMXS in FIG. ♯MDVS7S
Since the value determined based on the correspondence shown in FIG.

Further, the value of DVS ₈ increases as the value of CAPCNG increases in accordance with the following, which elapses after the rate of decrease of the stepping amount APS has fallen below the reference, and as shown by ΔMDVS8S in FIG. And gradually increases to 0 finally.

As described above, when the depression amount of the accelerator pedal 27 is reduced, the acceleration is smoothly reduced from the reduced acceleration state or the deceleration state, and a transition is made to an acceleration state with a constant acceleration.

By the way, in the throttle non-linear motion control, the tenth
The auto cruise mode control in step C144 in the figure
It is performed according to the flowchart of steps E101 to E133 in the figure.

The auto cruise mode control is performed when the accelerator pedal 27 and the brake pedal 28 are not both depressed in the above-described throttle non-linear motion control.

First, in step E101, it is determined whether or not the contact of the accelerator switch 15 has been turned on without the accelerator pedal 27 being depressed in the previous control cycle. If it is the first control cycle after the accelerator pedal 27 is released and the contact of the accelerator switch 15 is turned on, the process proceeds to step E102 according to the determination here, and the accelerator pedal 27 is already released in the previous control cycle and the accelerator pedal is released. If the contact of the switch 15 is in the ON state, the process proceeds to step E110 according to the determination here.

Therefore, after the accelerator pedal 27 is depressed to accelerate the vehicle, the first control cycle after releasing the accelerator pedal 27 is a control cycle subsequent to the first control cycle, or the accelerator pedal 27 is not depressed. In this state, the control is different from each control cycle after the brake pedal 28 is released and the auto cruise mode control is performed.

If the process proceeds to step E102 in the first control cycle after the accelerator pedal 27 is released, the flag I ₄
Is set to 0 and the process proceeds to step E103. This flag I
_4, the value that the running condition designating section 3 of the control section 25 to constant speed running is designated out indicate by a 0.

At step E103, the value of the flag I ₆ 0, the process proceeds to step E104. The flag I ₆ are those indicated by the value is 1 the contact of the changeover switch 46 is the first control cycle after the ON state.

In step E104, steps A123 to A1 in FIG.
Recently actual vehicle speed VA _I calculated in the interrupt control 28 is input as the actual vehicle speed immediately after release of the accelerator pedal 27, the next step E105, the actual vehicle speed VA _I is substituted for the target vehicle speed VS.

In step E 106, the value of the flag I ₈ is zero. Incidentally, the flag I ₈ is an indication that the vehicle speed is kept substantially constant by the automatic cruise mode control by the value is zero.

Next, in step E107, by the following equation (4) the target torque TOM ₃ of the engine 13 necessary to maintain the vehicle speed at the target vehicle speed VS, calculated, the process proceeds to step E108.

TOM ₃ = [｛(W · r / g) · ks · ki｝ · (DVS ₃ −DVS ₆₅ ) +
T _Q TEM] / T _Q (4) The above equation (4) is substantially the same as equation (1) used in step C130 in the flowchart of FIG. Are exactly the same.

In step E108, the target torque TOM ₃ calculated in step E107 and the engine speed N _E detected by the engine speed detector 18 and input in step A103 in FIG. 8 (i).
And the throttle valve opening corresponding to Is read from the above-mentioned map $ MTH.

Next, in step E109, the throttle valve opening Is transmitted from the control unit 25 to the actuator drive unit 39 of the throttle valve rotation unit 26. Then, a throttle valve actuator 40 is
, A required drive signal is transmitted, and the throttle valve actuator 40 rotates the throttle valve 31. At this time,
The opening of the throttle valve 31 is feedback-controlled by the actuator drive unit 39 through the throttle valve opening detection unit 41.

Then, when the throttle valve 31 is rotated to the predetermined position, the actuator driving section 39 stops sending a drive signal, the throttle valve 31 stops at the predetermined position, and the auto cruise mode control in the current control cycle ends. .

By operating the throttle valve in this manner to open and close the intake passage 30, as described above, the engine 13
Amount of air sucked varies substantially equal torque to the target torque TOM ₃ amount of fuel is changed is output from the engine 13 to.

As described above, the torque output from the engine 13 is substantially equal to the torque required to maintain the vehicle speed constant with the actual vehicle speed immediately after the release of the accelerator pedal 17 as the target vehicle speed, as described above. Then, by the control in steps E104 to E109 described above, immediately after the accelerator pedal is released, a throttle that maintains the vehicle speed immediately after the release of the accelerator pedal is maintained, not in a control cycle corresponding to the timing of opening and closing the throttle valve 31. The throttle valve 31 is provisionally rotated to the position of the valve opening degree, and preparations are made for shifting to a constant vehicle speed running state at the target vehicle speed.

Throttle valve controlled by steps E104 to E109 described above
The rotation of 31 is the 10th of the non-
The rotation of the throttle valve 31 is substantially the same as the rotation of the throttle valve 31 under the control of steps C121 and C129 to C132 in the drawing, except that the condition for starting the control is different.

In the first control cycle after releasing the accelerator pedal 27, the control cycle after performing the above-described control, or the control of step C121 and steps C129 to C132 was performed by releasing the brake pedal 28. If the process proceeds to step E101 in a control cycle when the control mode is shifted to the auto cruise mode control later, the contact point of the accelerator switch 18 was in the ON state in the previous control cycle, and the process proceeds to step E110. This step E1
At 10, it is determined whether the position of the acceleration switch 45 is different between the previous control cycle and the current control cycle.

The contents of the control when the acceleration switch 45 is not switched will be described. Since the position of the acceleration switch 45 has not been changed since the previous control cycle, the process proceeds to step E110.
Then, the process proceeds to step E128 to perform a changeover switch control related to the changeover switch 46.

The changeover switch control in step E128 is mainly performed by the traveling state switching unit 12, the target vehicle speed setting unit 6, and the target vehicle speed change control unit 6a of the control unit 25 according to the flowchart shown in steps F101 to F121 in FIG. The switching of the vehicle traveling state corresponding to the operation of the changeover switch 44 and the change of the target vehicle speed attained when the vehicle traveling state specified as a result of the operation of the changeover switch 44 is the acceleration traveling or the deceleration traveling are performed. is there.

The case where the operation of the changeover switch 46 is not performed will be described. In step F101 of FIG. 13, it is determined whether or not the contact point of the changeover switch 46 is in the ON state in the step of FIG.
It is determined based on the contact information input in A103, and if the changeover switch 46 is not operated, the contact of the changeover switch 46 is not in the ON state, and the process proceeds to step F111.

In step F 111, the value of the flag I ₅ 0, the process proceeds to step F 112. Incidentally, the flag I ₅ is that the contacts of the changeover switch 46 was in the ON state in the previous control cycle, showing by the value is 1.

Then, in step F 112, the value of the flag I ₆ to 0.

When the operation of the changeover switch 46 is not performed, the changeover switch control of the current control cycle is completed as described above, and
Proceeds to step E129 of FIG., The value of the flag I ₄ whether it is 1 or not. The value of the flag I ₄ is the FIG. 10 step C145 or Fig. 12 0 at step E102 of, as described later, the change-over switch control at step E128, the contacts of the changeover switch 46 is ON It becomes 1 when the time control is performed, or when control is performed when the position of the acceleration switch 45 has been changed from the previous control cycle. Therefore, when no together perform operation of the changeover switch 46 and the acceleration switch 45, the value of the flag I ₄ 0, the determination in step E129, the processing proceeds to step E132. At this time, the control unit 25
Is designated as a constant vehicle speed traveling.

In step E132, the value of the flag I ₆ is depending on whether a 1, it is determined whether the contacts of the change-over switch 46 is the first control cycle after the ON state.
If not performed an operation of the changeover switch 46 is not contact the ON state, since the value of the flag I ₆ is 0, performs the target vehicle speed control proceeds to step E133.

As described above, the target vehicle speed control includes controlling the vehicle speed to approach the target vehicle speed when the constant vehicle speed traveling is designated by the traveling state designating unit 3 and changing the set value of the target vehicle speed by the target vehicle speed change switch 46. The control is mainly performed by the constant vehicle speed control unit 8 of the control unit 25 in accordance with the flowchart of steps J101 to J116 in FIG.

That is, in this target vehicle speed control, first, step J1
At 01, it is determined whether or not the value of the flag I ₈ is 1, and the value of the flag I ₈ is shifted to the vehicle running state by the auto cruise mode control by releasing the brake pedal 28. In this case, the value becomes 1 in step C128 of FIG. 10, and when the vehicle shifts to the vehicle running state by releasing the accelerator pedal 27, the value becomes 1 in step E108 of FIG. Therefore, if the operation proceeds to step J101 without operating the acceleration switch 45 and the changeover switch 46 after the shift to the vehicle running state by the auto cruise mode control, the operation proceeds to step J102 according to the judgment in step J101.

At step J102, the present control cycle is whether corresponds to the timing for opening and closing the throttle valve 31, the value of the flag I ₁₁ is determined by whether or not 1.
If the value of the flag I ₁₁ is 1, performs control necessary for opening and closing the throttle valve 31 advances to step J103, the flag I
_If the value of ₁₁ is not 1, the auto cruise mode control in the current control cycle ends.

The next step by the value of the flag I ₁₁ is 1
Proceeding to J103, the target vehicle speed VS of the constant vehicle speed is set as a temporary value as the actual vehicle speed inputted in step A103 of FIG. 8 (i).
Substitute VA. This provisional setting of the target vehicle speed VS prepares for control after the vehicle speed has become substantially constant, and is performed before the vehicle speed becomes substantially constant. This set value is updated in each control cycle corresponding to the opening / closing timing until the vehicle speed becomes substantially constant.

Next, in step J104, as described above, the DVA ₆₅ or DVA ₆₅ is controlled by the control of steps C141 to C143 in FIG.
It is determined whether or not the absolute value of the actual acceleration DVA designated with the value ₁₃₀ is | DVA | <Kα with respect to a preset reference value Kα. As a result of the vehicle speed becoming substantially constant by the target vehicle speed control and the acceleration of the vehicle decreasing, when it is determined in step J104 that | DVA | <Kα, step J10
After setting the value of the flag I ₈ to 0 in step 8, the flow advances to step J109. Further, since the vehicle speed is not substantially constant and the acceleration of the vehicle does not decrease, | DVA | <K
If it is determined that it is not α, the process proceeds to step J105.

In step J105, it is determined whether the vehicle is currently in an accelerating state or a decelerating state based on whether or not the actual acceleration DVA is a positive value. If the actual acceleration DVA has a positive value, the vehicle is because the acceleration state to the constant speed traveling state, by subtracting the correction amount? Dv ₂ set in advance from the actual acceleration DVA proceeds to step J107 value Is the target acceleration DVS. On the other hand, when the actual acceleration DVA has a negative value, since the vehicle is in the deceleration state to the constant speed running state, a value obtained by adding the correction amount? Dv ₂ in actual acceleration DVA proceeds to step J106 The target acceleration is DVS. This terminates the target vehicle speed control in the current control cycle, and proceeds to step E123 in FIG.

In steps E123 to E127 in FIG. 12, as described later,
Control for matching the acceleration of the vehicle to the target acceleration DVS is performed. Therefore, when the above-described control in steps J101 to J107 in FIG. 16 is repeated in a state where the vehicle speed does not become a substantially constant value, the absolute value of the actual acceleration DVA is increased as the target acceleration DVS gradually approaches zero. And the vehicle speed gradually approaches a constant value.

Then, in step J104 of FIG. 16, | DVA | <K
If it is determined to be α, the process proceeds to step J109 via step J108 as described above, and the target vehicle speed VS set in step J103 in the control cycle at this time corresponds to the target vehicle speed VS of steps J109 to J116 described below. Target vehicle speed in the control for the vehicle.

Further, in the control cycle following the control cycle proceeding to step J109 after step J108, the auto cruise mode control is continuously performed. Then, the value of as long as the flag I ₈ is not carried out the operation of the acceleration switch 45 and the changeover switch 46 remains at 0, the control proceeds directly to step J109 depending determination of step J101 is performed.

In step J109, whether the target vehicle speed change switch 48 of the auto cruise switch 18 is turned in the (+) direction in FIG. 6 is determined by the contact information input in step A103 in FIG. 8 (i). It is determined based on. (+) Side contact is ON
If it is determined that the state, after setting a value obtained by adding the correction amount VT ₃ which is previously set as the target vehicle speed VS in the preceding control cycle as the new target vehicle speed VS proceeds to step J110, the flow advances to step J113 . On the other hand, when it is determined that the (+) side contact is not in the ON state, the process proceeds to step J111.

In step J111, it is determined whether the target vehicle speed change switch 48 is turned in the (-) direction in FIG.
If it is determined that the (−) side contact is in the ON state, the process proceeds to step J112 and the target vehicle speed VS in the previous control cycle is determined.
After setting the value obtained by subtracting the correction amount VT ₃ as a new target vehicle speed VS from, the flow advances to step J113. On the other hand, the (−) side contact
If it is determined that it is not in the ON state, the process directly proceeds to step J113.

Under the control of steps J109 to F112, the target vehicle speed VS is changed by the target vehicle speed change switch 48, and the ON state of the (+) side contact of the target vehicle speed change switch 48 is continued. Control increases the target vehicle speed VS. Further, if the ON state of the (−) side contact of the target vehicle speed change switch 48 is continued, the target vehicle speed VS is reduced by the control of step J112 for each control cycle.

After the target vehicle speed VS is changed by the target vehicle speed change switch 48 as described above, the turning in the (+) direction or the (-) direction in FIG. When the vehicle speed change switch 48 is returned, the target vehicle speed VS changed and set in the immediately preceding control cycle becomes the target vehicle speed after the next control cycle. Therefore, if the target vehicle speed change switch 48 is not operated at all after proceeding from step J104 to step J109 via step J108, the target vehicle speed VS set in step J103 becomes the target vehicle speed VS in the next and subsequent control cycles. Vehicle speed.

Since the change of the target vehicle speed VS as described above by the control of steps J109 to J112 is performed after the absolute value of the actual acceleration DVA decreases and becomes smaller than the reference value Kα as described above, the vehicle speed becomes substantially constant. Only when the vehicle is traveling at a constant vehicle speed, the target vehicle speed VS can be changed by the target vehicle speed change switch 48.

Next, at step J113, the difference VS-V between the target vehicle speed VS and the actual vehicle speed VA input at step A103 of FIG. 8 (i).
A is calculated, and the process proceeds to step J114.

In step J114, since the vehicle speed is already substantially constant, control with higher stability than control with high response is required. Therefore, step E123 in FIG.
The three types of actual acceleration DVA input in step AW103 in FIG. 8I calculated by the interrupt control in steps A123 to A128 in FIG.
_65, specifies the highest actual acceleration DVA ₈₅₀ in the stability as mentioned above among the DVA ₁₃₀ and DVA _850.

Next, at step J115, the aimed acceleration DVS ₄ corresponding to the difference VS-VA between the target vehicle speed VS and the actual vehicle speed VA calculated at step J113, determined by the control performed in accordance with the flow chart of steps M101~M106 of FIG. 18 . Then, in step J116, the target acceleration DVS ₄ is substituted as the value of the target acceleration DVS used in step E123 of FIG. 12 described later, and the current target vehicle speed control is ended.
Proceed to E123.

The determination of the target acceleration DVS ₄ in step J115 is performed by the constant vehicle speed control unit 8 of the control unit 25 according to the flowchart shown in FIG. 18 as described above, but in the first step M101, step J113 in FIG. Difference VS-V calculated by
It reads the target acceleration DVS ₃ corresponding to the A from the map ♯MDVS3. This map ♯MDVS3, as described above, be for obtaining a target acceleration DVS ₃ the difference VS-VA as a parameter, the relationship shown in FIG. 23 the difference VS-VA and the aimed acceleration DVS ₃ Have.

Next, in step M102, the acceleration tolerance DVMAX corresponding to the difference VS-VA is read from the map @MDVMAX. This map ♯MDVMAX is for obtaining the acceleration tolerance DVMAX using the difference VS-VA as a parameter, and the difference VS-VA and the acceleration tolerance DVMAX have a correspondence relationship shown in FIG.

Further, in the next step M103, a value obtained by subtracting the actual acceleration DVA whose value is designated as DVS _{850 in} step J114 of FIG. 16 from the target acceleration DVS ₃ (that is, DVS ₃ -DVA) is obtained as the acceleration difference DV.
Calculate as X. Then, in the next step M104, the acceleration difference DVX is greater than the acceleration tolerance DVMAX by DVX <D.
It is determined whether it is VMAX.

If it is determined that the DVX <DVmax at step M104, the program proceeds to step M105, specifying the target acceleration DVS ₃ as the target acceleration DVS _4. If it is determined that DVX <DVMAX is not satisfied, the process proceeds to step M106, where the target acceleration DV
As S _4, it specifies the actual acceleration DVA and the acceleration tolerance value plus the DVMAX (DVA + DVMAX).

By performing the determination of the target acceleration DVS ₄ by the control of step M101~M106 described above, the amount of change of the target acceleration DVS ₄ is restricted below the acceleration tolerance DVmax. Therefore, the change in vehicle speed acceleration performed to restore the vehicle speed suddenly changed for some reason during traveling at the constant vehicle speed becomes gentle.

In this way, after substituting the target acceleration DVS ₄ whose value is determined by the control of steps M101 to M106 into the target acceleration DVS in step J116 in FIG.
Alternatively, after the value of the target acceleration DVS is set by the control in step J107, if the process proceeds to step E123 in FIG. 12, the target torque TOM _{2 of the} engine 13 required to make the vehicle acceleration equal to the target acceleration DVS. Is calculated by the following equation (5).

TOM ₂ = [｛W · r / g) · ks · ki · (DVS-DVA) + T _Q · T
EM] / T _Q (5) The above equation (5) is substantially the same as the above equation (1) or (4), but the DVA in the above equation (5)
From step J106 or J107 in FIG. 16 to step E1
When the process proceeds to step 23, the value becomes the value designated by the control of steps C141 to C143 in FIG. 10, and when the process proceeds to step E123 from the 16th step J116, the process proceeds to step J114 in FIG.
DVA ₈₅₀ specified by.

Then, the process proceeds to step E124, the target torque TOM ₂ calculated in step E123, and the engine speed N _E which is input in step A103 of FIG. 8 is detected by the engine speed detecting unit 21 (i) Throttle valve opening corresponding to Is read from the map $ MTH (not shown), and the flow advances to step E125.

The control in step E123 and step E124 is performed by the control unit 25
Is performed in common by each of the constant vehicle speed control unit 8, the acceleration control unit 9 and the deceleration control unit 10. As described above, when the routine proceeds from step E133 to step E123, the constant vehicle speed control The control is performed according to steps E123 and E124 by the Is set.

Next, at step E125, whether or not the value of the flag I ₁₁ is 1 is determined. If it is determined that I ₁₁ = 1, the current control cycle corresponds to the timing of opening and closing the throttle valve 31, so that the routine proceeds to step E126, where I 11
If it is determined that ₁₁ = 1 is not satisfied, the current control cycle does not correspond to the above timing, so that the auto cruise mode control in the current control cycle is terminated without opening and closing the throttle valve 31.

When proceeding to step E126, the throttle valve opening determined in step E124 Become to the position, rotation of the throttle valve 31 similarly to the step E109 is performed, substantially equal torque to the target torque TOM ₂ is output from the engine 13. Moreover, the opening and closing of the throttle valve 31 of the present control cycle, so that in should close timing, as a value of the flag I ₁₂ in the next step E127, to terminate the automatic cruise mode control in the present control cycle.

As described above, when the brake pedal 28 is released, the accelerator pedal 27 is released or the accelerator pedal 27 is released.
As a result of releasing the brake pedal 28 in the released state of the brake pedal 27, the vehicle shifts to the vehicle running state by the auto cruise mode control. At this time, if the acceleration switch 45 and the changeover switch 46 are not operated, first, the accelerator pedal Immediately after the depression is released, the throttle valve 31 is temporarily rotated so as to maintain the vehicle speed immediately after the depression of the depression of the brake pedal 27 and the brake pedal 28. Next, when the mode is shifted to the auto cruise mode control, the constant vehicle speed control unit 8 of the control unit 25 in order to continuously maintain the vehicle speed at each opening / closing timing of the throttle valve 31.
The throttle valve 31 is rotated on the basis of the throttle valve opening degree set by the operator.

That is, after the stepping release, each pedal is provisionally provided without having a control cycle corresponding to the opening / closing timing of the throttle valve 31.
Even if the throttle valve 31 that can maintain the vehicle speed immediately after the release of 27 and 28 is rotated, since the vehicle speed fluctuates to some extent thereafter, the rotation of the throttle valve 31 is performed every control cycle corresponding to the opening / closing timing. The vehicle speed is reduced to reduce the fluctuation of the vehicle speed and finally to a substantially constant vehicle speed.

Therefore, after the pedal is released, the acceleration switch 45
And when the changeover switch 46 is not operated, except for the case where the braking that is sharper than the reference by the brake (not shown) lasts longer than the reference time and the vehicle speed at the end of the braking falls below the reference value, become that way.

That is, the running state designating unit 3 of the control unit 25 designates the constant vehicle speed running, and the output is sufficient to maintain the vehicle speed substantially equal to the vehicle speed at the time when the designation is the constant vehicle speed running (the moment when the pedal is released). Is obtained from the engine 13 by the constant vehicle speed control unit (not shown) of the control unit 25. Then, the throttle valve 31 is rotated at each opening / closing timing based on the throttle valve opening,
As a result, the vehicle runs at a constant vehicle speed at a predetermined vehicle speed.

