JPH08132919A - Travel control device for vehicle - Google Patents

Abstract

PURPOSE: To set a changeover point from constant speed travel control to inter- vehicle distance control to the distance suited to a driver's feelings and conduct smooth shift. CONSTITUTION: A constant speed travel control circuit 3 computes throttle opening Ta to control the actual speed to the specified speed on the basis of the travel speed, and an inter-vehicle distance control circuit 4 computes throttle opening Tb and brake depressing pressure value Bb to maintain the specified target inter-vehicle distance on the basis of the travel speed and inter-vehicle distance. A control changeover judging device 5 outputs a changeover command signal from constant speed travel control to inter-vehicle distance control at the distance suited to a driver's feelings on the basis of the inter-vehicle distance and travel speed. In a travel control device 6, when the changeover command signal is outputted and the throttle opening Tb becomes the throttle opening Ta or less, a throttle opening changeover switch 27 selects the throttle opening Tb by the output of an AND circuit 24 and supplies it to a throttle actuator 7 to shift to inter-vehicle distance control.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a vehicular travel control device, for example, a vehicular travel control device that drives a vehicle at a constant speed while controlling a distance between the vehicle and a preceding vehicle.

[0002]

2. Description of the Related Art As a conventional vehicle travel control device, there is, for example, the one disclosed in Japanese Patent Laid-Open No. 2-34439. As shown in FIG. 37, this is provided with a constant speed traveling control means and an inter-vehicle distance control means. That is, an inter-vehicle distance calculation circuit 103 that calculates the inter-vehicle distance based on the output of the radar 102 that uses ultrasonic waves that measures the inter-vehicle distance to the preceding vehicle is provided, and the inter-vehicle distance change rate calculation circuit 104 that inputs the output is provided. Calculate the time change rate of the inter-vehicle distance with. Further, a safe inter-vehicle distance setting circuit 105 for setting a safe inter-vehicle distance to the preceding vehicle from the outputs of the steering angle sensor 106 and the vehicle speed sensor 107 is provided, and the safe inter-vehicle distance set here, the actual inter-vehicle distance and the inter-vehicle distance change rate are set. Based on this, the control mode switching circuit 108 is controlled, and the throttle control circuit 111 for the inter-vehicle distance control and the throttle calculation circuit 117 for the constant speed traveling control control the throttle control motor 111 and the clutch 112.

A cancel switch is connected to the throttle calculation circuit 109. Further, regarding the constant speed traveling control, a vehicle speed memory setting circuit 116 is provided, and signals from the vehicle speed sensor 107, a set switch, a resume switch, a coast switch, and the like are input to the vehicle speed memory setting circuit 116.
In addition to the signal from the vehicle speed memory setting circuit 116, the signals from the clutch switch and the brake switch are input to the throttle calculation circuit 117 as cancel signals. With this configuration, the constant speed traveling control means and the inter-vehicle distance control means are selectively switched according to the change rate of the inter-vehicle distance to prevent the deceleration delay when the inter-vehicle distance is reduced, thereby improving safety. It is an attempt to raise it.

[0004]

However, in such a conventional vehicle travel control device, when switching between constant speed travel control and inter-vehicle distance control, the preceding vehicle is a safe inter-vehicle distance (target inter-vehicle distance). When the distance is farther away, the time change rate of the detected inter-vehicle distance is calculated, and when the value is greater than or equal to the predetermined value, the throttle is first fully closed to decelerate and then switched to inter-vehicle distance control. It is designed to switch to inter-vehicle distance control without any operation. The inter-vehicle distance at the time of switching from the constant speed traveling control to the inter-vehicle distance control, that is, the switching distance is the distance at the time of outputting the deceleration instruction by controlling the throttle, which does not always match the driver's feeling. There is a problem that it is not a distance. Therefore, in view of the above problems, the present invention provides a vehicle travel control device capable of setting the distance at the time of switching from the constant speed travel control to the inter-vehicle distance control to a distance that matches the driver's feeling. The purpose is to

[0005]

Therefore, according to the present invention, as shown in FIG. 1, a traveling speed detecting device 1 for detecting the traveling speed of the own vehicle and an inter-vehicle distance between the preceding vehicle and the own vehicle are detected. Inter-vehicle distance detection device 2, acceleration / deceleration means 51 for changing the traveling speed of the own vehicle, and constant speed for outputting a control signal for controlling the own vehicle to travel at a constant speed by controlling acceleration / deceleration according to the traveling speed. A traveling control unit 53 and an inter-vehicle distance control unit that outputs a control signal for inter-vehicle distance control that maintains the inter-vehicle distance at a predetermined target inter-vehicle distance by controlling acceleration / deceleration according to the traveling speed and the detected