After the vehicle speed becomes substantially constant due to the rotation of the throttle valve 31, the target vehicle speed can be changed at the time of constant vehicle speed operation by operating the target vehicle speed change switch 48. The amount of change in the target vehicle speed is obtained in proportion to the duration of the state of turning in the (+) direction or the (-) direction.

The case where neither the acceleration switch 45 nor the changeover switch 46 is operated after shifting to the vehicle running state by the auto cruise mode control is as described above. The case where the acceleration switch 45 or the changeover switch 46 is operated after the above shift is described below. Will be described.

After shifting to the vehicle running state by the auto cruise mode control and the vehicle speed becomes substantially constant by the above control, the acceleration switch 45 is operated to When the position has been switched to any of the positions, the process proceeds to step E110 via step E101 in FIG. 12, and as described above, it is determined whether the position of the acceleration switch 45 has been changed from the previous control cycle. Is done.

If the proceeds after changing the position of the acceleration switch 45 to step E110 in the first control cycle, a 1 the value of the flag I ₃ proceeds to step E111 the judgment herein,
The value of the flag I ₅ to 0 in the next step E112, further,
After the value of the flag I ₉ was 0 in the next step E113, the processing proceeds to step E114.

Note that this flag I ₉ is traveling state specification section 3 of the control unit 25 by the operation of the acceleration switch 45 or the changeover switch
When the designation of the acceleration run, the control for smoothly increasing the acceleration of the vehicle to the target acceleration set in accordance with the position of the acceleration switch 45 has already been performed in the previous control cycle, This is indicated by the value being 1.

In step E114, the eighth control is performed in the current control cycle.
Based on the contact information input in step A103 of FIG. Is determined. This position If determined to be, the process proceeds to step E115, If not, the process proceeds to Step E116.

If the procedure advances to step E116, the designation of the running condition designating section 3 of the control section 25 is switched to the acceleration running, the value of the flag I ₄ and 1. After the value of the flag I ₈ in the next step E117 is 0, the process proceeds to step E 118.

The control cycle at this time is the first control cycle after the position of the acceleration switch 45 is changed, and after this change, the throttle valve 31 is not yet opened and closed. For this reason,
The value of the flag I ₁₂ at step E118 and 0, then at step E119, the value of the actual acceleration DVA to be used in the present control cycle from the same reason as step E118, the input at step A103 of FIG. 8 (i) The adopted DVA ₆₅ is adopted.
Then, the process proceeds to step E120.

This step E120 is a target vehicle speed VS which is a target value of the vehicle speed after acceleration in the target vehicle speed setting unit 6 of the control unit 25.
The value of VS is detected by the vehicle speed / acceleration detector 24 in the current control cycle,
The actual vehicle speed VA (see step A103 in FIG. 8 (i)) input to the controller and a preset correction amount Is set to the sum of

Next, proceeding to step E121, step G1 shown in FIG.
The target acceleration setting unit 4 of the control unit 25 performs the acceleration switch control according to the flowcharts of 01 to G105. This acceleration switch control is performed by controlling the acceleration switch 45 shown in FIG. Or, Corresponding to each position of, is to set the value of the target acceleration DVS _2.

That is, the position of the acceleration switch 45 is determined by steps G101 and G103 in FIG. It is determined that it is in any position of, for each position, setting the value of the acceleration DVS ₂ is executed at step G102, G104 and G105.

That is, as shown in FIG. 14, first, in step G101, the position of the acceleration switch 45 is changed to the position shown in FIG. To determine if it is in the position If it is determined that it is at the position of, the process proceeds to step G102, Substituting acceleration values DVSb that is set in advance corresponding to the position of the target acceleration DVS _2.

In step G101, the position of the acceleration switch 45 is If it is determined that the acceleration switch 45 is not at the position of, the process proceeds to step G103, and the position of the acceleration switch 45 is Is determined. The position of the acceleration switch 45 If it is determined that the camera is at the position of The preset value DVSC corresponding to the position of the target acceleration DV
It is assigned to S _2.

On the other hand, the position of the acceleration switch 45 If it is determined that it is not in the position of Will be in the position of The preset value DVsd corresponding to the position of the target acceleration DV
It is assigned to S _2. Here, It can be determined that the position of the acceleration switch 45 is in step E114 in FIG. 12 before performing the acceleration switch control. In addition, in steps G101 and G103, But That is because it has already been determined.

As described above, it sets the value of the target acceleration DVS ₂ corresponding to the position of the acceleration switch 45, the target acceleration
DVS ₂ is a target value of the vehicle acceleration that becomes constant after the acceleration running specified by the running state specifying unit 3 of the control unit 25 is started. 3 types of vehicle acceleration states (DVSb, DVSc
And DVSd) are selected. The values of DVSb, DVSc and DVSd satisfy DVSb <DVSc <DVSd, and DVSb is a value corresponding to slow acceleration, DVSc is medium acceleration, and DVSd is a value corresponding to rapid acceleration.

When the acceleration switch control is completed, the process proceeds to step E122 in FIG. 12, and the acceleration control unit 9 of the control unit 25 mainly performs the acceleration control.

As described above, this acceleration control is control that is performed in accordance with the position of the acceleration switch 45 when acceleration traveling is designated by the traveling state designation unit 3 of the control unit 25.
Each position in 25 target acceleration setting units 4 By increasing the vehicle acceleration smoothly up to the target acceleration DVS ₂ set corresponding to
The change in acceleration when the vehicle speed reaches the target vehicle speed set by the target vehicle speed setting unit 6 and the target vehicle speed change control unit 6a of the control unit 25 is smoothed.

Such acceleration control is performed in steps L101 to L120 in FIG.
Are performed according to the flowchart shown in FIG.

That is, in the first step L101, the reference value K ₅ that the actual vehicle speed VA input at step A103 is preset FIG. 8 (i), whether or not VA> K ₅ is judged . VA
> If it is determined that the K _5, the process proceeds directly to step L104, when determined not VA> K _5, the step L10
The process proceeds to Step L104 via 2 and L103.

When the process proceeds from step L101 to step L102, the target acceleration DVSAC corresponding to the actual vehicle speed VA and the position of the acceleration switch 45 based on the contact information input in step A103 in FIG. 8 (i) is read from the map @MDVSAC. put out.

This map ♯MDVSAC is for obtaining the target acceleration DVSAC using the actual vehicle speed VA and the position of the acceleration switch 45 as parameters, and the actual vehicle speed VA and the position of the acceleration switch 45 and the target acceleration DVSAC are shown in FIG. Has the correspondence shown in FIG.

That is, between the actual vehicle speed VA is 0 to the reference value K _5, the sixth
The acceleration switch 45 shown in the figure Target acceleration corresponding to the increase in actual vehicle speed VA for each position
DVSAC increases, when the actual vehicle speed VA becomes the reference value K _5, the
The value of the target acceleration DVSAC is obtained by the acceleration switch control (see FIG. 14) in step E121 in FIG. It becomes equal to the value of the target acceleration DVS ₂ which is set for each position of the.

Then proceeds to step L103, the value of the target acceleration DVS ₂ set by the acceleration switch control is changed to DVSAC read out at step L102, the process proceeds to step L104.

That is, when the vehicle speed is greater than the reference value K _5, the value of the target acceleration DVS ₂ will remain the value set by the acceleration switch control, when the vehicle speed is the reference value K ₅ or less as immediately after starting the vehicle speed increased in response to increase of the value set smaller value by the switch control is the value of the target acceleration DVS _2.

At step L104, whether the value of the flags I ₁₁ is determined. The flag I _11, as described above, by the value is 1, (it is the throttle valve opening and closing timing cycle) present control cycle that corresponds to the timing for opening and closing the throttle valve 31
It is shown. If the value of the flag I ₁₁ is determined not to be 1 at step L104, the present control cycle is does not correspond to the throttle valve opening and closing timing cycle, ends the acceleration control in the immediate present control cycle.

When the value of the flag I ₁₁ is determined to be 1 in step L104, the present control cycle corresponds to the timing of the opening and closing, the acceleration control is continued performed proceeds to step L105.

At step L105, the value of the flag I ₉ whether it is 1 or not. Flag I _9, in the previous control cycle, that is controlled in step L108 or step L110 which will be described later has been performed, showing by the value is 1. When initially proceeds to step L105 has to carry out switching of the acceleration switch 45, since the value of the flag I ₉ 0 at step E113 of Fig. 12 as described above, the value of the flag I ₉ at step L105 Is not 1, and the process proceeds to Step L106.

At step L106, the flag I ₁₃ 0, the process proceeds to L107. Incidentally, the flag I ₁₃ is a target acceleration DVS ₂ set by the acceleration switch control and target acceleration DVS ₁ to a specified value at step L108 or step L110 described below, not in relation DVS ₁ <DVS ₂ Is indicated by a value of 1.

In the next step L107, the value of the flag I ₉ is set to 1, and
Proceed to step L108.

In step L108, the target acceleration DVS ₁
The actual acceleration DVA for which the DVA ₆₅ was input in step E119 in the figure,
A preset correction amount ΔDV ₁ is added (DVA + ΔD
V ₁ ), and the process proceeds to Step L111.

At step L111, such two target acceleration DVS ₁ and DVS ₂ which is set is, whether a relationship of DVS ₁ <DVS ₂ is determined. Actual acceleration DVA and the target acceleration DVS ₂ and in no much difference, these goals acceleration DVS ₁ and the target acceleration DV
If the S ₂ and has determined that no relationship of DVS ₁ <DVS ₂ is
After the value of the flag I ₁₃ to 1 proceeds to step L113, the process proceeds to step L114.

On the other hand, if it is determined in step L111 that the relationship of DVS ₁ <DVS ₂ is satisfied, the process proceeds to step L112, in which the target acceleration DVS used for accelerating the vehicle in the auto cruise mode control in the current control cycle is calculated. ends the acceleration control in the present control cycle by specifying the target acceleration DVS ₁ as a value.

Note that, as described above, the current control cycle switches the acceleration switch 45 in FIG. In the control cycle in which the process first proceeds to step L105 after switching to any of the positions, the acceleration switch 45 is not switched after the next control cycle and the acceleration control is continuously performed. since the value of the flag I ₉ at step L107 is 1, in the next and subsequent control cycles, the process proceeds to step L109 by the determination in step L105.

In step L109, if it whether the value of the flags I ₁₃ is determined, that the value of the flag I ₁₃ to 1 proceeds from step L111 in a control cycle to the previous cycle to step L113 From step L109 to step L114
Proceed to. Step L1 in the control cycle up to one cycle before
If the process has not proceeded from Step 11 to Step L113, I ₁₃
Is not 1, the process proceeds to step L110.

In step L110, the process proceeds to specify the plus correction amount? Dv ₁ to the value of the target acceleration DVS ₁ until the control cycle one cycle before a new target acceleration DVS ₁ to step L111.

Therefore, the value of the target acceleration DVS _1, at step L109 until the value of the flag I ₁₃ is determined to be 1, step
By repeatedly proceeding to L110, it increases over time.

Then, at step L111, the aimed acceleration DVS ₁ increases until it is determined not to be DVS ₁ <DVS _2, the process proceeds from step L111 to step L113, since the value of the flag I ₁₃ to 1, as described above, After the next control cycle,
Proceeding from step L109 to step L114, the target acceleration DVS ₁
No longer increases.

Until it is determined in step L111 that DVS ₁ <DVS ₂ , the target acceleration whose value increases as described above is used.
In step L112, DVS ₁ is set to a target acceleration (target acceleration instructed by the auto cruise switch) DVS _AC
In the following step L120, the target acceleration DVS _AC is set as the currently adopted target acceleration DVS, and the acceleration control ends. However, in step L111, DV
If it is determined that S ₁ <DVS ₂ is not satisfied, the control step is executed as described above after the control cycle in which this determination is made.
Since the process proceeds to L114, designation of DVS _AC = DVS ₁ is not performed.

Proceeding to step L114, the target vehicle speed VS set in step E120 in FIG. 12 and the step in FIG.
The difference VS-VA from the actual vehicle speed VA input in A103 is calculated. In the next step L115, the target acceleration DVS ₃ corresponding to the difference VA-VA
Is read from map No. MDVS3.

This map ♯MDVS3, as described above, be for obtaining a target acceleration DVS ₃ the difference VS-VA as a parameter, the relationship shown in FIG. 23 the difference VS-VA and the aimed acceleration DVS ₃ Have.

Then, the process proceeds to step L116, the target acceleration DVS _2, the target acceleration DVS ₃ is whether a relationship of DVS ₂ <DVS ₃ is judged. Here, if it is determined that the relationship of DVS ₂ <DVS ₃ is satisfied, the process proceeds to step L117, where the target speed DVS ₂ is designated as the value of the target acceleration DVS _AC , and the subsequent step D120
Then, the target acceleration DVS that currently uses this target acceleration DVS _AC
And the acceleration control ends. Step L1
If it is determined in step 16 that DVS ₂ <DVS ₃ does not hold, the process proceeds to step L118, where the arrival detection unit 11 of the control unit 25 sets the absolute value | VS-VA | of the difference VS-VA in advance. Reference value K
A determination is made whether it is less than _four .

As shown in FIG. 23, the value of the difference VS-VA is When equal to (correction amount added to the actual speed VA in order to set the final target vehicle speed VS at step E120 of Fig. 12), the target acceleration DVS ₃ is determined according to the map ♯MDVS3 sets the target acceleration DVS ₂ greater than Have.

Therefore, after the acceleration switch 43 has been switched, in the control cycle that first proceeded to step L105, step L1
When proceeding to 16, the difference VS-VA is the correction amount Is almost equal to Therefore, in step L116, it is determined that DVS ₂ <DVS ₃ , and the process proceeds to step L117.

Further, in a control cycle after this control cycle, the acceleration switch 45 is not switched and acceleration control is continuously performed, and when the vehicle is accelerated as described later, the actual vehicle speed VA approaches the target vehicle speed VS, and the value of the difference VS-VA decreases but, as shown in FIG. 23, the target acceleration DVS ₃ decreases in correspondence to the reduction in the difference VS-VA.

Then, when the target acceleration DVS ₃ becomes the target acceleration DVS ₂ or less difference VS-VA is equal to or less than Vα shown in FIG. 23, the process proceeds to step L118 by the determination in step L116.

Here, | VS-VA | <direct If it is determined not to be K _4, also | after <vehicle speed when it is determined that the K ₄ is via step L120 as has reached the final target vehicle speed | VS-VA Then, the process proceeds to Step L119. In this step L119, the target acceleration
Specify the target acceleration DVS ₃ as the value of DVS _AC , and
At 0, the target acceleration DV that currently uses this target acceleration DVS _AC
Set as S and end the acceleration control.

Therefore, the target acceleration DVS ₃ in the control cycle after the smaller than the target acceleration DVS _2, the aimed acceleration DVS ₃ is designated as the value of the target acceleration DVS. Since the target acceleration DVS is a target value of the acceleration during acceleration traveling,
After the target acceleration DVS ₃ is specified, the actual acceleration decreases as the actual vehicle speed VA approaches the attained target vehicle speed VS.

When the actual speed VA becomes substantially equal to the final target vehicle speed VS, at step L118, | VS-VA | <determines that the K _4, the flow advances to step L120 as described above.

This judgment is based on the fact that the vehicle speed has reached the target vehicle speed VS
Is reached, and after the arrival is detected, a step of setting the traveling state designating unit 3 of the control unit 25 to a constant vehicle speed of the target vehicle speed VS is performed. At L120, the flag I is set by the traveling state switching unit 12 of the control unit 25.
The value of ₄ is set to 0. Note that the flag I _4, as described above, by the value is 0, the designation of the running condition designating section 3 is intended to show that should be constant speed running.

As described above, when the acceleration control in step E122 in FIG. 12 is completed, the process proceeds to step E123, and as described above, the target torque TOM of the engine 13 necessary to make the vehicle acceleration equal to the target acceleration DVS. ₂ is calculated by the above equation (5).

Further, in the next step E124, the throttle valve opening is set so that the target torque TOM ₂ can be obtained from the engine 13. And proceed to Step E125. It should be noted that, when the traveling state designating unit 3 of the control unit 25 designates the acceleration traveling, the control of step E123 and step E124 is performed by the acceleration control unit 9 of the control unit 25 as described above.

From step E122 through steps E123 and E124, step E
Proceed to 125, a case where the value of the flag I ₁₁ at step L104 of FIG. 17 is determined to be 1. Therefore, in step E125, it is determined that I ₁₁ = 1, and step E1
Go to 26 and open the throttle valve 31 as described above. Drive to the position where

Then, as one the value of the flag I ₁₂ in the next step E127, to terminate the automatic cruise mode control in the present control cycle.

By driving the throttle valve 31 in this manner, as described above, a torque substantially equal to the target torque TOM ₂ is supplied to the engine.
Since the output is outputted from the motor 13, the vehicle runs at an acceleration substantially equal to the target acceleration DVS.

Set acceleration switch 45 in FIG. Step E1 as described above by switching to the position
One control cycle of proceeding to step E116 via 10 to E114 is performed, and thereafter, if neither the acceleration switch 45 nor the changeover switch 46 is operated, the auto cruise mode control is continuously performed in the subsequent control cycle and thereafter. Will be. In this case, first, in step E101 in FIG. 12, it is determined that the contact of the accelerator switch 15 is in the ON state, and the process proceeds to step E110. This is because the auto cruise mode control is performed without depressing the accelerator pedal 27 even in the control cycle before the cycle.

In step E110, as described above, it is determined whether the position of the acceleration switch 45 has been changed from the time of the control cycle one cycle before. Here, since the operation of the acceleration switch 45 has not been performed, the result in the step S128 is negative, and the process proceeds to step E128, where the changeover switch related to the changeover switch 46 is controlled.

This changeover switch control is performed according to the flowchart shown in steps F101 to F121 in FIG. 13, as described above.

First, in step F101, the changeover switch 46
A determination is made as to whether or not the contact is ON. Here, since the operation of the switch 46 is not performed, the contact does not become ON state, is negative the process proceeds to step F 111, the value of the flag I ₅ and 0.

Further, the value of the flag I ₆ in the next step F112 as 0, and ends the switch control in the present control cycle.

Although previously mentioned, the flag I ₅ are those shown by the value that the contact was in the ON state of the switch 46 in the preceding control cycle is 1, also the flag I ₆ is The value of 1 indicates that this is the first control cycle after the contact of the changeover switch 46 is turned on.

Then, the process proceeds to step E129 of Fig. 12, the value of the flag I ₄ whether it is 1 or not. This flag I ₄
As described above, the value of 0 indicates that the designation of the traveling state designating unit 3 of the control unit 25 should be the constant vehicle speed, but the acceleration switch 45 is set to the state shown in FIG. In the first control cycle after switching at any position, since the one the value of the flag I ₄ at step E116, while the accelerated running of the vehicle is being performed, step
When the determination in E129 is affirmative, the process proceeds to step E130.

As described above, when the vehicle is accelerated and the traveling speed reaches the target vehicle speed VS, step L1 in FIG.
20, the traveling state converter 12 of the control unit 25 is to 0 the value of the flag I _4. Thus, the determination at step E129 is denied, and the process proceeds to step E132. At this time, the designation of the traveling state designation unit 3 of the control unit 25 is switched to the constant vehicle speed traveling.

On the other hand, when the process proceeds from step E129 to step E130, the position of the acceleration switch 45 is set at step E130. It is determined whether or not the position is , And the result is in the negative, the process proceeds to step E121, and the acceleration switch control is performed.

This acceleration switch control is performed by the target acceleration setting unit 4 of the control unit 25 in accordance with the flowchart shown in steps G101 to G105 in FIG. 14, and the target acceleration DVS ₂ corresponding to the position of the acceleration switch 45, as described above. Is set.

Next, when proceeding to step E122, the acceleration control is performed mainly by the acceleration control unit 9 of the control unit 25 according to the flowchart shown in steps L101 to L120 in FIG. The target acceleration DVS at the time is set. If the target acceleration is set when the current control cycle corresponds to the timing of opening and closing the throttle valve 31, then the throttle valve 31 is opened and closed as described above according to steps E123 to E127, and the vehicle reaches the target acceleration. The vehicle runs at an acceleration almost equal to DVS.

When the traveling speed reaches the target vehicle speed VS due to the accelerated traveling of the vehicle, the designation of the traveling state designation unit 3 of the control unit 25 is switched to the constant vehicle speed traveling as described above, and the process proceeds from step E129 to step E132. Then, the value of the flag I ₆ at step E132 whether it is 1 or not. This flag I ₆
Since the value is set to 0 in step F112 in FIG. 3, the process proceeds from step E132 to step E133, and the target vehicle speed control is performed.

This target vehicle speed control is mainly performed by the constant vehicle speed control unit 8 of the control unit 25 in accordance with the flowchart shown in steps J101 to J116 of FIG.

That is, since the zero value of the flag I ₈ in the first control cycle after performing the switching of the acceleration switch 45 (refer to step E117 of Fig. 12), at step J101, I ₈ =
Unless it is determined that it is not 1, and the acceleration switch 45 or the changeover switch 46 is not operated, the process always proceeds to step J109.

Next, the control performed in accordance with steps J109 to J116 is as described above, and the running speed of the vehicle is set to the target vehicle speed.
The value of the target acceleration DVS is set in accordance with VS so as to keep it constant.

When the target vehicle speed control is completed, step E1 in FIG.
According to 23-E127, as mentioned earlier, the throttle valve 31
Is opened and closed, and the vehicle travels at a traveling speed that is substantially equal to the target vehicle speed VS.

Therefore, the acceleration switch 45 is set in FIG. After the vehicle speed has reached the target vehicle speed VS, the target vehicle speed VS becomes the target vehicle speed and the vehicle speed is maintained constant. .

As described above, when the acceleration switch 45 is switched, the designation of the traveling state designation unit 3 of the control unit 25 is set to acceleration traveling, and when the vehicle is accelerated at the target acceleration DVS designated by the acceleration control in step E122, The changes in the target acceleration DVS and the traveling speed are as shown in, for example, FIGS. 27 (i) and (ii). FIG. 27 (i) shows the value of the target acceleration DVS corresponding to the lapse of time after the switching, and FIG. 27 (ii)
Indicates a change in the traveling speed of the vehicle with respect to a lapse of time after the switching.

In other words, the Figure 27 (i), optionally with constant speed running as shown in (ii), at a traveling speed v ₁ vehicle is constant first,
At a certain time t ₀ , the acceleration switch 45 Is switched to any one of the positions, the acceleration traveling is designated. Then, acceleration is started with the target acceleration set at step L108 in FIG. At this time, the target acceleration set in step L110 in FIG. 17 is set for each control cycle corresponding to the timing of opening and closing the throttle valve 31.
Since DVS ₁ is the target acceleration DVS during acceleration,
The target acceleration DVS increases in each control cycle as shown in a stepwise manner in FIG.

On the other hand, with the increase of such target acceleration DVS, the traveling speed of the vehicle starts smoothly increases from the time t _0.

As a result, at time t ₁ , when the target acceleration DVS ₁ becomes larger than the target acceleration DVS ₂ set by the target acceleration setting unit 4 of the control unit 25 corresponding to the position of the acceleration switch 45,
In time t ₁ after the control cycle, the target acceleration DVS ₂
Is the value of the target acceleration DVS. As a result, the target acceleration DVS
Becomes a constant value as shown in FIG. 27 (i). Therefore, the running speed of the vehicle at this time increases at a substantially constant rate as shown in FIG. 27 (ii).

At time t _2, the traveling speed, than reaching the target vehicle speed VS set at step E120 of Figure 12, reaches the lower value by Vα shown in FIG. 23, as shown in FIG. 23, towards the target acceleration DVS ₃ is read from the map ♯MDVS3 at step L115 of FIG. 17, than the target acceleration DVS _2, smaller. Then, in the time t ₂ after the control cycle,
The target acceleration DVS ₃ becomes the value of the target acceleration DVS.

As shown in FIG. 23, the target acceleration DVS ₃ decreases in accordance with the decrease in the difference VS-VA between the target vehicle speed VS and the actual vehicle speed VA. DV
S gradually decreases in each control cycle, as shown in a stepwise manner in FIG. 27 (i).

Due to such a decrease in the target acceleration DVS, the traveling speed gradually increases, as shown in FIG. 27 (ii).

Then, at time t ₃ after the difference between the running speed and the final target vehicle speed VS is smaller than the reference value K ₄ is the control unit 25
Is detected by the arrival detection unit 11, the traveling state switching unit 12 of the control unit 25 switches to the constant vehicle speed traveling specified by the traveling state designating unit 3, and the acceleration traveling of the vehicle ends. In the control cycle after this time t _3, the control unit 25
The vehicle travels at a constant vehicle speed based on the target acceleration DVS set by the target vehicle speed control in step E133 in FIG.

As a result, as shown in FIG. 27 (ii), the traveling speed becomes
Smoothly approaches the final target vehicle speed VS, nearly equal to the final target vehicle speed VS at time t _3, the after this time t ₃ becomes substantially equal value to reach the target vehicle speed VS. Further, the target acceleration DVS becomes a value close to 0 at the time t ₃ , and after the time t ₃ , the target acceleration DVS is a value for keeping the traveling speed equal to the attained target vehicle speed VS and keeping it constant.

Set acceleration switch 45 in FIG. The above is the case where the switch is not operated and the operation of the changeover switch 46 is not performed. Next, when the acceleration traveling of the vehicle as described above is still performed,
A case where the changeover switch 46 is operated will be described.

When the changeover switch 46 is pulled to the front side in FIG. 6 to turn it on, the steps shown in FIG.
The process proceeds from E101 to step E110. Since the position of the acceleration switch 45 has not been changed from the previous control cycle, a negative result is obtained in step E110, and the process proceeds to step E128. In step E128, as described above, step F1 shown in FIG.
The changeover switch control is performed according to the flowcharts of 01 to F121.

In this changeover switch control, first, in step F101, it is determined whether or not the contact of the changeover switch 46 is ON based on the contact information input in step A103 of FIG. 8 (i). If the auto cruise switch 18
Since the operation unit 18 is pulled to the near side in FIG. 6, it is determined that the contact point is in the ON state, and the process proceeds to step F102.

As a value of the flag I ₃ in step F102, whether the value of the flag I ₅ In the next step F103 is 1 it is determined. Note that the flag I _5, as described above, the contact of the changeover switch 46 in the preceding control cycle is ON state, in which indicated by the value is 1.

When advanced to contact of the changeover switch 46 after the ON state to the step F103 in the first control cycle, the value of the flag I ₅ in step F111 in the previous control cycle to the contact point of the changeover switch 46 to the ON state 0 Therefore, the process proceeds to step F104 according to the determination in step F103. Then, after the value of the flag I ₅ and 1 in step F 104,
Proceed to step F105.

On the other hand, if the contact of the changeover switch 46 was in the ON state in the preceding control cycle, it is set to 1 the value of the flag I ₅ in step F104 in the preceding control cycle. Therefore, the process proceeds to step F113 according to the determination in step F103.

As described above, proceeds from step F104 to step F105, the flag I ₆ and 1. As described above, the flag I ₆ indicates that this is the first control cycle after the contact point of the changeover switch 46 is turned on, by indicating that the value is 1.

In the next step F106, the value of the flag I ₁₂ 0,
Proceed to step F107. Incidentally, the flag I ₁₂ has been described above, it is not yet the opening and closing of the performed control cycles corresponding to the timing of the first throttle valve 31 closing visit from thereby performing the automatic cruise mode control in each control cycle, Alternatively, although this opening and closing has already been performed, the acceleration switch
It is determined that the opening / closing in the control cycle corresponding to the opening / closing timing of the throttle valve 31 first visited after the designation of the traveling state designating section 3 of the control section 25 has been changed by the operation of the changeover switch 46 or the changeover switch 46 has been determined. Is 0.

In step F107, since the current control cycle is the ON state of the contact of the changeover switch 46 or the first control cycle, the running state of the vehicle specified by the running state specifying unit (not shown) until the previous control cycle is determined. Different running conditions are designated. Therefore, as described above, the real acceleration DVA
Of the DVA ₆₅ input in step A103 of FIG. 8 (i).
And

In the next step F 108, the value of the flag I ₄ is made a determination whether or not 1. When the value of the flag I ₄ is 0, the running state designating section (not shown)
Indicates that the constant speed traveling is to be designated by.

Here, the changeover switch is set while the vehicle specified by the changeover of the acceleration switch 45 is still accelerating.
Since contacts 46 is ON state, the present control cycle comprising the first ones from when contact is turned ON, the value of the flag I ₄ was 1 at step E116 of Figure 12 Thereafter, it is determined that I ₄ has not changed and I ₄ = 1, and the flow proceeds to step F109.

In step F 109, the running state converter 12 of the control unit 25 proceeds to step F110 the value of the flag I ₄ 0. In step F110, enter the date of the actual vehicle speed VA _I obtained by the interrupt control of steps A123~A128 of FIG. 8 (iv), and ends the switch control in the present control cycle.

When the switch control step E128 of Fig. 12 performed as described above, proceed to the next step E129, when the value of the flag I ₄ is the determination of whether or not 1 has been performed,
Since the value of the flag I ₄ is set to 0 in step F109 in FIG. 13, it is determined that I ₄ = 1 is not satisfied, and the routine proceeds to step E132, where the specification of the traveling state specification unit 3 of the control unit 25 is changed to the constant vehicle speed. Switch to running.

At step E132, but whether or not the value of the flag I ₆ is 1 is determined, the value of the flag I _6, the step F of FIG. 13
Since it is set to 1 in 105, it is determined that I ₆ = 1 and the process proceeds to step E105.

Step E105 and the steps following this step E105
The control by E106 to E109 is performed by the accelerator pedal 27 described earlier.
Steps E105 to E109 in the first control cycle after release
Is exactly the same as the control performed by Therefore, in this control (E105 to E109), the actual vehicle speed VA _{I at the} time of switching by the changeover switch 46 regardless of whether the current control cycle corresponds to the opening / closing timing of the throttle valve 31 or not.
Is set to the target vehicle speed, the throttle valve 31 is rotated to the throttle valve opening which is estimated to be able to run at the actual vehicle speed. As a result, a torque substantially equal to the required torque (having a magnitude required for constant vehicle speed traveling) is output from the engine 13, and the traveling state of the vehicle starts to change from acceleration traveling to constant vehicle traveling.

The above-described control is performed in the first control cycle after the contact of the changeover switch 46 is turned on,
If the auto cruise mode control is continuously performed after the next control cycle and the operation of the acceleration switch 45 is not performed, in the same manner as described above, step E1 in FIG.
After 01 and step E110, the process proceeds to step E128, where the changeover switch control is performed.

This changeover switch control is also performed according to the flowchart shown in steps F101 to F121 in FIG. 13 as described above, but when the process proceeds from step F101 to step F102,
Here, contact of the change-over switch 46 is continued ON state, since the value of the flag I ₅ in step F104 in the first control cycle from when the contact is in an ON state remains becomes 1, at step F103 depending or not of the flag if the value of I ₅ is 1 decision, the process proceeds to step F 113.

In step F 113, the flag I ₄ values whether a 1 is determined. Flag I _4, the contact of the changeover switch 46 is ON
Since the value has been set to 0 in step F109 of the first control cycle after the state, it is determined that I ₄ = 1 and the process proceeds to step F112. Then, in a step F112, the flag I ₆
Is set to 0, and the changeover switch control in the current control cycle is ended.

On the other hand, when the operation proceeds from step F101 to step F 111, after the value of the flag I ₅ 0 at step F 111,
The value of the flag I ₆ at step F112 to terminate the changeover switch control in the present control cycle as 0.

Therefore, contact of the changeover switch 46, and when in the ON state subsequently from one cycle before the control cycle, in the case where the contacts in the current control cycle is no longer the ON state, the change-over switch control, the flag I ₅ Only the value settings are different.

Next, after completion of the changeover switch control, step E1 in FIG.
Proceeding to 29, but whether or not the value of the flag I ₄ is 1 is determined, as described above, the value of the flag I ₄ is still remains 0 at step F109 of FIG. 13, step E129 The process proceeds to step E132, and the designation of the traveling state designation unit 3 of the control unit 25 remains at the constant vehicle speed traveling.

At step E132, the value of the flag I ₆ whether a 1 is determined. Here, since the value of the flag I ₆ it is zero at step F112 of FIG. 13, the flow advances from step E132 to step E133, the target vehicle speed control is performed.

This target vehicle speed control is performed according to the flowchart shown in steps J101 to J116 in FIG. 16, as described above.

In a first step J101, the value of the flag I ₈ is made a determination whether or not 1. The flag I ₈ is the value that the traveling vehicle at a substantially constant speed by the auto cruise mode control is an indication by a 0. Here, the value of the flag I _8, as described above, the contact of the change-over switch 46 in the first control cycle after the ON state, the step E132 of Figure 12 via step E105 when it proceeds to Step E106 Since it is set to 1, the process proceeds to step J102 according to the determination in step J101.

The control performed in accordance with steps J102 to J107 is the same as the target vehicle speed in step E133 in the second and subsequent control cycles after performing control in accordance with steps E101 to E109 in FIG. 12 in the first control cycle after the accelerator pedal 27 is released. It is exactly the same as that performed in the control.

That is, the setting of the target acceleration DVS necessary for gradually decreasing the actual acceleration DVS is performed for each throttle valve opening / closing timing cycle.

Steps E123 to E30 performed after the end of the target vehicle speed control
The control of E127 is the same as that described in each case up to now, and in each throttle valve opening / closing timing cycle, the throttle valve 31 is adjusted to the throttle valve opening degree such that the vehicle acceleration equal to the target acceleration DVS is obtained. Is opened and closed (opening adjustment).

As a result, the acceleration of the vehicle gradually decreases, the running speed gradually approaches the actual speed VA _I when a constant speed running by ON contact of the change-over switch 46, eventually becomes substantially constant.

Then, in step J104 of FIG. 16, the actual acceleration DV
The absolute value of A | DVA | When it is determined that the preset reference value Kα smaller, after the zero value of the flag I ₈ at step J108, performing control according to step J109～J116.

The control according to steps J109 to J116 is also performed in step J101.
Similarly to the control of J107, when the auto cruise mode control is performed by releasing the accelerator pedal 27, the control is exactly the same as the control performed in the target vehicle speed control in step E133 in FIG. Also, the next control cycle after the determination is performed the control cycle of steps J104, the value of the flag I ₈ at step J108 is a 0, the flow advances from step J101 to step J109, the same control is performed .

That is, after the traveling speed of the vehicle becomes substantially constant,
When the target acceleration DVS necessary to keep the traveling speed constant is set, and the target vehicle speed change switch 48 is switched to the (+) side or the (-) side in FIG.
In accordance with this switching, the set value of the target vehicle speed VS for maintaining the traveling speed constant is increased or decreased.

Steps to be performed after the end of the target vehicle speed control
By the control of E123 to E127, the throttle valve 31 is opened and closed to the required throttle valve opening (throttle valve opening that obtains the vehicle acceleration equal to the target acceleration DVS) as described above. The vehicle travels at a constant vehicle speed at a constant traveling speed substantially coincident with the vehicle speed.

As described above, when the contact of the changeover switch 46 is turned on while the vehicle is accelerating, the control unit 25
Running condition designating section 3 of the specification is switched to the constant vehicle speed running of the actual vehicle speed VA _I when this switching is performed, the target vehicle speed of the constant speed running.

Then, the traveling speed of the vehicle is maintained substantially constant in the same manner as in the case where the vehicle shifts to the constant vehicle speed traveling state by releasing the accelerator pedal 27.

Next, the acceleration switch 45 is turned on in FIG. When the automatic cruise mode control is performed at any of the positions and the traveling state designating section 3 is set to the constant vehicle speed traveling, the operating section 18a of the auto cruise switch 18
Will be described when the contact of the changeover switch 46 is turned on by pulling the switch toward the front.

In this case, when the contact of the changeover switch 46 is turned on,
In the same manner as described above, the process proceeds from step E101 in FIG. 12 to step E110. In step E110, since the operation of the acceleration switch 45 is not performed, it is determined that the position of the acceleration switch 45 has not been changed from the previous control cycle, and the process proceeds to step E128.

In step E128, as described above, the step in FIG.
The changeover switch control is performed according to the flowcharts shown in F101 to F121.

That is, first, in step F101, based on the contact information input in step A103 of FIG. 8 (i),
It is determined whether or not the contact of the changeover switch 46 is in the ON state, and the process proceeds to step F102 according to this determination.

In step F102, the value of the flag I ₃ as 1, the process proceeds to step F 103, in step F 103, the value of the flag I ₅ performs a determination of whether or not 1. In the control cycle up to the previous, and the auto-cruise mode control is performed the acceleration switch 45 and the changeover switch 46 are both in the state where no operations, the value of the flag I ₅ is zero at step F 111. Therefore, in the first control cycle the contacts of the changeover switch 46 from the ON state, the process proceeds to step F104 by the determination in step F 103, in step F104, after the value of the flag I ₅ and 1, the process proceeds to step 105.

In the following control cycle, if the contact of the changeover switch 46 is in the ON state and the automatic cruise mode control is continuously performed and the process proceeds to step F103, the contact of the changeover switch 46 is set to the ON state as described above. since the value of the flag I ₅ in step F104 in the first control cycle is a 1 from step F1 by the determination in step F103
Proceed to 13.

Next, from step F103 through step F104
If the process proceeds to F105, 1 the value of the flag I ₆ in step F105
And then, after the value of the flag I ₁₂ at the next step F106 is set to 0, the process proceeds to step F107.

In step F107, since the current control cycle is the first control cycle after turning on the contact point of the changeover switch 46, the running state of the control unit 25 is different from the running state of the vehicle specified until the previous control cycle. The status is specified by the status specifying unit 3. Therefore, here, as described above, the value of the actual acceleration DVA is set to the DVA ₆₅ input in step A103 of FIG. 8 (i), giving priority to the degree of followability to the actual acceleration value.

In the next step F 108, the value of the flag I ₄ is made a determination whether or not 1.

Here, after performing the acceleration running of the vehicle by switching the acceleration switch 45, as described above, when the running speed becomes a constant speed running condition to reach the target vehicle speed, the value of the flag I ₄ Part 17 It is set to 0 in step L120 in the figure.

When the auto cruise mode control is performed by releasing the accelerator pedal 27 and the vehicle is driven at a constant vehicle speed,
The value of the flag I ₄ is zero at step E102 of Figure 12.
Further, when a constant speed running condition is performed auto-cruise mode control by release of the brake pedal 28, the value of the flag I ₄ is zero at step C145 of FIG. 10.

Furthermore, when a constant speed running condition by the contact of the changeover switch 46 to the ON state, as described above, the value of the flag I ₄ is zero at step F109 of FIG. 13.

Therefore, in step F108, it is determined that I ₄ = 1 is not satisfied, and the process proceeds to step F117.

In step F 117, the value of the flag I ₄ and 1, after the value of the flag I ₉ 0 at subsequent step F 118, step F119
Then, based on the contact information input in step A103 of FIG. 8 (i), the acceleration switch 45 in FIG. Is determined.

The position of the acceleration switch 45 is shown in FIG. , The process proceeds to step F121 according to the determination in step F117, and the traveling state designating unit 3
Is switched to acceleration running.

In step F121, the target vehicle speed setting unit 6 of the control unit 25
In this control cycle, the vehicle speed / acceleration detector 24
The actual vehicle speed VA detected in step A103 of FIG. 8 (i) and inputted in step A103 of FIG. 8 (i) is the same as the preset correction amount used in step E120 of FIG. Plus the value Is set as the target vehicle speed VS at the time of acceleration traveling.

Thus, the changeover switch control in the current control cycle ends.

As described above, in the changeover switch control, the acceleration switch 45 in FIG. The target vehicle speed VS at the time of acceleration traveling is set in the same manner as when switching to any one of the positions.

When the changeover switch control in step E128 in FIG. 12 is performed as described above, the process proceeds to step E129, and the flag I
Although ₄ values is determined whether or not it is 1, since the flag I ₄ as described above there is a 1 value in FIG. 13 step F 117, the process proceeds to step E130 is determined in step E129.

In step E130, the position of the acceleration switch 45 is Is determined based on the contact information input in step A103 of FIG. 8 (i). here,
The position of the acceleration switch 45 is shown in FIG. In step E130. , The process proceeds to step E121.

In this step E121, the target acceleration setting unit 4 of the control unit 25
Acceleration switch control is performed, and the following step E122
The acceleration control is mainly performed by the acceleration control unit 9 of the control unit 25.

The acceleration switch control and the acceleration control based on the input of the changeover switch 46 are the same as the acceleration switch control and the acceleration control performed when the acceleration switch 45 is switched to specify the acceleration traveling state of the vehicle.
The control performed in the first control cycle after the input of 46 is the same as the control performed in the first control cycle after switching the acceleration switch 45 when the acceleration switch 45 is switched to specify the acceleration traveling state of the vehicle. Further, the changeover switch 46
The control in the control cycle corresponding to the opening / closing timing of the throttle valve 31 which is first visited after inputting is input to the first timing after switching the acceleration switch 45 when the acceleration switch 45 is switched to specify the acceleration traveling state of the vehicle. Is the same as the control of the control cycle corresponding to.

That is, in the first control cycle after the input of the changeover switch 46, the target acceleration DV in the constant acceleration traveling state corresponding to the position of the acceleration switch 45 is controlled by the acceleration switch control.
Setting S ₂ is performed, the following acceleration control, the actual speed VA
There when lower than the reference value K ₅ set in advance, is changed to a value the value of the target acceleration DVS ₂ corresponding to the actual vehicle speed.

Further, when the control cycle corresponds to the timing of the throttle valve 31 opening and closing is further the acceleration control, the correction amount? Dv ₁ set in advance to the actual acceleration DVA is added, it accelerated running of the value of the DVA +? Dv ₁ vehicle It is set as a target acceleration DVS for smooth start.

If the first control cycle corresponds to the opening / closing timing after the contact point of the changeover switch 46 is turned on, when the acceleration control is completed, the throttle valve 31 is opened / closed as described above according to steps E123 to E127. Then, the acceleration of the vehicle is started at an acceleration substantially equal to the target acceleration DVS.

If this control cycle does not correspond to the opening / closing timing, the target acceleration DVS is not set by the acceleration control in this control cycle, and the opening and closing of the throttle valve 31 in steps E123 to E127 is not performed. The cruise mode control ends.

As described above, the control in the first control cycle is performed after the contact of the changeover switch 46 is turned on, but the accelerator pedal 27 and the brake pedal 28 are not depressed even after the next control cycle, and the auto cruise mode continues. When the control is performed and the switching of the acceleration switch 45 is not performed, similarly to the above case,
After step E101 and step E110 in FIG. 12, the process proceeds to step F101 in FIG. 13, and it is determined whether the contact of the changeover switch 46 is in the ON state.

When the contact of the changeover switch 46 is continuously turned on from the previous control cycle, the process proceeds to step F102 according to the determination of step F101, and the operation unit 18a of the auto cruise mode 18 is released and returned to the original position. . On the other hand, when the contact of the changeover switch 46 is in the OFF state, the process proceeds to step F111 according to the determination in step F101.

If the procedure advances to step F102 from step F101, after the value of the flag I ₃ and 1 in step F102, step F10
Advances to 3, the value of the flag I ₅ in step F103 whether it is 1 or not. The value of the flag I _5, as previously mentioned, are the contacts of the changeover switch 46 from the ON state 1 in the first control cycle in step F 104, since contacts subsequently remains in the ON state, step The process proceeds to step F113 according to the determination of F101.

In step F 113, the value of the flag I ₄ is judged whether it is 1, the value of the flag I _4, since there is a 1 in step F117 of the control cycle, step by the determination in step F 113 F 114 Proceed to.

In step F114, based on the contact information input in step A103 of FIG. 8 (i), the acceleration switch 45 is turned on in FIG. Is determined. Now, acceleration switch
45 in Fig. 6 Therefore, the process proceeds to step F116 according to the determination in step F114.

In step F116, the target vehicle speed change control unit 6a of the control unit 25 determines the target vehicle speed in the previous control cycle.
The VS, preset correction amount VT ₁ a value obtained by adding (VS + VT ₁₎
Is designated as the target vehicle speed VS of the acceleration traveling in the current control cycle.

The target vehicle speed VS in the previous control cycle
If this control cycle is the first control cycle after turning on the contact of the changeover switch 46, the value is specified in step F121, while if it is not the first control cycle, The value is specified in step F116.

Therefore, when the contact of the changeover switch 46 is turned on, the correction amount preset to the actual vehicle speed VA in the first control cycle is set. The value obtained by adding is designated as the target vehicle speed VS at the time of acceleration traveling. Continuing the ON state of the switch 46, to reach increase the target vehicle speed VS by the correction amount VT ₁ which is previously set in each control cycle with this continuation time increasing. That is, Becomes

Then, the process proceeds from step F116 to step F 112, the value of the flag I ₆ ends the switch control in the present control cycle as 0.

In the current control cycle, the contact of the changeover switch 46 is not ON, and the step
If the procedure advances to F111 proceeds as 0 the value of the flag I ₅ In this step F111 to step F 112. Step F11
In 2, the 0 value of the flag I ₆ as described above, to end the change-over switch control in the present control cycle.

The changeover switch control is completed as described above, and then,
Proceed to step E129 in FIG. In this step E129,
It is determined whether or not the value of the flag I ₄ is 1. As described above, since the value of the flag I ₄ is set to 1 in step F117 in FIG. 13, it is determined by the determination in step G129. Proceed to step E130.

In step E130, the acceleration switch 45 is Is determined. Here, the acceleration switch 45 is , The process proceeds from step E130 to step E121.

As described above, the control in step E121 and the subsequent steps E122 to E127 are performed after the acceleration switch 45 is switched.
This is the same as the control performed after the first control cycle.

That is, in the acceleration switch control in step E121, since the position of the acceleration switch 45 is not changed, the value set in the first control cycle after the contact point of the changeover switch 46 is turned on is set to the target value during the constant acceleration traveling. It is set as the acceleration DVS _2.

Further, by the acceleration control at step E122, the time of the acceleration start is raised to smooth the target acceleration DVS ₂ the acceleration of the vehicle, after this, the target acceleration DVS ₂ is performed the acceleration of the vehicle, reaching a running speed of the vehicle When the vehicle reaches the target vehicle speed VS, the target acceleration DVS is set so as to gradually decrease the acceleration before the vehicle reaches the target vehicle speed VS.

Further, at this time, the actual vehicle speed VA is set to a predetermined reference value K.
If lower than _5, the target acceleration DVS ₂ is changed to a value corresponding to the actual vehicle speed VA. Then, every throttle valve opening / closing timing cycle, the throttle valve 3 is set based on the target acceleration DVS.
Open and close 1. As a result, the vehicle is accelerated at an acceleration substantially equal to the target acceleration DVS.

Even when the traveling speed of the vehicle becomes substantially equal to the attained target vehicle speed VS due to such acceleration, the step is performed in the same manner as when the acceleration control is performed by switching the acceleration switch 45.
The value of the flag I ₄ is a 0 in the acceleration control of the E122.
Therefore, after the next control cycle, step E129
Then, the process proceeds from step E132 to step E133, in which the vehicle is driven at a constant vehicle speed under target vehicle speed control using the target vehicle speed VS as the target vehicle speed.

As described above, the acceleration switch 45 is When the auto cruise mode control is performed and the vehicle is running at a constant vehicle speed, the operation unit 18a of the auto cruise switch 18 is pulled toward the front side in FIG. When input, the designation of the traveling state designation unit 3 of the control unit 25 becomes the acceleration traveling, and the acceleration switch 45
As in the case of the switching, the acceleration according to the position of the acceleration switch 45 and the acceleration traveling of the vehicle are smoothly performed.

At this time, the target vehicle speed at the time of acceleration traveling is set to a value higher than the traveling speed of the vehicle in the constant vehicle speed driving state by a fixed amount. Increased by increasing the side pulling time.

After the traveling speed of the vehicle reaches the target vehicle speed due to the acceleration traveling, the designation of the traveling state designation unit 3 is switched to the constant vehicle speed traveling, and the vehicle having the target vehicle speed as the target vehicle speed travels at the constant vehicle speed. .

Above, the acceleration switch 45 And the acceleration switch 45 is set to When the auto cruise switch 18 is in the position
The case where the contact of the changeover switch 46 is turned on by pulling a to the front side has been described. And the acceleration switch 45 is set to The case where the operation unit 18a is pulled to the front side when the contact point of the changeover switch 46 is turned ON when the switch is in the position of will be described.

Set acceleration switch 45 in FIG. Or the acceleration switch 45
But When the vehicle is in the constant vehicle speed running state at the position of, the contact point of the changeover switch 46 is turned on, thereby specifying the accelerated running state of the vehicle. Then, when the vehicle is accelerating, the acceleration switch 45 is turned on. Since the accelerator pedal 27 has not been depressed in the previous control cycle, it is determined in step E101 in FIG. 12 that the contact of the accelerator switch 12 was in the ON state in the previous control cycle. And step E110
Proceed to.

In step E110, as described above, whether the position of the acceleration switch 45 has been changed from the previous control cycle is determined based on the contact information input in step A103 of FIG. 8 (i). . The acceleration switch 45 was And in this control cycle At the position of step E110.
Proceed to E111.

This step E111 and the following steps E112 to E1
In 13, one value of the flag I ₃ as described above, also the value of the flag I ₅ and flag I ₉ to 0. Next, in step E114, the acceleration switch 45 is The determination as to whether or not the camera is at the position shown in FIG.
This is performed based on the contact information input in A103.

In this control cycle, the acceleration switch 45 Since the positions, the process proceeds from step E114 to step E115, after the value of the flag I ₄ is 0, the process proceeds to step E104.

This step E104 and the following steps E105 to E1
The control in step 09 is exactly the same as the control in steps E104 to E109 performed in the first control cycle after the release of the accelerator pedal 27 described above.

With this control, the current control cycle
31 Regardless of whether the opening / closing timing As the target vehicle speed actual vehicle speed VA _I immediately after switching the position is controlled so as to perform constant speed running. Specifically, the throttle valve 31 is adjusted to an appropriate throttle valve opening so that the torque required for the constant vehicle speed traveling can be obtained from the engine 13. As a result, a torque having a substantially desired magnitude is output from the engine 13, and the running state of the vehicle starts to change from acceleration running to constant vehicle speed running.

Acceleration switch 45 In the first control cycle after switching to the position described above, the control described above is performed, but the auto cruise mode control is continuously performed after the next control cycle. And the acceleration switch 45 When the switch 46 is not operated and the switch 46 is not operated, the process proceeds from step E101 to step E110 in FIG.
It is determined whether the position of 45 has been changed from the previous control cycle.

As mentioned above, the acceleration switch 45 Since the position has not been changed since the previous control cycle, the process proceeds from step E110 to step E128,
Changeover switch control is performed.

This changeover switch control is performed according to the flowchart shown in steps F101 to F121 in FIG. 13 as described above.

In the first step F101, since the changeover switch 46 has not been operated, the contact of the changeover switch 46
It is determined that it is not in the ON state, and the process proceeds to step F111.

Then, the value of the flag I ₅ to 0 in step F 111, then a 0 value of the flag I ₆ in step F 112, and ends the switch control in the present control cycle.

Then, the process proceeds to step E129 of Fig. 12, the value of the flag I ₄ is made a determination of whether or not 1, the flag I ₄
Sets the acceleration switch 45 as described above. Step E1 of the first control cycle after switching to the position
Since the value is set to 0 in 15, the process proceeds to step E 132 according to the determination in step E 129, and the traveling state specifying unit 3 of the control unit 25
Is switched to the constant vehicle speed traveling.

At step E132, it determines whether the value of the flag I ₆ is 1 is performed, step F of the flag I ₆ is FIG. 13
Since the value is set to 0 in 112, the process proceeds to step E133 according to the determination in step E132, and the target vehicle speed control is performed.

This target vehicle speed control is performed according to the flowchart shown in steps J101 to J116 in FIG. 16 as described above.

That is, in the first step J101, the value of the flag I ₆ is made a determination whether or not 1. This flag I
₈ , set the acceleration switch 45 Since the value has been set to 1 in step E106 of FIG. 12 in the first control cycle after the position is switched to, the process proceeds to step J101 or step J102.

This step J102 and the following steps J103 to J1
In the control of 07, control is performed in accordance with steps E101 to E109 in FIG. 12 in the first control cycle after the accelerator pedal 27 is released, and the process proceeds to step E133 in the subsequent control cycles, and as a result, steps J102 to J107 Is exactly the same as the target vehicle speed control performed in accordance with That is, the setting of the target acceleration VDS necessary for gradually decreasing the actual acceleration DVA is performed for each control cycle corresponding to the timing of opening and closing the throttle valve 31.

When the target vehicle speed control is completed as described above, the control is performed as described above in each case according to steps E123 to E127 in FIG. 12, and the vehicle acceleration equal to the target acceleration DVS is performed. The opening and closing of the throttle valve 31 to the opening degree of the throttle valve 31 is performed for each control cycle corresponding to the opening and closing timing. Then, as a result, the acceleration of the vehicle gradually decreases, the traveling speed is substantially constant gradually approaches the actual speed VA _I after accelerated switch 45 switching straight.

In this way, the acceleration of the vehicle decreases. When it is determined in step J104 of FIG. 16 that the absolute value | DVA | of the actual acceleration DVA is smaller than the preset reference value Kα, the flag I is determined in step J108. After setting the value of ₈ to 0, step J109
Proceed to. Control is performed in accordance with step J109 and steps J110 to J116 subsequent thereto. In each control cycle after judgment at step J104 is performed, since the zero value of the flag I ₈ at step J108, the flow advances from step J101 to step J109, similarly control is performed.

The control performed according to steps J109 to J116 is as follows:
In the auto cruise mode control after the accelerator pedal 27 is released, control is performed in accordance with steps J101 to J108 as described above.
After proceeding to J108, the control is exactly the same as that performed according to steps J109 to J116.

Then, control is performed according to steps E123 to E127 in FIG. As a result, the opening and closing of the throttle valve 31 to the opening degree of the throttle valve that obtains the acceleration of the vehicle equal to the target acceleration DVS is performed every throttle opening / closing timing cycle. As a result, the vehicle travels at a constant vehicle speed at a constant traveling speed substantially coincident with the target vehicle speed VS.

As described above, switching the acceleration switch 45,
Alternatively, by turning on the contact of the changeover switch 46, the acceleration switch is turned on when the vehicle is accelerating.
45 to When switched to the position, the running state specified specification section 3 is switched to the constant vehicle speed running of the controller 25, the actual vehicle speed VA _I after accelerated switch 45 switching straight, i.e., designation of the running condition to a constant speed running The vehicle speed at the time of switching is controlled as a target vehicle speed so as to run at a constant speed.

This control is the same control as when the vehicle shifts to the constant vehicle speed running state by releasing the accelerator pedal 27, or when the contact point of the changeover switch 46 is turned on while the vehicle is performing acceleration running. As a result, the running speed of the vehicle is maintained substantially constant in accordance with the target vehicle speed.

In addition, the acceleration switch 45 , And the traveling state designating unit 3 of the control unit 25 specifies the constant speed traveling. When the vehicle is in the constant traveling speed state, the acceleration switch 45 is turned on. , The same control as described above is performed.
In this case, since the designation is already at the constant vehicle speed before the switching, the constant vehicle speed traveling is continuously performed at the same target vehicle speed, and the traveling state of the vehicle does not change.

Next, the acceleration switch 45 And the auto cruise mode control is performed, and the auto cruise switch 18 is turned off when the vehicle is in the constant vehicle speed traveling state because the traveling state designation unit 3 of the control unit 25 specifies the constant vehicle speed traveling. The case where the operation unit 18a is pulled toward the user in FIG. 6 to turn on the contact of the changeover switch 46 will be described below.

In this case, when the contact of the changeover switch 46 is turned on,
In the same manner as described above, the process proceeds to steps E101 to E110 in FIG. 12, and in step E110, since the operation of the acceleration switch 45 is not performed, the acceleration switch 45
It is determined that the position has not been changed from the previous control cycle, and the routine goes to Step E128.

In step E128, as described above, the changeover switch control is performed. First, in step F101 in FIG. 13, the changeover switch is controlled based on the contact information input in step A103 in FIG. 8 (i). A determination is made as to whether the 46 contacts are in the ON state.

Now, since the contact of the change-over switch 46 is in the ON state, the process proceeds from step F101 to step F102, the value of the flag I ₃ is set to 1, the next step F 103, the value of the flag I ₅ whether a 1 Is determined.

In the first control cycle after the contact of the changeover switch 46 is turned on, the auto cruise mode control is performed without operating both the acceleration switch 45 and the changeover switch 46 in the previous control cycle. The value of ₅ is set to 0 in step F111. Therefore, the process proceeds to step F104 according to the determination in F103.

This step was the value of the flag I ₅ and 1 F 104, the value of the flag I ₆ at the next step F105 as 1, further 0 the value of the flag I ₁₂ at step F106, the process proceeds to step F107.

In this step F107, since the current control cycle is the first control cycle after turning on the contact point of the changeover switch 46, the running state of the control unit 25 that is different from the running state of the vehicle specified until the previous control cycle is changed. It is specified by the running state specifying unit 3. For this reason, as described above, the value of the actual acceleration DVA is changed to the value of D input in step A103 of FIG.
VA _{65 is} assumed.

In the next step F108, it is determined whether or not the value of the flag I ₄ is 1, but as described above, the value of the flag I ₄ is 0.

In other words, the contact point of the changeover switch 44 is constant speed running condition before an ON state, when it is due to switching of the acceleration switch 44, at step E115 of Fig. 12, the value of the flag I ₄ becomes 0 .

Further, in the case in which the transition by the accelerator pedal 27 released, at step E102 of Dji 12 Figure, the value of the flag I ₄ becomes zero.

Furthermore, in the case in which the transition by the release brake pedal 28, in step C145 of FIG. 10, the flag I ₄
Is 0.

When due to the contact of the changeover switch 46 in the ON state at step F109 of FIG. 13, the value of the flag I ₄ becomes zero.

Therefore, according to the judgment of step F108, step F1
Go to 17.

Then, the value of the flag I ₄ to 1 in step F 117, after the value of the flag I ₉ 0 at subsequent step F 118, the process proceeds to step F 119, the contact input in step A103 of FIG. 8 (i) Acceleration switch 45 from information Is determined.

In this case, the acceleration switch 43 , The process proceeds to step F120 according to the determination in step F119, and the designation of the traveling state designation unit 3 of the control unit 25 is switched to deceleration traveling.

In this step F120, step A103 in FIG.
Correction amount preset from actual vehicle speed VA input in Is set by the target vehicle speed setting unit 6 of the control unit 25 as the target vehicle speed during deceleration traveling. Thus, the changeover switch control in the current control cycle ends.

Next, proceeding to step E129 in FIG. 12, it is determined whether or not the value of the flag I ₄ is 1, and the value of the flag I ₄ is, as described above, 1 in F117
Therefore, the process proceeds from step E129 to step E130.

In step E130, based on the contact information input in step A103 of FIG. It is determined whether or not it is in the position of , The process proceeds from step E130 to step E131, where the deceleration control is performed.

In this deceleration control, a negative value target acceleration (that is, a target deceleration) DVS for performing deceleration traveling for decreasing the traveling speed of the vehicle to the target vehicle speed VS is set. This is mainly performed by the deceleration control unit 10 and the target acceleration setting unit 4 of the control unit 25 according to the flowcharts shown in steps H101 to H110.

That is, first, in step H101, the target vehicle speed VS and the actual vehicle speed input in step A103 in FIG.
The absolute value | VS-VA | of the difference from VA is set to a preset reference value K ₄
A determination is made whether it is less than.

When the process proceeds to step H101 in the first control cycle after the contact of the changeover switch 46 is turned on, the target vehicle speed VS is corrected from the actual vehicle speed VA as described above. Absolute value | VS-VA | is the correction amount be equivalent to. And the correction amount Since is set to be larger than the reference value _{K 4, | VS-VA |} >
Become a K _4, the process proceeds to step H102.

In this step H102, after calculating the difference VS-VA between the arrival target vehicle speed VS and the actual vehicle speed VA, the next step H103, reads the target acceleration DVS ₅ corresponding to the difference VS-VA map ♯MDVS5.
Then, in the next step H104, the target acceleration during deceleration traveling
Specifying the target acceleration DVS ₅ as the value of DVS, and terminates the deceleration control in the present control cycle.

The above map ♯MDVS5, the target acceleration DVS ₅ that the difference VS-VA as a parameter, corresponding to the target deceleration during deceleration
VS-VA and target acceleration DVS
₅ has the correspondence shown in FIG. Therefore,
Target acceleration DVS ₅ is a negative value as long as the difference VS-VA has a positive value, a substantially deceleration.

After setting the target acceleration DVS by the deceleration control as described above, the process proceeds to step E123 in FIG. Then, as described above, to calculate the target torque TOM ₂ of the engine 13 required to equal the acceleration of the vehicle to the target acceleration DVS using equation (5) above.

In the case of the first control cycle after the contact of the changeover switch 46 is turned on, the target acceleration DVS ₅ having a negative value is designated as the target acceleration DVS, and the vehicle traveling state before the control cycle is constant vehicle speed. Since the vehicle is traveling, the actual acceleration DVA is almost zero. Therefore, in this case, the target torque TOM ₂ calculated by the equation (5) becomes the actual torque TEM value less than the engine 13 is output.

Then it proceeds to step E124, the target torque TOM ₂ calculated in step E123, the throttle valve corresponding to the engine rotational speed N _E which is input in step A103 of FIG. 8 (i) opening Is read from the map @MTH (not shown), and the process proceeds to step E12.
Proceed to 5.

Note that the control in step E123 and step E124 is performed by the deceleration control unit 10 of the control unit 25 since the traveling state designation unit 3 of the control unit 25 specifies deceleration traveling.

Throttle valve opening in map ♯ MTH (not shown) The minimum value corresponds to the minimum opening at which the engine idle position is set. If the target torque TOM ₂ becomes smaller than the minimum torque that can be output from the engine 13, the throttle valve opening Is set to the minimum opening.

Then, step E125 and the following step E126
The control of E127 to E127 is the same as that performed in each case described above, and if the current control cycle corresponds to the opening / closing timing of the throttle valve 31, the throttle valve specified in step E124 Opening With opening and closing of the throttle valve 31 is made to the value of the flag I ₁₂ is a 1.

Then, as a result, when the target torque TOM ₂ is larger than the minimum torque that can be output from the engine 13, a torque substantially equal to the target torque TOM ₂ is output from the engine 13,
Conversely, when the target torque TOM ₂ is less than the minimum torque from the engine 13 is held at the minimum opening of the throttle valve 31 becomes the engine idle position, to start the deceleration by engine braking, running state of the vehicle is constant Transition from vehicle speed running to decelerating running.

If the current control cycle does not correspond to the opening / closing timing, the auto cruise mode control in the current control cycle is ended without opening / closing the throttle valve.

As described above, after the control of the first control cycle is performed after the contact of the changeover switch 46 is turned on, the auto cruise mode control is continuously performed after the next control cycle. When the switching of the acceleration switch 45 is not performed, similarly to the above-described case,
After step E101 and step E110 in FIG.
Proceeding to step H101 in the figure, it is determined whether or not the contact of the changeover switch 46 is in the ON state.

If the contact of the changeover switch 46 has been continuously turned on from the previous control cycle, the process proceeds to step F102,
When the operation unit 18a of the auto cruise switch 18 is released and the contact of the changeover switch 46 is turned off, the process proceeds to step F111.

When the process proceeds from step F101 to step F102, as described above, the acceleration switch 45 is When the contact point of the changeover switch 46 is set to the ON state when the switch is in the position, the acceleration contact state of the vehicle is designated, and in the same manner as in the case where the contact point is kept ON in the second and subsequent control cycles, Step F103 and Step F113
And the process proceeds to Step F114.

In step F114, the acceleration switch 45 is turned on based on the contact information input in step A103 of FIG. 8 (i). It is determined whether or not it is at the position of , The process proceeds to step F115.

Then, in step F 115, the preset correction amount VT ₂ for subtracting the value from the final target vehicle speed VS in the preceding control cycle reaches the target vehicle speed change control section 6a of the control section 25 (VS-V
T ₂ ) is set as the attained target vehicle speed VS in the current control cycle.

The target vehicle speed VS in the previous control cycle
Is the value set in step F120 if the previous control cycle is the first control cycle after turning on the contact point of the changeover switch 46, while if it is not the first control cycle, , The values of which are set in step F115.

Therefore, when the contact of the changeover switch 46 is turned on, the correction amount set in advance from the actual vehicle speed VA in the first control cycle. Minus Is designated as the target vehicle speed VS at the time of deceleration traveling, and if the contact point is kept on, the duration of this continuation increases,
Each preset for each control cycle correction amount VT ₂ reaches the target vehicle speed VS decreases. That is, Becomes

Then, the process proceeds from step F115 to step F 112, the value of the flag I ₆ 0, and ends the switch control in the present control cycle.

Since the contact of the changeover switch 46 has not been turned on in the current control cycle, when the process proceeds from step F101 to step F111, the flag I ₅ is set in step F111.
Is set to 0, and the value of the flag I ₆ is set to 0 in the next step F112.
Then, the changeover switch control in the current control cycle is ended.

The changeover switch control is completed as described above, and then,
Proceed to step E129 in FIG. And, as mentioned above,
The value of the flag I ₄ is made a determination whether or not 1.
Here, the value of the flag I ₄ is in FIG. 13 step F 117 1
Therefore, the process proceeds from step E129 to step E130.

In step E130, the position of the acceleration switch 45 is It is determined whether or not it is at the position of
Acceleration switch 45 , The process proceeds to step E131, whereupon the above-described deceleration control is performed.

The deceleration of the vehicle at this time is substantially equal to the absolute value of the target acceleration DVS, but the target torque TOM ₂ calculated in step E123 is smaller than the minimum torque that can be output from the engine 13. As described above, since the throttle valve 31 is closed to the minimum opening at the engine idle position as described above, the maximum deceleration obtained by engine braking is not necessarily equal to the absolute value of the target acceleration DVS.

Target acceleration D set as the value of this target acceleration DVS
VS ₅ is the target vehicle speed VS and the actual vehicle speed V, as shown in FIG.
When the difference VS-VA from A is larger than Vβ shown in the figure, it has a constant value.
The value approaches 0 as A decreases. Therefore, after the actual vehicle speed VA becomes a value close to the target vehicle speed VS due to the deceleration traveling, the degree of deceleration of the vehicle becomes gentle with the decrease of the actual vehicle speed VA, and the traveling speed of the vehicle smoothly reaches the target vehicle speed VS. Approach the vehicle speed.

As described above, deceleration of the vehicle is performed, the absolute value the actual speed VA is reduced | VS-VA | if becomes smaller than the reference value K _4, the arrival detection unit 11 of the controller 25, the travel of the vehicle It is detected that the speed has reached the target vehicle speed VS,
The process proceeds to step H105 according to the judgment of H101.

In step H105, a difference VS-VA between the target vehicle speed VS and the actual vehicle speed VA is calculated. In the next step H106, similarly to the control for shifting to the constant vehicle speed traveling state, the traveling speed of the vehicle becomes substantially constant and there is no sudden change in the traveling state,
By giving priority to the degree of stability over the degree of followability, the actual acceleration DVA used in step E123 in FIG.
The actual acceleration DVA ₈₅₀ calculated by the interrupt control shown in FIG. (Iv) and input in step A103 of the eighth input diagram (i) is designated.

Next, proceeding to step H108, as described above, the actual vehicle speed VA
Reaches the target vehicle speed VS is substantially equal, since the traveling speed of the vehicle by the arrival detection unit 11 of the control unit 25 is detected to have reached the final target vehicle speed VS being performed with the target acceleration DVS ₅
Instead of using the target acceleration DVS ₄ in step M101 in FIG.
To M106.

The content of this control is exactly the same as the control in step J115 in FIG. 16 when the accelerator pedal 27 is released and the vehicle shifts to the constant vehicle speed running state by the auto cruise mode control.

Further, in the next step H108, step E1 in FIG.
Target acceleration DVS ₄ as the value of target acceleration DVS used in 23
And the process proceeds to step H109.

The target acceleration DVS ₄ is, as previously mentioned, with respect to the difference VS-VA between the actual vehicle speed VA input in step A103 of the constant vehicle speed running target vehicle speed VS and Figure 8 at (i), 23 Figure or second
The correspondences shown in FIG. 4 are set, and in each of the figures, the correspondences increase as the difference VS-VA increases. Therefore, the target acceleration DVA serves to keep the traveling speed of the vehicle that has been decreasing until then at the target speed VS, that is, the attained target vehicle speed VS when the vehicle is in the decelerating traveling state.

In step H109, the running state converter 12 of the control unit 25 is set to 0 the value of the flag I _4, the next step H110 flag I ₈
Is set to 0, the deceleration control in the current control cycle is terminated, and then control is performed according to steps E123 to E127 in FIG.

This control is the same as the control in steps E123 to E127 in each case described above, and the control in step E123 and step E124 is the deceleration driving because the designation of the traveling state designation unit 3 of the control unit 25 is deceleration. This is performed by the deceleration control unit 10 of the control unit 25.

That is, the target acceleration DV whose value is specified by the deceleration control
Throttle valve opening based on S Is set, and if the current control cycle corresponds to the opening / closing timing of the throttle valve 31, the throttle valve 31 It is opened and closed until. As a result, the vehicle speed remains substantially equal to the target vehicle speed VS.

As described above, even after the control cycle following the control cycle according to steps H105 to H110 in FIG. 15,
Subsequently, the auto cruise mode control is performed. Further, when neither the acceleration switch 45 nor the changeover switch 46 is operated, the process proceeds to step F101 in FIG. 13 again through steps E101 and E110 in FIG. 12 in the same manner as described above.

Here, since the contact of the changeover switch 46 is already in the OFF state, as mentioned before, the process proceeds by the determination of step F101 to step F 111, after the value of the flag I ₅ 0, the flag at step F112 the value of I ₆ 0, and ends the switch control in the present control cycle.

Then, the process proceeds to step E129 of Fig. 12, the value of the flag I ₄ is made a determination of whether or not 1, the flag I ₄
Is set to 0 in step H109 in FIG. 15 as described above, the process proceeds to step E132, where the designation of the traveling state designation unit 3 of the control unit 25 is switched to the constant vehicle speed traveling.

In step E132, the value of the flag I ₆ is made a determination of whether or not 1, the value of the flag I _6, since there is a 0 in step F112 of FIG. 13, as described above, The process proceeds from step E132 to step E133, where target vehicle speed control is performed.

The target vehicle speed control is carried out according to the flowchart shown in step J101~J116 of FIG. 16, the value of the flag I ₈ is determined in the first step J101 is, as described above, at step H110 of FIG. 15 0 Therefore, the above-described control is performed according to steps J109 to J116 in the same manner as after the shift from the accelerated traveling state to the constant vehicle traveling state.

When the target vehicle speed control is completed, Steps E123 to E123 in FIG.
The control is performed in accordance with E127, and the throttle valve 31 is opened and closed in each control cycle corresponding to the opening / closing timing corresponding to the target acceleration DVS in the same manner as described above. As a result, the vehicle travels at a constant traveling speed substantially equal to the target vehicle speed VS.

As mentioned above, the acceleration switch 45 When the auto cruise mode control is performed and the vehicle is running at a constant vehicle speed, the operation unit 18a of the auto cruise switch 18 is pulled forward to turn on the contact of the changeover switch 46. , The deceleration traveling is designated by the traveling state designation unit 3 of the control unit 25, and the value decreases with the increase in the duration of the ON state of the contact point.
Until the traveling speed of the vehicle decreases. When the arrival detection unit 11 of the control unit 25 detects that the traveling speed has reached the target vehicle speed VS, the traveling state switching unit of the control unit 25
12 switches the designation of the traveling state designation unit 3 to the constant vehicle speed traveling, and smoothly transitions to the constant vehicle speed traveling with the target vehicle speed VS as the target vehicle speed. Accordingly, the vehicle travels while maintaining the traveling speed substantially equal to the target vehicle speed VS, that is, the traveling speed when the designation of the traveling state designation unit 3 is switched to the constant vehicle speed traveling.

Next, when the deceleration traveling of the vehicle as described above is still being performed, the operating portion 18a of the auto cruise switch 18 is again pulled toward the user in FIG. A description will be given below of the case.

In this case, when the contact of the changeover switch 46 is turned on,
In the same manner as described above, the process proceeds to step F101 in FIG. 13 through steps E101 and E110 in FIG.

In step F101, step A103 in FIG.
It is determined whether or not the contact point of the changeover switch 46 is in the ON state based on the contact information input in step (1). Since the contacts are in the ON state, the process proceeds to step F102.

In step F102, the value of the flag I ₃ is set to 0, the next step F 103, the value of the flag I ₅ performs a determination of whether or not 1.

When advanced to contact of the changeover switch 46 from the ON state to the step F103 in the first control cycle, since the zero value of the flag I ₅ in step F111 in the preceding control cycle, step by the determination of step F103 F104
Proceed to.

At step F104 and subsequent steps F105～F106, the value of the flag I ₅ and the flag I ₆ to 1, and the value of the flag I ₁₂ 0, the process proceeds to the next step F107. In this step F107, the contact of the changeover switch 46 is turned on as described above.

Since this is the first control cycle in which the designation of the traveling state designating unit 3 of the control unit 25 is set to a different traveling state, the value of the actual acceleration DVA is determined in step A103 of FIG. The input DVA is ₆₅ .

In the next step F 108, the value of the flag I ₄ is made a determination of whether or not 1, as described above, the contact of the switch 46 when the deceleration of the vehicle is still performed
And the ON state, since the first of the present control cycle after the contact with the ON state, when the input of the changeover switch 46 is performed, the value of the flag I ₄ in step F117 of the change-over switch control of FIG. 13 It is set to 1. Therefore, the process proceeds to step F109 according to the determination in step F108.

In step F 109, the value of the flag I ₄ is zero at the running state converter 12 of the control unit 25, in the next step F110, the eighth
The latest actual vehicle speed VA _I obtained by the interrupt control of steps A123~A128 in FIG (iv), and enter the switch 46 as the actual vehicle speed immediately after the ON state, the switch control in the present control cycle finish.

The above-described changeover switch control is the same as the above-described changeover switch control in the first control cycle when the contact point of the changeover switch 46 is turned on during vehicle acceleration traveling. Therefore, the flag I ₄ after the changeover switch control is completed.
And flag I also become the same value of _6, after the change-over switch control ends, step 129 of Figure 12 and step E132
Then, the process proceeds to step E105, where the designation of the traveling state designation unit 3 of the control unit 25 is switched to the constant vehicle speed traveling.

The control in steps E105 to E109 is performed using the accelerator pedal 27
In the first control cycle after release or in the first control cycle after turning on the contact point of the changeover switch 46 during acceleration of the vehicle, the control is exactly the same as that performed according to steps E105 to E109. That is, regardless of whether the current control cycle corresponds to the opening / closing timing of the throttle valve 31, the actual vehicle speed immediately after the contact of the changeover switch 46 is turned on.
The throttle valve opening is adjusted so that the vehicle travels at a constant speed with VA _I as the target vehicle speed.

As a result, the required torque is output from the engine 13, and the traveling state of the vehicle starts to change from deceleration traveling to constant vehicle traveling.

The above control is performed in the first control cycle after the contact of the changeover switch 46 is turned on, but the auto cruise mode control is continuously performed after the next control cycle and the acceleration switch 45 is not operated. Is
In the same manner as described above, the process proceeds to step E128 via steps E101 and E110 in FIG. 12, and the changeover switch control is performed.

As described above, the control in the first control cycle after the contact of the changeover switch 46 is turned on is the same as the first control cycle after the contact is turned on during acceleration traveling, so the values of the flags are the same, The changeover switch control is performed similarly. Then, after proceeding to step E133 via steps E129 and E132, target vehicle speed control is performed according to the flowchart shown in steps J101 to J116 in FIG.

In this target vehicle speed control, first, in step J101, it is determined whether or not the value of the flag I ₈ is 1, and the value of the flag I ₈
Since the state has been set to 0 in step E106 in FIG. 12 in the first control cycle from the N state, the process proceeds from step J101 to step J102.

At step J102, the value of the flag I ₁₁ is made a determination whether or not 1. Incidentally, the flag I ₁₁ is that the present control cycle falls on a timing of the throttle valve 31 closing, showing by the value is 1.

If this value of the flag I ₁₁ is not 1, since the present control cycle does not correspond to the timing of the opening and closing, and ends the automatic cruise mode control in the immediate present control cycle. On the other hand, when the value of the flag I ₁₁ is 1, since the present control cycle falls on a timing for opening and closing, the flow advances to step J103, performs target vehicle speed control successively with here.

When the process proceeds to step J103, the target vehicle speed VS at the constant vehicle speed traveling is set as a provisional value, as shown in FIG.
The actual vehicle speed VA input in A103 is substituted. The target vehicle speed VS is
In this way, in preparation for the control after the running speed of the vehicle becomes substantially constant, the value is updated in each control cycle corresponding to the opening / closing timing until the running speed becomes substantially constant.

Next, in step J104, the DVA
It is determined whether or not the absolute value of the actual acceleration DVA specified to ₆₅ or the value of the DVA ₁₃₀ is smaller than a preset reference value Kα.

When the target vehicle speed control is performed, the traveling speed of the vehicle becomes substantially constant, and the deceleration of the vehicle approaches zero.
If the absolute value of the actual acceleration DVA at step J104 is determined as the reference value Kα smaller, the process proceeds to step J109 after the 0 value of the flag I ₈ proceeds to step J108. In addition, the running speed is not constant yet, and the deceleration of the vehicle does not approach zero.
If it is determined that the absolute value of DVA is not smaller than the reference value Kα, the process proceeds to step J105.

In step J105, it is determined whether or not the actual acceleration DVA is greater than zero. Here, since the vehicle is in the deceleration running state and the actual acceleration DVA has a negative value until the contact point of the changeover switch 46 is turned on, the process proceeds to step J106.

At step J106, and ends the target vehicle speed control in the present control cycle a previously set correction value? Dv ₂ the value added to the actual acceleration DVA as a target acceleration DVA.

When the above-described target vehicle speed control is completed, control is performed in the same manner as in each case described above according to steps E123 to E127 in FIG. 12, and a control cycle corresponding to the opening / closing timing of the throttle valve 31 is performed. Target acceleration DV
Throttle valve opening corresponding to S The throttle valve 31 is opened and closed.

As a result, the vehicle decelerates at a negative acceleration substantially equal to the target acceleration DVS, that is, at a deceleration.

Target acceleration DVS, as described above, since the it is the actual acceleration DVA of the control cycle plus the correction amount? Dv _2, gradually approaches a negative value is 0 by the control described above is repeated. Accordingly, with this, the deceleration of the vehicle gradually approaches zero.

As described above, when the actual acceleration DVA approaches 0, and it is determined in step J104 of FIG. 16 that the absolute value of the actual acceleration DVA is smaller than the preset reference value Kα,
The process proceeds to step J109 via step J108 as described above.

The control performed in accordance with this step J109 and the following steps J110 to J116 is the same as the control performed in accordance with steps J109 to J116 when the vehicle shifts to the aforementioned constant vehicle speed running state. Therefore, in the control cycle that proceeds from step J104 to step J109 via step J108 to step J116, the traveling speed of the vehicle matches the target vehicle speed VS set in step J103 so that the vehicle travels at a constant vehicle speed.
The required target acceleration DVS is set.

When the target vehicle speed change switch 48 is switched to the (+) side or the (-) side in FIG. 6, the set value of the target vehicle speed VS is changed in accordance with the switching.

Even after the above-described target vehicle speed control is performed, the throttle valve 31 is opened and closed by the control of steps E123 to E127 in FIG. Drive at speed.

Note that step J104 is followed by step J108.
In the control cycle after performed control cycles proceed to J109, the value of the flag I ₈ at step J108 is a 0, when the target vehicle speed control as described above proceeds directly to step J109 from step J101 Control is performed.

Therefore, as described above, the acceleration switch 45 When the vehicle is in the position of, first, the contact point of the changeover switch 46 is set to the ON state to designate the deceleration traveling state of the vehicle, and then the contact point is temporarily set to the OFF state, and thereafter, when the vehicle is still in the deceleration traveling state, When the contact of the changeover switch 46 is turned on again, the designation of the traveling state designation unit 3 of the control unit 25 is switched from deceleration traveling to constant speed traveling, the vehicle stops deceleration traveling and the contact is turned on. Then, the vehicle travels while maintaining the traveling speed substantially equal to the traveling speed immediately after the setting, that is, the traveling speed when the designation is switched to the constant vehicle speed traveling.

As described above, by performing the auto cruise mode control, the accelerator pedal 27 is released when the accelerator pedal 27 is released, or the accelerator pedal 27 is released when the brake pedal 28 is released. In this case, the vehicle runs at a constant vehicle speed while maintaining the running speed immediately after the depression is released.

Then, when the vehicle is traveling at a constant vehicle speed, the acceleration switch 45 is turned on as shown in FIG. Switch to any of the above positions, or the acceleration switch 45 When the contact of the changeover switch 46 is turned ON at the position of When the vehicle travels at an acceleration corresponding to each of the above positions and the traveling speed reaches the target vehicle speed, the vehicle travels at a constant vehicle speed at a constant traveling speed substantially matching the target vehicle speed.
When the vehicle is accelerated with the contact of the changeover switch 46 being in the ON state, the set value of the attained target vehicle speed is increased by increasing the duration of the ON state.

When the vehicle is traveling at a constant speed, the acceleration switch 45 Or if the acceleration switch 45 is When the contact point of the changeover switch 46 is in the ON state at the position of, the vehicle decelerates and travels, and when the vehicle speed reaches the target vehicle speed, the vehicle travels at a constant vehicle speed at a constant vehicle speed substantially matching the target vehicle speed. Is performed. When the deceleration travel is performed with the contact of the changeover switch 46 being in the ON state, the set value of the attained target vehicle speed decreases by increasing the duration of the ON state.

Further, when the contact point of the changeover switch 46 is turned on again in the traveling state of either the acceleration traveling state or the deceleration traveling state, the traveling speed is maintained substantially equal to the traveling speed immediately after the contact point is turned on. Thus, the vehicle runs at a constant vehicle speed.

For example, the acceleration switch 45 When the vehicle is accelerating at the position
Acceleration switch 45 When the vehicle is switched to the position, the vehicle travels at a constant vehicle speed while maintaining a traveling speed substantially equal to the traveling speed immediately after the switching. When the vehicle is traveling at a constant vehicle speed, the target vehicle speed change switch 48 is set to the (+) side or the (-) side in FIG.
When the switching to the side is performed, the set value of the target vehicle speed in the constant vehicle speed traveling is increased or decreased in accordance with the switching, and when the duration of this switching is lengthened, the amount of increase or decrease of the set value of the target vehicle speed increases.

The operation of the engine control by the engine control device 1 has been described above. However, when the vehicle speed cannot be maintained only by the engine control when the vehicle is going uphill or downhill, the automatic transmission control device 101 controls the automatic transmission. Downshift control of the machine 32.

 Hereinafter, this downshift control will be described.

This downshift control is performed as an interrupt control every 20 ms in a procedure as shown in FIGS. 28 (i) and (ii).

FIG. 28 (i) mainly relates to downshift control when going uphill, and FIG. 28 (ii) mainly relates to downshift control when going downhill.

This downshift control is performed during the constant speed control in the auto cruise mode control.
First, in step P101, it is determined whether the constant speed control in the auto cruise mode control is being performed. If it is determined that the constant speed control in the auto cruise mode control is not being performed, the process proceeds to step P113, in which the special control related to the downshift is not performed. That is, the upshift prohibition flag is released to release the upshift prohibition.

On the other hand, when it is determined that the constant speed control in the auto cruise mode control is being performed, the downshift control is performed under predetermined conditions.

In other words, for example, when climbing a hill, even if the engine output is controlled to be maximum, if the torque sufficient to maintain the target vehicle speed is not obtained, the actual vehicle speed VA falls below the target vehicle speed VS. The determination is made by the vehicle speed comparison determination means 102 in steps P102 and P103.

In step P102, the actual speed VA is determined whether drops below a certain percentage with respect to the target vehicle speed VS, where the vehicle speed VA has determined less than or k ₁ times the target vehicle speed VS. Here, k ₁ is a constant of k ₁ <1.0, and
For example, set to 0.95. Therefore, the vehicle speed VA is equal to the target vehicle speed VS.
If it has not reached 95%, it is determined that the actual vehicle speed VA has decreased.

In step P103, it is determined how much the actual vehicle speed VA is lower than the target vehicle speed VS (that is, how many kilometers). Here, the vehicle speed VA is k ₂ more than the target vehicle speed VS.
(Km) or less. Note that this k
₂ is set to 3.0 (km) here. Therefore, if the vehicle speed VA is smaller than the target vehicle speed VS by 3.0 (km) or more, the actual vehicle speed VA
Is determined to have greatly decreased.

When it is determined that the actual vehicle speed VA has greatly decreased in this way, the acceleration comparison determining means 103 determines whether or not the vehicle is currently accelerating (speed increasing) in step P104. Here, the actual acceleration DVA is a constant acceleration value k.
₃ (m / s ² ), that is, whether DVA <k ₃ is satisfied. Note that the value of k ₃ can be set to 0 or a positive value close to 0, but here, the value of k ₃ is
0.0 (m / s ² ) or 0.2 (m / s ² ).

If it is determined in step P104 that the vehicle is currently accelerating, since the actual vehicle speed is approaching the target vehicle speed, a shift change of the transmission is unnecessary, but if it is determined that the vehicle is not currently accelerating,
Even if the engine is controlled as it is, since the actual vehicle speed is unlikely to approach the target company rule, a shift change of the transmission is required.

Here, the automatic transmission 32 has four speed stages including overdrive (fourth speed), and there are two types of downshifts, namely, a downshift from 4th speed to 3rd speed and a downshift from 3rd speed to 2nd speed. Shift control is performed. Therefore, it is necessary to determine what speed the gear stage of the automatic transmission 32 is currently set and to perform control based on this.

Therefore, it is determined in step P105 whether or not the vehicle is currently in the third speed, and in step P114 whether or not the vehicle is currently in the fourth speed. If the current speed is the third speed, the engine speed DRPM32 after downshifting from the third speed to the second speed in step P106 is changed to the current engine speed.
Calculated based on DRPM. If the current speed is the fourth speed, the engine speed DRPM43 after the downshift from the fourth speed to the third speed in step P115 is calculated based on the current engine speed DRPM. Here, during the constant speed control in the auto cruise mode control, since the third speed or the fourth speed is generally used, the downshift control is performed when the current speed is the second speed. If the current gear is the first or second gear, the process proceeds from Step P114 to Step P117.

In step P106, the engine speed DR after the downshift
After calculating PM32, in the following step P107, the engine speed DRPM32 is changed to a predetermined speed XDRPM3 (for example, 3500 rpm).
It is determined whether the engine speed is smaller than the engine speed comparison determination means 105.
Is determined by Also, when the engine speed DRPM43 after the downshift is calculated in step P115, it is determined in the following step P116 whether the engine speed DRPM43 is lower than a predetermined speed XDRPM4 (for example, 3500 rpm). .

If the engine speed DRPM32 or DRPM43 is equal to or higher than the predetermined speed XDRPM3 or XDRPM4, the process proceeds to step P117 without being subjected to downshift control. On the other hand, when the engine speed DRPM32 or DRPM43 is the predetermined speed XD
If smaller than RPM3 or XDRPM4, step P1 respectively
Go to 08.

In step P108, the maximum torque TORMAX that can be output at the current engine speed is determined based on the one-dimensional map ♯MTORMX using the current engine speed DRPM as a parameter.

Then, in a succeeding step P109, the current engine output torque
Whether or not the TEM is in the maximum torque range that can be output is determined by the torque comparison determination unit 104. This judgment is made by comparing the current engine output torque TEM with the maximum torque TORMAX multiplied by a coefficient k ₄ (here, k ₄ = 0.97),
If EM is not greater than Tormax × k _4, since current has not yet output the maximum torque is determined that there is likelihood of increased speed by the engine control, the process proceeds to step P117. On the other hand, if TEM is greater than Tormax × k _4, as is currently output near maximum torque, to reduce the speed increase in the torque decrease due to the downshift control, the process proceeds to step P110.

In step P110, the first counter for downshift determination
Start countdown with CDSAS1. At the start of the countdown, the value of the counter CDSAS1 becomes the value XDSAS1 of the downshift control period in step P117 of the previous control (this step P117 will be described later). Here, the value XDSAS1 of the downshift determination period is set to 50.

Then, in the next step P111, it is determined whether or not CDSAS1 has become 0.
It must pass through zero for 50 consecutive cycles and be counted down by 50. That is, the actual vehicle speed is too low. The actual acceleration is lower than a predetermined value. Gear stage 3
Speed or 4th speed. It outputs almost maximum torque at the current engine speed. The engine speed after the downshift has not exceeded the predetermined value. Only when these conditions last for 50 control cycles does CDSAS1 go to zero. Since this downshift control is an interrupt control every 20 ms, the period of 50 control cycles is 1
Equivalent to seconds.

If CDSAS1 has not become 0, the process proceeds to step P118 without downshifting, and if CDSAS1 becomes 0, the process proceeds to step P112 and the shift change control means 106 performs downshift.

In step P112, a downshift from third gear to second gear or a downshift from fourth gear to third gear is instructed, and upshifting is prohibited.

To prohibit the upshift, an upshift prohibition flag FLG23 from 2nd gear to 3rd gear and an upshift prohibition flag FLG34 from 3rd gear to 4th gear are used. For example, each of the upshift prohibition flags FLG23 and FLG34 is set to 0. Set so that upshift is possible only at the time of. Therefore, in step P112,
If a downshift from third gear to second gear is performed, the upshift inhibit flag FLG23 is set to FLG23FL0, and if a downshift from fourth gear to third gear is performed, an upshift inhibit flag FLG3
4 is set to FLG34 ≠ 0.

After downshifting in this way, the following steps
In P117, a preset value XDSAS1 of the downshift determination period is substituted for the value of the first downshift determination first counter CDSAS1.

Steps P102, P103, P104, P107, P114, P116 or P
If it is determined in step 109 that the condition for performing the downshift is not satisfied (in the case of the No route), the value of CDSAS1 is reset to XDSAS1 in step P117 in any control cycle.

Steps P102, P103, P104, P107, P114, P116 or P
If the state in which all the conditions for performing the downshift are satisfied in 109 continues, the process skips this step P117 and proceeds directly to step P118 until CDSAS1 becomes 0 by the countdown in step P110.

In Step P118, it is determined whether or not the upshift is currently prohibited. If the upshift is prohibited in step P112 of the current or previous control cycle and this state continues, the process proceeds to step P119, and control for canceling the upshift prohibition is performed. If the upshift prohibition has been released, the process proceeds to step P141, and the downshift control during the uphill is ended.

In step P119, after the downshift, the current vehicle speed VA
Is closer to the target vehicle speed VS.
Is determined by Here, this determination is made based on the fact that the current vehicle speed VA approaches the target vehicle speed VS, and the difference is determined by a predetermined value k ₅ (=
Whether it is a 1.0km) within, that is, carried out by whether or not VA ≧ VS-k _5. If the current vehicle speed VA is approaching the target vehicle speed VS, the process proceeds to the next step P120, and control for canceling the prohibition of upshifting according to the shift speed is started, but if the vehicle speed VA is not approaching the target vehicle speed VS, the process proceeds to step P141 End the downshift control when going uphill.

To release the upshift prohibition, there is an upshift prohibition flag FLG23 from 2nd gear to 3rd gear and an upshift prohibition flag FLG34 from 3rd gear to 4th gear.
It is necessary to determine if LG34 is working. this is,
It can be detected based on the current gear position.
The prohibition flag FLG23 is set to FLG23 ≠ 0. If the current speed is the third speed, the prohibition flag FLG34 is set to FLG34 ≠ 0.

Therefore, in step P120, it is determined whether or not the speed position of the transmission is currently the second speed. In step P128, it is determined whether or not the speed position of the transmission is currently the third speed. If it is the second speed, the process proceeds to step P121, and if it is the third speed, the process proceeds to step P129. If neither is the case (first speed or fourth speed), it is not necessary to release the prohibition of the upshift, and the process proceeds to step P141 to end the downshift control during the uphill.

In Step P121, the engine speed DRPM28 when the gear position is changed from the second speed to the third speed is calculated. Then, in a succeeding step P122, the maximum torque TORMAX that can be output after the upshift in the engine speed DRPM23 is determined based on the one-dimensional map ♯MTORMX using the engine speed DRPM23 as a parameter. Next, the program proceeds to a step P123, wherein the drive shaft torque TORUP after the upshift is calculated based on the maximum torque TORMAX and the respective speed ratios of the third speed and the second speed.

On the other hand, when the process proceeds to Step P129, the engine speed DRPM34 when the shift speed is changed from the third speed to the fourth speed is calculated. Then, in the following step P130, the maximum torque TORMAX that can be output after the upshift at the engine speed DRPM34 is determined based on the one-dimensional map ♯MTORMX using the engine speed DRPM34 as a parameter. Next, the program proceeds to a step P140, wherein the drive shaft torque TORUP after the upshift is calculated based on the maximum torque TORMAX and the speed ratios of the fourth speed and the third speed.

After calculating the drive shaft torque TORUP after the upshift in Step P123 or Step P140, the process proceeds to Step P124 to determine whether the current engine torque TEM is equal to or less than the drive shaft torque TORUP calculated in Step P123 or Step P140. The judgment is made by the comparison judgment means 104.
The reason that the current engine torque TEM is not equal to or less than TORUP is that there is not enough engine torque at present, and the upshift prohibition cannot be canceled yet, and the process proceeds to P141. If the current engine torque TEM is equal to or less than TORUP, it can be determined that there is enough engine torque, and after the upshift, a torque larger than the current drive shaft output torque can be output. Enter the judgment period.

In step P125, the first counter for upshift determination
Start countdown with CUSAS1. At the start of the countdown, the value of the counter CUSAS1 has become the value XUSAS1 of the downshift determination period in step P141 of the previous control (this step P141 will be described later). Here, the value XUSAS1 of the downshift determination period is set to 5.

Then, in the next step P126, it is determined whether or not CUSAS1 has become 0.
It must pass through P125 for 5 consecutive cycles and count down by 5. In other words, while the upshift is prohibited, the state where the actual speed approaches the target speed, the shift speed is the second speed or the third speed, and there is a margin in the output torque of the engine continues for a period of five control cycles. As a result, CUSAS1 becomes 0. In particular, as a condition for reliably obtaining a predetermined torque after an upshift, there is a margin in the output torque of the current engine, and a state in which a torque larger than the current drive shaft output torque can be output after the upshift is set for a certain time ( Here, five or more control cycles) need to be continued. Since this downshift control is an interrupt control every 20 ms, a period of five control cycles corresponds to 0.1 second.

If CUSAS1 has not become 0 in step P126, the downshift control at the time of climbing a slope is finished, and the flow proceeds to step P142 in FIG. 28 (ii). On the other hand, if CUSAS1 has not become 0, the routine proceeds to step P127, where the shift change control means 106 releases the upshift prohibition flag and the like to release the upshift prohibition. The release of the upshift prohibition flag is accomplished by setting the upshift prohibition flags FLG23 and FLG34 to FLG23 = 0 and FLG34 = 0.

After the prohibition of the downshift is released in this manner, the next step P141 is the first upshift determination counter CU.
The value XUSAS1 of the preset downshift determination period is substituted for the value of SAS1.

If it is determined in step P118, P119, P128 or P124 that it is not necessary to release the downshift prohibition (in the case of No route), the value of CUSAS1 is set to XUSAS1 in step P141 in any control cycle. Set again.

If the state that the downshift prohibition needs to be released continues in steps P118, P119, P128, and P124, CUSAS1 becomes 0 by the countdown in step P125.
Until, jump over this step P141, directly
The process will proceed to Step P142 in FIG. 28 (ii).

Next, the downshift control at the time of a downhill shown in FIG. 28 (ii) will be described. This downhill control is performed so that the vehicle speed VA increases on the downhill and is faster than the target vehicle speed VS. Thus, even if control is performed to minimize the engine output, the control is performed when the target vehicle speed is exceeded.

First, in steps P142 and P143, the current actual vehicle speed VA is
The vehicle speed comparison / judgment means 102 judges whether or not the speed is suppressed so as to match the target speed VS in the auto cruise mode control specified by the auto cruise switch or the like.

In step P142, the actual speed VA is determined whether the reduced more than a certain percentage with respect to the target vehicle speed VS, specifically, greater than the actual speed VA is multiplied by a constant k ₆ to the target speed VS A determination is made as to whether the Note that the constant k ₆
Is 1.05 here.

In step P142, when it is determined that the actual vehicle speed VA is higher than the value of (VS × k ₆ ) and the vehicle speed is high, the process proceeds to the next step P143, where the actual vehicle speed VA exceeds the target vehicle speed VS (that is, How many km) is exceeded. Here, the difference (VS-VA) between the actual vehicle speed VA and the target speed VS is a predetermined value k ₇
(Here, k ₇ = 3.0).

If the difference (VS-VA) is greater than the predetermined value k _7, it is determined that the vehicle speed is too increased, the process proceeds to step P144. Here, it is determined whether or not the actual acceleration DVA exceeds a certain acceleration value k ₈ (m / s ² ), that is, whether or not DVA> k ₈ .
The determination is made by the acceleration comparison determination unit 103. Although the value of k ₈ can set a negative value close to 0 or 0, where the value of k ₈ and 0.0 (m / s ²⁾ or -0.2 (m / s ^2).

If the actual acceleration DVA is greater than k _8, it is determined that there is no prospect that the actual speed VA in the control of future engine can approach the target speed VS, the process proceeds to step P145.

On the other hand, if it is determined No in step P142, P143 or P144, respectively, it is determined that the vehicle speed VA has not increased too much, or it is determined that the actual speed VA can be brought closer to the target speed VS by controlling the engine in the future, and a downshift , And the process proceeds to Step P153.

Here, it is set so that the downshift control is performed only in the case of the fourth speed.
It is determined whether or not the current shift stage is the fourth speed. Currently 4
If not, it is excluded from the downshift control targets, and the program proceeds to Step P153.

If the current speed is the fourth speed, the process proceeds to step P146 to calculate the engine speed DRPM43 when the shift speed is changed from the fourth speed to the third speed. Further, in the subsequent step P147, it is determined whether or not the engine speed DRPM43 is smaller than a predetermined speed XDRPM5 (for example, 3500 rpm) by comparing the engine speed with the engine speed comparison determination means 105.
Is determined by

Then, the engine speed DRPM43 is changed to a predetermined speed XDRPM3.
If it is not smaller, it is not subjected to downshift control, and the program proceeds to Step P153. On the other hand, the engine speed DRPM43
Is smaller than the predetermined rotation speed XDRPM5, Step P148
Proceed to.

In Step P148, the minimum torque TORMIN that can be output at the current engine speed is determined based on the one-dimensional map ♯MTORMN using the current engine speed DRPM as a parameter.

Then, in a succeeding step P149, the current engine output torque
Whether or not the TEM is in the minimum output torque range is determined by the torque comparison determination unit 104. This judgment is made by comparing the current engine output torque TEM with the minimum torque TORMIN multiplied by a coefficient k ₉ (here, k ₉ = 1.03), and
If EM is not less than TORMIN × k _9, as it reduces the torque by engine control because now not yet minimum torque, the process proceeds to step P153, TEM is TORMIN
Greater than × k _9, since the current output substantially minimum torque, to achieve speed reduction in the torque ranges by downshift control, the process proceeds to step P150.

In step P150, the second counter for downshift determination
Start countdown with CDSAS2. At the start of the countdown, the value of the counter CDSAS2 becomes the value XDSAS2 of the downshift determination period in step P153 of the previous control (this step P153 will be described later). Here, the value XDSAS2 of the downshift determination period is set to 50.

Then, in the next step P151, it is determined whether or not CDSAS2 has become 0.
It must pass through P150 for 50 consecutive cycles and be counted down by 50. That is, the actual vehicle speed is increasing too much. The actual acceleration is higher than a predetermined value. The speed is 4th. It outputs almost the minimum torque at the current engine speed. The engine speed after the downshift has not exceeded the predetermined value. Only when these conditions last for 50 control cycles does CDSAS2 go to zero. Since this downshift control is interrupt control every 20 ms, the period of 50 control cycles corresponds to one second.

If CDSAS2 is not 0, the process proceeds to step P154 without downshifting. If CDSAS2 is 0, the process proceeds to step P152 to perform downshift.

In step P152, the shift change control means 106 instructs a downshift from the fourth speed to the third speed and inhibits the upshift. This upshift is prohibited by the upshift prohibition flag FLG34 from 3rd gear to 4th gear.
Is set to FLG34 ≠ 0.

After downshifting in this way, the following steps
In P153, the value XDSAS2 of the downshift determination period set in advance is substituted as the value of the second downshift determination second counter CDSAS2.

If it is determined in step P142, P143, P144, P147 or P149 that the conditions for performing the downshift are not satisfied (in the case of the No route),
In this step P153, the value of CDSAS2 is reset to XDSAS2.

Further, in steps P142, P143, P144, P147, and P149, if the state in which all the conditions for performing the downshift continue is satisfied, the process skips step P153 until CDSAS2 becomes 0 by the countdown in step P150. Proceed directly to step P154.

In Step P154, it is determined whether the upshift is currently prohibited. If the upshift is prohibited in step P152 of the current or previous control cycle and this state continues, the process proceeds to step P155, and control for canceling the upshift prohibition is performed. If the upshift prohibition has been released, the process proceeds to step P164, and the downshift control on the downhill is completed.

In step P155, after the downshift, the current vehicle speed VA
Is closer to the target vehicle speed VS.
Judged by two. Here, this determination is made based on the fact that the current vehicle speed VA approaches the target vehicle speed VS,
₁₀ (= 1.0 km) or less, that is, VA-VS ≧ k
It depends on whether it is ₁₀ . Current vehicle speed VA is the target vehicle speed
If the vehicle speed is approaching VS, the process proceeds to the next step P156, in which control for canceling the upshift prohibition is released according to the shift speed. Finish.

Upshift prohibition is released by the upshift prohibition flag FLG34 from 3rd gear to 4th gear. Therefore, if the gear is currently in 3rd gear, the prohibition flag FLG343 is set to FLG34 ≠ 0.

Therefore, in step P156, it is determined whether or not the gear position of the transmission is currently in third speed.
Proceed to P157. If it is not the third speed (in the case of the first, second or fourth speed), there is no need to release the prohibition of the upshift, and the process proceeds to Step P164 to end the downshift control during the uphill.

In Step P157, the engine speed DRPM34 when the gear position is changed from the third speed to the fourth speed is calculated. Then, in a succeeding step P158, the minimum torque TORMIN that can be output after the upshift in the engine speed DRPM34 is determined based on the one-dimensional map ♯MTORN using the engine speed DRPM34 as a parameter. Next, the program proceeds to a step P159, wherein the drive shaft torque TORUP after the upshift is calculated based on the minimum torque TORMIN and the speed ratios of the fourth speed and the third speed.

In the following step P160, the current engine torque TEM
Is determined by the torque comparison determination means 104 as to whether or not is equal to or greater than the drive shaft torque TORUP calculated in step P159. The reason that the current engine torque TEM is not equal to or larger than TORUP is that the minimum torque is still being generated at present, and the prohibition of the upshift cannot be released yet, and the process proceeds to P164. If the current engine torque TEM is equal to or higher than TORUP, it can be determined that there is a margin on the lower limit side of the torque, and it is determined that a torque smaller than the current drive shaft output torque can be output after upshifting. The cancellation determination period begins.

In step P161, a second counter for upshift determination
Start countdown with CUSAS2. At the start of the countdown, the value of the counter CUSAS2 is the value XUSAS2 of the downshift determination period in step P164 of the previous control (this step P164 will be described later). Here, the value XUSAS2 of the downshift determination period is set to 5.

Then, in the next step P162, it is determined whether or not CUSAS2 has become 0.
It must pass through P161 for 5 consecutive cycles and count down by 5. That is, while the upshift is prohibited, the state in which the actual speed approaches the target speed, the third speed is set, and the output torque of the engine currently has a margin on the lower limit side continues for five control cycles. As a result, CUSAS2 becomes 0. In particular, as a condition for reliably obtaining a predetermined torque after the upshift, the output torque of the current engine has a margin on the lower limit side at the corresponding rotation speed, and a torque smaller than the current drive shaft output torque is output after the upshift. It is necessary that the possible state continues for a certain period of time (here, five control cycles). Since this downshift control is an interrupt control every 20 ms, a period of five control cycles corresponds to 0.1 second.

If CUSAS2 is not 0 in Step P162, the downshift control at the time of the current downhill is completed, and the process proceeds to the next control cycle after a predetermined time (20 ms). On the other hand, if CUSAS2 has become 0, the routine proceeds to step P163, where the shift change control means 106 releases the upshift prohibition flag and the like to release the upshift. The upshift prohibition flag is released by setting the upshift prohibition flag FLG34 to 0.
It is to be.

After the prohibition of the downshift is thus released, in a succeeding step P164, the upshift determination second counter CU
The value XUSAS2 of the preset downshift determination period is substituted for the value of SAS2.

If it is determined in step P154, P155, P156 or P160 that it is not necessary to cancel downshift prohibition (in the case of a No route), the value of CUSAS2 is set to XUSAS2 in step P164 in any control cycle. Set again.

Further, in the steps P154, P155, P156, and P160, if the state in which it is determined that the downshift prohibition must be canceled but it is necessary to continue, the CUSAS2
Until becomes zero, the process skips this step P164 and proceeds to the next control cycle after a predetermined time (20 ms).

In this way, when the vehicle speed cannot be maintained only by engine control when the vehicle is climbing up or downhill, the downshift control of the automatic transmission 32 is performed in addition to the engine control.

Note that the downshift control at the time of the downhill is similar to that at the time of the uphill, and the downshift from the fourth speed to the third speed and the
Two types of downshift control, that is, downshifting from first speed to second speed, may be performed.

This is shown in FIG. 28 (iii).
In FIG. (Iii), all steps denoted by the same reference numerals as those in FIG. 28 (ii) indicate the same control contents.

In this case, as shown in FIG. 28 (iii), if it is determined in step P144 that the vehicle is not currently decelerating, the actual vehicle speed will not exceed the target vehicle speed even if the engine control is continued as shown in FIG. 28 (iii). , It is necessary to change the transmission.

Therefore, it is determined in step P145 whether or not the vehicle is currently in the fourth speed, and in step P165 whether or not the vehicle is currently in the third speed. If the current speed is the fourth speed, the engine speed DRPM43 after the downshift from the fourth speed to the third speed in step P146 is used as the current engine speed.
Calculated based on the DRPM. If the current speed is 3rd gear, go to step P1.
Engine speed DR after downshift from 3rd gear to 2nd gear at 66
PM32 is calculated based on the current engine speed DRPM.

In step P146, the engine speed DR after the downshift
After calculating PM43, in the following step P147, the engine speed DRPM43 is changed to a predetermined speed XDRPM5 (for example, 3500 rpm).
It is determined whether it is smaller than. Step P166
Even when the engine speed DRPM32 after the downshift is calculated, in the following step P167, it is determined whether the engine speed DRPM32 is lower than a predetermined speed XDRPM6 (for example, 3500 rpm).

If the engine rotation speed DRPM34 or DRPM32 is equal to or more than the predetermined rotation speed XDRPM5 or XDRPM6, the process proceeds to step P153 without being subjected to downshift control, and the engine rotation speed DRPM34 or DRPM32 becomes the predetermined rotation speed XDRPM5 or XDRPM5.
If it is smaller than XDRPM6, the process proceeds to each step P148.

In the subsequent step P152 ', in the fourth gear of the gear stage,
Instruct a downshift to the third speed or a downshift from the third speed to the second speed and prohibit the upshift. The upshift is prohibited by setting the upshift prohibition flag FLG34 from third gear to fourth gear FLG34 ≠ 0 or the upshift prohibition flag FLG23 from second gear to third gear from FLG34 ≠ 0.

In this manner, when the two types of downshift control of the downshift from the 4th speed to the 3rd speed and the downshift from the 3rd speed to the 2nd speed are performed, the prohibition of the upshift is also released from the 2nd speed → The upshift prohibition flag FLG23 for the third speed or the upshift prohibition flag FLG34 for the third speed to the fourth speed is changed. Therefore, it is first necessary to determine which prohibition flag is currently active.

Therefore, in step P156, it is determined whether or not the gear position of the transmission is currently the third speed, and in step P168, it is determined whether or not the gear position of the transmission is currently the second speed. If it is the third speed, the process proceeds to step P157, and if it is the second speed, the process proceeds to step P169. If neither is the case (first speed or fourth speed), there is no need to release the prohibition of the upshift, and the process proceeds to step P164 to end the current downshift control.

In Step P157, the engine speed DRPM34 when the gear position is changed from the third speed to the fourth speed is calculated. Then, in a succeeding step P158, the minimum torque TORMIN that can be output after the upshift in the engine speed DRPM34 is determined based on the one-dimensional map ♯MTORMN using the engine speed DRPM34 as a parameter. Next, the process proceeds to Step P159 to calculate the drive shaft torque TORUP after the upshift based on the minimum torque TORMIN and the speed ratios of the fourth speed and the third speed.

On the other hand, when the routine proceeds to step P169, the engine speed DRPM23 when the gear position is changed from the second speed to the third speed is calculated. Then, in the following step P170, the minimum torque TOPRMIN that can be output after the upshift in the engine speed DRPM23 is determined based on the one-dimensional map ♯MTORMN using the engine speed DRPM23 as a parameter. Next, the program proceeds to a step P171, wherein the drive shaft torque TORUP after the upshift is calculated based on the minimum torque TORMIN and the speed ratios of the third speed and the second speed.

After calculating the drive shaft torque TORUP after the upshift in Step P159 or Step P171, the process proceeds to Step P160.

Thereafter, the control proceeds in substantially the same manner as in the case shown in FIG. 28 (ii), but the release of the upshift prohibition flag and the like in step P163 is performed by setting the upshift prohibition flag FLG23 to 0.
Or FLG34 is set to 0.

As described above, by providing two types of downshift control at the time of downhill, the engine characteristics of the vehicle and the automatic transmission are provided.
Depending on the characteristics of the 32, the downshift can be performed more appropriately.

In addition, when the shift change from the third gear to the second gear is performed after the shift change from the fourth gear to the third gear is performed, the determination time is extended from 1 second to three seconds, and immediately after the shift change ( In this case, it is desirable to wait for the running state of the vehicle to become stable immediately after the shift change from the fourth gear to the third gear), and then to perform the next shift from the third gear to the second gear. In this case, the downshift determination counter CDSAS may be set to 15. Also, 2
After changing the gear from the third gear to the third gear,
It is desirable to perform the same control when performing the shift change of the fourth speed.

The advantages and effects of the automatic traveling control device as one embodiment of the present invention described above are summarized as follows.

First, the following effects can be obtained through the control of the engine 13 by the engine control device 1.

Immediately after the start of the engine, until the rotation speed of the engine 13 rises to a steady-state rotation speed, or when the operating state of the engine 13 becomes unstable due to some reason and the engine rotation speed decreases, the accelerator pedal 27 moves. On the other hand, the throttle valve 31 operates in a state equivalent to a state where the accelerator pedal 27 and the throttle valve 31 are mechanically directly connected.

Accordingly, in this case, the control of the throttle valve 31 based on the changing speed of the depression of the accelerator pedal 27, the operating state of the vehicle, and the like is not performed, the throttle valve 31 is controlled stably, and the operating state of the engine 13 is further impaired. Stability is prevented.

Further, when braking is performed by a brake (not shown) of the vehicle on which the brake pedal 28 is depressed, the following effects are obtained.

First, when this braking is being performed, the throttle valve 31 is always kept at the minimum opening at which the throttle valve 31 is at the engine idle position, prior to other operation commands such as the auto cruise switch 18 and the accelerator pedal 27. Therefore, in addition to the braking by the brake, a braking effect by the engine brake can be obtained.

Second, in the braking by the brake, if the duration of the deceleration greater than the reference is longer than the reference value and the vehicle speed at the time of releasing the depression of the brake pedal 28 is lower than the reference value, the accelerator pedal 27 The throttle valve 31 is held at the minimum opening position until the step is depressed. Therefore,
In order to stop at an intersection or the like, after decelerating with a brake (not shown), the brake pedal 28
Is released, the braking by the engine brake is performed, the vehicle stops smoothly, and there is an effect that an impact at the time of stopping is prevented.

Thirdly, in the braking by the brake, when the deceleration does not become larger than the reference, the duration is not longer than the reference value, or the vehicle speed at the time of depressing the pedal is not lower than the reference value. The accelerator pedal
Until the brake pedal 27 is depressed, the vehicle speed immediately after the brake pedal 27 is released is set as the target vehicle speed, and the vehicle speed is kept constant.
Therefore, in order to maintain the vehicle speed, there is no need to depress the accelerator pedal 27 or manually restart the constant vehicle speed traveling control that is released every time the brake pedal 28 is depressed as in the conventional constant vehicle speed traveling device. This has the effect of reducing the burden on the user and making it possible to easily drive at a constant vehicle speed even on a road with a relatively large traffic volume.

Fourth, when shifting to such a constant vehicle speed running state, it is necessary to maintain the actual vehicle speed immediately after the release from the time immediately after the brake pedal 27 is released to the time of opening and closing the throttle valve 31 which comes first after the release. The throttle valve 31 is opened and closed provisionally at the estimated throttle valve opening. Therefore, there is an effect that the shift to the constant vehicle speed running state is performed promptly and smoothly immediately after the release.

Fifth, the throttle switch 47 provided on the auto cruise switch 18 is When the brake pedal 28 is released, the opening degree is always kept at the engine idle position until the accelerator pedal 27 is depressed. Therefore, when traveling on a gentle downhill, etc. By switching to the position, the vehicle can travel with the use of the engine brake.

Next, when the accelerator pedal 27 is depressed, the following effects are obtained.

First, when the accelerator pedal 27 is depressed, the auto cruise switch is set as the target vehicle speed until the target acceleration DVS _AP based on the depression of the accelerator pedal 27 becomes larger than the target acceleration DVS _AC specified by the auto cruise switch 18. Since the target acceleration DVS _AC specified in 18 is adopted, the accelerator pedal 27 is controlled when the vehicle is controlled based on the target acceleration DVS _AC (at the time of auto cruise control).
When the accelerator mode is changed to the accelerator mode control by depressing the accelerator pedal, the target acceleration does not temporarily decrease even if the accelerator pedal 27 is not sufficiently pressed at the initial stage of the change. Therefore, when the accelerator pedal 27 is depressed to accelerate, there is an advantage that acceleration is performed quickly and smoothly.

Second, the acceleration of the vehicle is set in accordance with the amount of depression of the accelerator pedal 27, the changing speed of the amount of depression, and the time elapsed since the changing speed became smaller than the reference value. For this reason, if the accelerator pedal 27 is depressed faster, more rapid acceleration is performed, and if the accelerator pedal 27 is depressed more slowly, more gradual acceleration is realized, and a highly responsive acceleration that accurately reflects the driver's will Can be performed. Further, when the sudden depression amount is relaxed or stopped, the acceleration changes smoothly, and there is also an effect that the occurrence of an impact due to the sudden change in acceleration is prevented.

Third, when the depression of the accelerator pedal 27 is released, the vehicle speed immediately after the release is maintained as a target vehicle speed, and the vehicle speed is maintained at a constant value. Therefore, it is not necessary to depress the accelerator pedal 27 again to maintain the vehicle speed constant, or to reset the target vehicle speed every time the vehicle speed is changed by the accelerator pedal 27 unlike the conventional constant vehicle speed traveling device. This has the effect of reducing the burden on the driver and making it possible to easily drive at a constant vehicle speed even on a road with a relatively large amount of traffic. The combination is even more pronounced.

Fourthly, when shifting to the constant vehicle speed running state, it is estimated that the actual vehicle speed immediately after the release is maintained between immediately after the accelerator pedal 27 is released and the opening / closing timing of the throttle valve 31 which comes first after the release. The throttle valve 31 is opened and closed provisionally at the throttle valve opening. Thus, there is an effect that the transition to the constant vehicle speed running state is performed promptly and smoothly immediately after the release.

Further, when the fifth shift selector 29 is at a position other than the D range or when the throttle switch 47 is , The throttle valve 31 operates in response to the movement of the accelerator pedal 27 in the same manner as when the accelerator pedal 27 and the throttle valve 31 are mechanically directly connected. Therefore, since the throttle valve 31 is closed by relaxing or stopping the depression of the accelerator pedal 27, the shift selector 29 is set to the L range or the throttle switch 47 is set, for example, when traveling on a slope. By setting the position, the vehicle can travel with the engine brake.

Sixth, among the target accelerations set when the accelerator pedal 27 is depressed, the target acceleration set in accordance with the depression amount of the accelerator pedal 27 is, as shown in FIG. When the amount is increased, the value is larger than when the stepping amount is decreased. As a result, the accelerator pedal 27
In response to an increase in the depression amount or an increase in the depression amount, the acceleration of the vehicle increases and decreases quickly, and the driving feeling is improved.

Further, as described above, when the vehicle shifts to the constant vehicle speed running state by releasing the accelerator pedal 27 or the brake pedal 28, the acceleration of the vehicle gradually decreases as time elapses after the release of the depression. The target acceleration is set so as to approach zero. Therefore, there is an effect that occurrence of an impact due to a sudden change in acceleration at the time of transition to the constant vehicle speed running state is prevented.

Further, when the accelerator pedal 27 and the brake pedal 28 are both in the released state and the vehicle is traveling at the constant vehicle speed as described above, the following effects are obtained.

First, by operating the acceleration switch 45 or the changeover switch 46, three traveling states of acceleration traveling, decelerating traveling, and constant vehicle traveling can be selected, and acceleration and deceleration to the target vehicle speed can be performed with only one operation. The transition to the constant vehicle speed running after reaching the target vehicle speed is automatically performed. For this reason,
When traveling at a constant vehicle speed on a highway or the like, it is easy to change the vehicle speed according to the situation, and there is an effect that the burden on the driver is reduced.

Second, when acceleration or deceleration traveling is designated by turning on the contact of the changeover switch 46, the target speed VS
Is the actual vehicle speed VA and the correction amount And the correction amount VT ₁ according to the duration of the ON state Or, the correction amount from the actual vehicle speed VA And the correction amount VT ₂ according to the duration of the ON state Therefore, by increasing the duration of the ON state,
The difference between the vehicle speed before designation and the target vehicle speed increases. Therefore, when you want to accelerate or decelerate beyond the target vehicle speed,
It is only necessary to re-designate the acceleration or deceleration running by setting the contact of the changeover switch 46 to the ON state again and continue this ON state as necessary. Further, if the contact point of the changeover switch 46 is turned on when the vehicle is in the acceleration or deceleration running state, the vehicle shifts to the constant vehicle speed running state in which the vehicle speed immediately after the ON state is set to the target vehicle speed. Therefore, when the desired vehicle speed is reached before reaching the target vehicle speed, the changeover switch 46 need only be operated once. For acceleration driving, the acceleration switch
The selection of three types of slow acceleration, medium acceleration, and rapid acceleration is possible by 45, so that the above effects can be further enhanced by combining these operations.

Third, when the vehicle speed is suddenly changed, for example, on a slope while the vehicle is traveling at a constant vehicle speed, the target acceleration for returning the vehicle speed to the original speed corresponds to the difference between the target vehicle speed and the actual vehicle speed detected by the vehicle speed detecting means. The value is set within a range that does not exceed a predetermined value so that the difference from the acceleration of the current vehicle does not exceed a preset value. Therefore, there is no sudden change in acceleration,
There is an effect that generation of an impact is prevented.

Operate the acceleration switch 45 or the changeover switch 46,
When the acceleration running state is designated as described above, the following effects are obtained.

First, a target acceleration having a constant value corresponding to the position of the acceleration switch 45 is not specified immediately after the specification, but an inclination is provided when the target acceleration rises (see FIG. 27).
A target acceleration approaching the target acceleration and finally becoming equal is specified in accordance with the lapse of time after the specification. As a result, there is an effect that occurrence of impact and hunting due to a sudden change in acceleration when shifting from the constant vehicle speed traveling state to the accelerated traveling state is prevented.

Secondly, when the vehicle speed approaches the target vehicle speed due to acceleration traveling, the target acceleration decreases as the vehicle speed approaches the target vehicle speed, instead of the target acceleration having a constant value corresponding to the position of the acceleration switch 45. Is specified. For this reason, when the vehicle speed reaches the target vehicle speed, the acceleration of the vehicle smoothly changes and the vehicle shifts to a constant vehicle speed running state, so that an impact due to a sudden change in acceleration is prevented.

Third, when the vehicle speed is lower than the reference value, instead of the target acceleration of a fixed value set in accordance with the position of the acceleration switch 45, the target acceleration has a value that increases with the increase of the vehicle speed and approaches the target acceleration. The target acceleration is newly set. Therefore, when the acceleration switch 45 or the changeover switch 46 is operated while the vehicle is moving slowly to designate the accelerated traveling state, the vehicle is accelerated more gently and the riding feeling is improved.

Further, when the deceleration traveling state is specified by operating the changeover switch 46 as described above, when the vehicle speed approaches the reaching target vehicle speed due to the deceleration traveling, the target deceleration of a fixed value up to that point is replaced by the reaching target vehicle speed. A target deceleration that gradually approaches 0 as the vehicle speed approaches is designated. Therefore, when the vehicle speed reaches the target vehicle speed, the acceleration of the vehicle smoothly changes and the vehicle shifts to a constant vehicle speed running state, so that an impact due to a sudden change in acceleration is prevented and the feeling of riding and driving is improved. There is an effect of doing.

It should be noted that this instruction is ignored even when the target vehicle speed change switch 48 is input at times other than the constant vehicle speed running such as during acceleration running or decelerating running (steps J106 to J108 in FIG. 16). ), Confusion at the time of control is prevented, and engine control by this device is ensured.

Further, if the vehicle speed is changed during the constant vehicle speed operation, acceleration / deceleration driving is performed. In this case, the target acceleration is set in accordance with the difference VS-VA between the new target vehicle speed VS and the actual vehicle speed VA (No. 23, Perform engine control based on this target acceleration.
Since the vehicle speed change is executed, similarly to the above, there is an effect that occurrence of an impact or the like due to a sudden change in acceleration when the vehicle shifts from the constant vehicle speed traveling state to the accelerated traveling state.

In particular, the difference VS-VA falls below a certain value (that is, the actual vehicle speed V
When A approaches the target vehicle speed VS), the target acceleration, which was a constant value until then, is set to decrease as the difference VS-VA decreases (the map {MDVS3, FIG. 23 in FIGS. 23 and 25}). MDVS5), so the convergence to the target vehicle speed is stabilized.

On the other hand, when the vehicle is in the acceleration traveling state or the deceleration traveling state and the constant vehicle speed traveling state is designated by operating the acceleration switch 45 or the changeover switch 46, the following effects are obtained.

First, during the transition to the constant vehicle speed running state, during the period from immediately after the operation to the opening / closing timing of the throttle valve 31 that comes first, the throttle valve opening that is assumed to maintain the actual vehicle speed immediately after the operation is provisionally set. The throttle valve 31 is opened and closed. Thereby, there is an effect that the transition to the constant vehicle speed running state is performed promptly and smoothly immediately after the operation.

Secondly, the target acceleration is set so as to gradually decrease (or increase) at each opening / closing timing cycle of the throttle valve when the vehicle shifts to the constant vehicle speed running state. Throttle valve
Due to the drive of 31, the actual acceleration gradually decreases (increases) as time elapses after the operation. When the actual acceleration becomes smaller (larger) than the reference value, the vehicle speed at this time is set as a new target vehicle speed VS, and the target acceleration decreases (increases) as the difference VS-VA decreases (increases). Enter constant speed running at a speed equal to VS. For this reason, there is an effect that occurrence of an impact due to a sudden change in acceleration at the time of shifting to the constant vehicle speed running state is prevented.

When the accelerator pedal 27 and the brake pedal 28 are both released and the auto cruise mode control is performed, the following effects are obtained.

First, as the actual acceleration values used in the auto cruise mode control, DVA _65, which is suitable for highly responsive control with high responsiveness to actual changes in vehicle acceleration, and stability with little influence of momentary disturbance DV suitable for high control
A ₈₅₀ and three data having different accuracy characteristics of the DVA _{130 in} the middle of the above numerical values are appropriately selected according to the start of the running state change, the middle of the running state change, and the completion of the running state change. So that optimal control can always be performed.

For example, when shifting to a constant vehicle speed running state by releasing the accelerator pedal 27 or releasing the brake pedal 28, and when shifting to a different running state designated by operating the acceleration switch 45 or the changeover switch 46, By using the value of the DVA ₆₅ in the control up to the opening / closing timing of the first throttle valve 31 after the start of the transition, the transition can be started quickly and accurately. In addition, after the transition to the constant vehicle speed running state, the DVA ₈₅₀
Is effective in that stable control without occurrence of malfunction due to disturbance can be performed.

Second, the timing for opening and closing the throttle valve 31 is determined by the accelerator pedal 27, brake pedal 28, acceleration switch
When the vehicle speed fluctuates, for example, during acceleration / deceleration running due to each operation of the running state changing means such as the switch 45 or the changeover switch 46, the speed is set with a period inversely proportional to the change in the vehicle speed. For this reason, as the vehicle speed increases, the number of times the throttle valve 31 opens and closes per unit time increases, and there is an effect that a highly responsive operation becomes possible.

Third, when the air pressure (data corresponding to the vehicle weight) detected by the air pressure detection device of the air suspension (air suspension) of the vehicle weight detection unit 19 changes suddenly, the actual acceleration data before the sudden change is used. In the case where it is determined that an error has occurred in the actual acceleration DVA obtained by the third interrupt control by the first fail-safe control configured to reset the control of the apparatus to the initial stage while adopting the control, As the data of each actual acceleration DVA (DVA ₆₅ , DVA ₁₃₀ , DVA ₈₅₀ ), the latest one (final calculated value) among the already calculated appropriate data is adopted. Therefore, even if an error occurs in the vehicle speed data due to bumps and rebounds of the wheels due to unevenness of the road surface, for example, erroneous actual acceleration data does not enter. As a result, the running control of the vehicle becomes smooth without being affected by disturbance, and the latest acceleration data is used as much as possible, so that the desired control can be performed promptly, and the riding feeling and the driving feeling are improved. There is an advantage that can greatly contribute to.

In addition, depending on the second fail-safe control performed in parallel with the first fail-safe control, the G sensor
Since an error in the actual acceleration data can be determined based on the vehicle body longitudinal acceleration detected in 51, an error in the actual acceleration data not caused by a bump or rebound of the wheel can be reliably detected. For this reason, the influence of disturbance on the running control of the vehicle can be excluded over a wider range than in the first fail-safe control, and the latest acceleration data is used as quickly as possible in the same manner as in the first fail-safe control. The desired control can be smoothly performed, which can contribute to improvement of the riding feeling and the driving feeling.

The first and second fail-safe controls for detecting and processing the error of the actual acceleration data may be provided with only one of them.

After the vehicle enters the constant vehicle speed running state, the vehicle speed becomes almost constant and there is no significant change in the throttle valve opening.
The above timing is set at a constant cycle irrespective of the vehicle speed. As a result, even if the rate of high-speed running increases, the life of the throttle valve 31 and the throttle valve rotating portion 26 is prevented from being shortened.

Each control is mainly performed at a constant control cycle (control cycle) according to the main flowchart shown in FIG. 8 (i). This control cycle is controlled by the inertia of the torque converter and the transmission of the vehicle. Since the time corresponding to the delay (loss time) Td is set as the time (Ta + Td) obtained by adding the predetermined time Ta, the response delay to the control does not affect the next control cycle.
There is an effect that accurate control can always be realized.

The target torque at the time of engine control, such as the target torque corresponding to the operation of the accelerator pedal [see equation (2)] and the target torque at the time of traveling at a constant vehicle speed [see equation (1)], is used in the automatic transmission 32. The value of the first speed is obtained by converting the speed to be performed to the first speed. Since the torque value at the first speed is the largest compared to the torque values at the other shift speeds, the resolution is improved when obtaining the target throttle opening from the target torque and the engine speed. There is an advantage that a relative error is reduced.

Further, target torques TOM ₁ , TOM ₂ , TOM ₃ [Equation (1),
(4), (5)] to calculate the actual torque TEM
For example, when the intake air amount is obtained as a parameter, the detected value of the intake air amount is delayed with respect to the operation of the throttle valve, so that the control delay becomes large. Since it is determined based on the characteristics of the automatic transmission (torque converter) 32, there is an advantage that control delay is suppressed and control responsiveness is improved.

Furthermore, since the data of the weight W of the vehicle, which is important for controlling the engine, is not the fixed value but the latest measured value as much as possible, the weight of the vehicle while traveling is of course not only when the occupant or load changes. There is also an advantage that appropriate control can be performed with high accuracy by taking this into consideration promptly even for a change.

The advantages and effects of controlling the engine 13 by the engine control device 1 have been described above. However, when climbing or descending a steep slope, such control of the engine 13 alone requires
In some cases, it is difficult to maintain a constant vehicle speed during the auto cruise mode control.In such a case, the automatic transmission control device 101 operates to appropriately shift down the gear position of the automatic transmission 32. Thus, there is an advantage that the torque can be increased on an uphill and the effect of the engine brake can be improved on a downhill so that the vehicle can be maintained at a constant vehicle speed.

In particular, under the control of the automatic transmission control device 101, the actual vehicle speed is too low for downshifting. The state where the actual acceleration is lower than the predetermined value has continued for a predetermined time. The speed is 3rd speed or 4th speed. The state where the maximum torque is output at the current engine speed has continued for a predetermined time. The engine speed after the downshift does not exceed a predetermined value. It is necessary to satisfy both of these conditions, so as long as the vehicle speed can be maintained by controlling the engine 13, there is no unnecessary downshift, and the engine speed due to the downshift may increase too much. Absent.

At the time of this downshift, at the same time, the upshift is prohibited. To release the upshift prohibition, the upshift is prohibited, the actual speed approaches the target speed, and the gear position becomes 2 Speed or third speed, and the condition that the current engine output torque has a margin is maintained for a predetermined period of time. Therefore, when the vehicle speed can be maintained only by controlling the engine 13 after the upshift. Only upshift is possible,
Unnecessary shift switching is prevented, and maintenance of constant vehicle speed traveling is further ensured.

In the present embodiment, the target acceleration DVS is gradually approached to 0 as a means for approaching the vehicle speed to the target vehicle speed VS when shifting to the constant vehicle speed running state by the auto cruise mode control. As described below, the determination may be performed using the first target vehicle speed VS ₁ (which substantially corresponds to the target vehicle speed VS in the embodiment) and the second target vehicle speed VS ₂ .

For example, after performing the acceleration of the vehicle depresses the accelerator pedal 27, when depression releases the accelerator pedal 27, first, immediately after releasing the actual vehicle speed VA _I the first target vehicle speed VS ₁
Set, the vehicle speed is temporarily rotate the throttle valve 31 to the opening degree position suspected of capable of maintaining the first target vehicle speed VS _1.

Next, when the first throttle valve opening / closing timing cycle comes after the next control cycle, the actual vehicle speed VA is reduced to the second speed.
And the target vehicle speed VS _2, and controls the engine 13 by performing opening control of the throttle valve 31 so as to approach the second target vehicle speed VS _2, the second target acceleration VS ₂ first target acceleration VS ₁
Gradually approach.

Then, finally, it is kept constant state speed matches approximately the first target vehicle speed VS _1.

By bringing the vehicle speed closer to the target vehicle speed VS in this way,
This has the effect that the vehicle speed in the constant vehicle speed state more accurately matches the vehicle speed immediately after the accelerator pedal 27 is released.

Moreover, without employing the first target vehicle speed VS ₁ as soon as the target vehicle speed of the constant speed traveling from depression after releasing the first throttle valve opening and closing timing cycle of the accelerator pedal 27, adopts the second target vehicle speed VS _1, the throttle By reducing the difference between the vehicle speed immediately before the throttle valve 31 is opened and closed and the target vehicle speed in the valve opening and closing timing cycle, sudden changes in vehicle speed and acceleration when the throttle valve 31 is opened and closed in the throttle valve opening and closing timing cycle are reduced. Thus, there is an effect that generation of an unpleasant impact is prevented and an extremely smooth speed change can be realized.

Further, after depressing the brake pedal 28 to decelerate the vehicle and then releasing the brake pedal 28,
Except when the state where the deceleration during deceleration is equal to or more than the reference value continues beyond the reference time and the vehicle speed when the brake pedal is depressed is lower than the reference value, the first deceleration is performed in the same manner as when the accelerator pedal 28 is released. by so performing the opening and closing of the throttle valve 31 to set the target vehicle speed VS ₁ and the second target vehicle speed VS _2, the effect of vehicle speed in the constant speed running condition coincides exactly with the vehicle speed immediately after depression release of the brake pedal 28 There is.

Further, the second target vehicle speed VS ₁ is used as the target vehicle speed for the constant vehicle speed immediately after the first throttle valve opening / closing timing cycle after the release of the depression of the brake pedal 28, so that the throttle valve 31 immediately before opening / closing in this throttle valve opening / closing timing cycle is used. The difference between the actual vehicle speed and the target vehicle speed becomes smaller, the sudden change in vehicle speed and acceleration when opening and closing the throttle valve 31 in this throttle valve opening and closing timing cycle is eliminated, and extremely smooth without unpleasant impact occurs. There is an effect that a speed change can be realized.

The above-described throttle valve opening / closing timing cycle corresponds to an engine output adjustment cycle.

On the other hand, the present engine control device 1
It is conceivable that the present invention is installed not only in the vehicle having the 32 but also in the vehicle having the manual transmission. Therefore, the case where the engine control device 1 is installed in the vehicle having the manual transmission will be described below.

In this case, the following points are changed in the configuration of the engine control device 1 shown in FIG.

That is, the output speed detection unit 22 is omitted, and the automatic transmission 32
And a shift lever (not shown) for manually selecting a gear position of the manual transmission is provided in place of the shift selector 29. A shift position switch (not shown) having a contact that is turned on when the shift lever is in a position to select neutral or reverse instead of the shift selector 17 or when a clutch pedal (not shown) is depressed. (Omitted).

Further, the content of the control performed by the engine control device 1 changed to that of the manual transmission in the following manner is different from that of the present embodiment.

That is, in the control performed at A113 in FIG. 8 (i),
It is determined whether or not the contact point of the shift position switch (not shown) is in the ON state. When it is determined that the contact is in the ON state, the process proceeds to step A117, and when it is determined that the contact is in the OFF state, the process proceeds to step A114.

The equation (1) used in step C130 in FIG.
Equation (2) used in step D123 in FIG. 11, equation (4) used in step E107 in FIG. 12, and the step in FIG.
In equation (5) used in E123, the value of the speed ratio e for obtaining the torque ratio T _Q is 1.

The operation of the engine control device 1 as described above differs only in the step A113 changed as described above.

That is, when the shift lever is at the position for selecting neutral or reverse, or when the clutch pedal (not shown) is depressed, the contact of the shift position switch is turned on. Proceeding to step A117, throttle direct control is performed in substantially the same manner as in the present embodiment.

Further, when the shift lever is at a position other than the position where neutral and reverse are selected and the clutch pedal is not depressed, the contact of the shift position switch is turned off, and the determination in step A113 determines that step A114
Then, the control is performed in the same manner as in the present embodiment.

As a result, even when the engine control device 1 is mounted on a vehicle having a manual transmission, substantially the same effect as when the engine control device 1 is mounted on a vehicle having the automatic transmission 32 can be obtained.

In such an engine control device, the first speed used as a low gear may be added to the position of the shift lever, which is a condition that the shift position switch is turned on. Of the first speed and the second speed of the second speed.
The speed and the third speed as a third gear may be added.

This concludes the description of the case where the engine control device 1 is mounted on a vehicle having a manual transmission.

Further, in the control device of the above-described embodiment, the following changes can be made.

The auto cruise mode control is performed in each control cycle, and when the acceleration switch 45 or the changeover switch 46 is operated to designate the acceleration traveling state or the deceleration traveling state when the vehicle is at the constant vehicle speed state, the target vehicle speed of the control unit 25 is set. The setting unit 6 may change the set value of the target vehicle speed.

In other words, the set value of the target vehicle speed at this time is, when the accelerated driving state is designated, the correction amount to the actual vehicle speed VA detected by the vehicle speed / acceleration detector 24. When the deceleration traveling state is designated, the actual vehicle speed detected by the vehicle speed / acceleration detecting unit 24 is added.
Compensation amount for VA However, the target vehicle speed may be set by multiplying the actual vehicle speed VA by a preset coefficient.

Further, instead of the actual vehicle speed VA, the target vehicle speed VS when the vehicle is traveling at the actual vehicle speed may be used. Or correction amount Are substantially the same as those in the above embodiments.

Next, when the vehicle is running at a constant vehicle speed, the changeover switch 46
When the deceleration traveling state is designated by operating the, the target acceleration may be gradually increased in each control cycle after the designation, similarly to the case where the acceleration traveling state is designated.
In this case, in addition to the effect obtained in each embodiment, there is an effect that the movement to the deceleration traveling is performed more smoothly.

Also, set the throttle switch 47 to When the brake pedal 28 is depressed, the throttle valve 31 is always held at the minimum opening position where the engine is at the idle position after the depression of the brake pedal 28. The throttle valve 31 may be held at the minimum opening position.

Further, the position of the acceleration switch 45 is shown in FIG. When the acceleration switch 45 is switched without operating the changeover switch 46, the acceleration switch
45 positions When set to a constant vehicle speed, , The acceleration traveling is specified by the driving state specifying unit 3 of the control unit 25, The running state corresponding to each position is not limited to such a state, and can be arbitrarily set as needed.

Further, in each embodiment, the deceleration traveling is not specified only by switching the acceleration switch 45, but the “deceleration traveling” is set at any position of the acceleration switch 45 so that the deceleration traveling can be designated only by switching the acceleration switch 45. It may be set so that it can be selected.

The selection of the acceleration switch 45 However, the number of selected positions may be increased or decreased as necessary.

Further, the switching of the traveling state corresponding to the operation of the changeover switch 46 is not limited to the one shown in each embodiment, and any traveling state is set in combination with each position of the acceleration switch 45, and the changeover of the changeover switch 46 is performed. You may make it switch according to operation.

Next, when the vehicle is decelerated by a brake (not shown) and the deceleration is longer than the reference, the duration is longer than the reference time, and the vehicle speed at the time of deceleration is lower than the reference, the brake pedal Although the throttle valve 31 is kept at the minimum opening at which the engine is at the idle position even after the depression of the step 28 is released, these conditions may be changed according to the characteristics of the vehicle, the purpose of use, and the like.

Conditions for holding the throttle valve 31 at the engine idle position include, for example, the following.

That is, when the deceleration when the brake pedal is depressed is larger than the reference value, when the brake pedal depressed state continuation time is longer than the reference value, or when the vehicle speed when the brake pedal is released is lower than the reference value. In addition to the above, it is further possible to appropriately combine these conditions with the deceleration at the time of depressing the brake pedal being larger than the reference value and the vehicle speed at the time of deceleration (the vehicle speed at the time of releasing the brake pedal being depressed) exceeding the reference value. If smaller,
Alternatively, the condition may be that the duration of the state where the deceleration at the time of depressing the brake pedal is larger than the reference value is longer than the reference value.

Also, the degree of deceleration is determined by deceleration,
This may be performed based on the pressure of the brake oil for driving the brake.

Further, in each control cycle, auto cruise mode control is performed. Added a function to display the target vehicle speed of the constant speed traveling when the constant vehicle speed traveling is specified as the traveling state of the vehicle, and the target vehicle speed of the acceleration traveling or the deceleration traveling when the acceleration traveling or the deceleration traveling is designated. In this case, the change in the set value of the target vehicle speed or the target vehicle speed can be performed while visually confirming the change.

In addition, the engine control device 1 of the present embodiment always sets the traveling state of the vehicle to the constant vehicle speed except when the accelerator pedal 27 and the brake pedal 28 are both released, except in a specific case. The vehicle may be driven at a constant speed only when the constant speed is artificially designated as in the related art. In this case, since the traveling state is artificially designated, the same effect can be obtained by operating the engine control device 1 when the vehicle is traveling at a constant vehicle speed.

Further, in the engine control device 1 of the present embodiment, if the accelerator pedal 27 and the brake pedal 28 are both in the released state, the traveling state of the vehicle is not set to the constant traveling speed, and the acceleration switch 45 or the changeover switch 46 is operated. When the operation is switched to a preset state, that is, in each embodiment, the acceleration switch 45 is turned on. When the vehicle is switched to the position, the constant speed traveling may be designated.

Further, downshift control of the automatic transmission 32 performed by the automatic transmission control device 101 [FIGS. 28 (i) to (iii)
Reference], the constants k _{1 to} k ₁₀ and the set rotation speed X used in
The values of DRPM1 to XDRPM6 and the like are not limited to the values set in the present embodiment, but can be appropriately set according to the characteristics of the engine and the transmission.

[Effects of the Invention] As described above in detail, according to the automatic traveling control device for a vehicle of the present invention, the target traveling state quantity setting means for setting a target value of the traveling state quantity representing the traveling state of the vehicle, and the vehicle A vehicle weight detecting means for detecting the vehicle weight of the vehicle, and a target torque required to bring the actual traveling state quantity close to the target traveling state quantity set by the target traveling state quantity setting means, at least by the vehicle weight detecting means. A target torque setting means for setting based on the detected vehicle weight, a normal driving mode for controlling an output of an engine mounted on the vehicle according to an operation amount of an accelerator pedal of the vehicle, and the accelerator pedal not being operated Engine output adjusting means having an automatic driving mode for controlling the output of the engine based on the target torque set by the target driving state quantity setting means in a state; In the automatic traveling control device for a vehicle, the target torque setting means is provided when the engine output control by the engine output adjusting means is in a mode other than the automatic traveling mode when the vehicle is stopped and when the vehicle is traveling. While the target torque is set using the latest vehicle weight detected by the load detection means, the engine output control by the engine output adjustment means is performed when the engine output control by the engine output adjustment means is the automatic driving mode. Immediately before starting, the target torque is set using the vehicle weight detected by the vehicle weight detecting means, and the latest measured value is used as much as possible, so that the occupants and cargo are In addition to changes in vehicle weight during driving, this should be taken into account promptly, and appropriate Through reliable control of the engine by the output, there is an advantage that running control of the vehicle is accurately performed so accurately.

[Brief description of the drawings]

1 to 28 show an automatic traveling control device for a vehicle as one embodiment of the present invention. FIG. 1 is a configuration diagram conceptually showing a main part of the present device, and FIG. FIG. 3 is a configuration diagram of the depression amount detection unit, FIG. 4 is a configuration diagram of the throttle valve rotation unit, FIG. 5 is a configuration diagram of the vehicle speed / acceleration detection unit, FIG. 6 is a front view of the auto cruise switch, FIG. 7 is a circuit diagram of a connection portion between the auto cruise switch and a control unit, FIG. 8 (i) is a main flowchart showing main contents of the control, and FIG. FIGS. (Ii) to (iv) are flowcharts showing the contents of the interrupt control interrupted in priority to the main flowchart, and FIG. 8 (v) is obtained by the third interrupt control shown in FIG. 8 (iv). Fail-safe control (1st FIG. 8 (vi) is a flowchart showing the content of the fail-safe control, and FIG. 8 (vi) is another fail-safe control (FIG. 8 (iv)) for compensating for the error of the actual acceleration obtained by the third interrupt control. Second
Flowchart showing the contents of the fail-safe control of
FIG. 8 (vii) is a flowchart showing the procedure for setting the vehicle weight data, FIG. 9 is a flowchart showing details of the throttle direct drive control performed in step A117 of FIG. 8 (i), and FIG. 10 is FIG. A flowchart showing details of the throttle non-linear motion control performed in step A116 of (i).
FIG. 11 is a flowchart showing details of the accelerator mode control performed in step C137 of FIG. 10, FIG. 12 is a flowchart showing details of the auto cruise mode control performed in step C144 of FIG. 10, and FIG. Figure steps
A flowchart showing details of the changeover switch control performed in E128, FIG. 14 is a flowchart showing details of the acceleration switch control performed in step E121 in FIG. 12, and FIG. 15 is a deceleration control performed in step E131 in FIG. FIG. 16 is a flowchart showing details of the target vehicle speed control performed in step E133 of FIG. 12,
FIG. 17 is a flowchart showing details of the acceleration control performed in step E122 of FIG. 12, and FIG. 18 is a flowchart of FIG.
Flowchart showing details of control of determination of the target acceleration DVS ₄ performed in J115, variables to be read in response to the parameter and the parameter of the map used in the control in both the 19-26 FIG This engine control device FIG. 27 is a graph showing the relationship between the target acceleration and the traveling speed corresponding to the lapse of time after the switching when the acceleration switch 45 is switched and the traveling state designation unit of the control unit is set to the acceleration traveling. FIG. 28 (i) is a flow chart mainly showing the control contents when climbing a hill among the control contents of the automatic transmission by the automatic transmission control device, and FIG. 28 (ii).
Is a flowchart mainly showing the control contents at the time of descending slope of the control contents of the automatic transmission by the automatic transmission control device,
FIG. 28 (iii) is a flowchart showing control contents as a modified example of the control at the time of going downhill in FIG. 28 (ii). 1 .... vehicle engine control device, 2 .... manual operation means,
3... A running state designating section as running state designating means, 4.
... A target acceleration setting section (target running state quantity setting section) as target acceleration setting section, 5... A vehicle speed detecting section, 6... A reaching target vehicle speed setting section as a reaching target vehicle speed setting section (target vehicle speed setting section, target running). State quantity setting means), 7 ... engine output adjustment means, 8 ... constant vehicle speed control unit as constant vehicle speed control means, 9 ... acceleration control unit as acceleration control means, 10 ...
... Deceleration control section as deceleration control means, 11 ... Arrival detection section as arrival detection means, 12 ... Running state switching section as running state switching means, 13 ... Engine, 14 ... Stepping amount detection section, 15 …… Accelerator switch, 16 …… Brake switch, 17 …… Shift selector switch, 18 …… Auto cruise switch (acceleration command means), 18a …… Main lever, 19 …… Vehicle weight detector (air suspension air pressure detector ), 20: intake air amount detector, 21: engine speed detector, 22: output shaft speed detector, 23 ...
Disguise stage detecting section, 24: Vehicle speed / acceleration detecting section, 25: Control section, 26: Throttle valve rotating section, 27: Accelerator pedal (running state changing means), 28: Brake pedal (running state change) Means), 30 ... suction passage, 31 ... throttle valve,
32 …… automatic transmission, 33 …… left front wheel, 33 …… right front wheel,
35 left rear wheel, 36 right rear wheel, 37 potentiometer, 38 A / D converter, 39 actuator drive unit, 40 throttle valve actuator, 41 throttle valve opening detection , Right rear wheel speed detection unit, 43 left rear wheel speed detection unit, 44 vehicle speed / acceleration calculation unit, 45 acceleration switch (running state changing means), 46 changeover switch (running) State switching operating means and running state changing means), 47 ...
… Throttle switch, 48 …… Target vehicle speed change switch,
49 steering goram, 50 power supply 51 vehicle body longitudinal acceleration sensor (G sensor) 101 automatic transmission control device 102 vehicle speed comparison and determination means 103 acceleration comparison and determination means 104 ... Torque comparison / determination means, 104a actual torque calculation means, 105 engine speed comparison / determination means, 106 shift change control means, 110, 111, 112 target torque setting means.

Continuation of front page (56) References JP-A-62-261545 (JP, A) JP-A-62-143740 (JP, A) JP-A-62-8837 (JP, A) JP-A-58-101241 (JP) JP-A-63-170132 (JP, A) JP-A-63-158425 (JP, U) JP-A-60-130164 (JP, U) WO 87/2629 (WO, A1) (58) Survey Field (Int.Cl. ⁶ , DB name) B60K 31/00-31/18

Claims (1)

(57) [Claims] 1. A target running state quantity setting means for setting a target value of a running state quantity representing a running state of a vehicle; a vehicle weight detecting means for detecting a vehicle weight of the vehicle; Target torque setting means for setting a target torque necessary for approaching the target running state quantity set by the running state quantity setting means based on at least the vehicle weight detected by the vehicle weight detecting means; and an accelerator pedal of the vehicle. The normal running mode for controlling the output of the engine mounted on the vehicle according to the operation amount of the vehicle, and the engine based on the target torque set by the target running state amount setting means in a state where the accelerator pedal is not operated. An engine output adjusting means having an automatic driving mode for controlling the output of the vehicle. The stage uses the latest vehicle weight detected by the vehicle weight detection means when the engine output control by the engine output adjustment means is other than the automatic driving mode when the vehicle is stopped and the vehicle is running. While the target torque is set, when the engine output control by the engine output adjusting means is the automatic driving mode, the vehicle weight detected by the vehicle weight detecting means immediately before the engine output control by the engine output adjusting means is started. An automatic cruise control device for a vehicle, wherein the target torque is set by using the following.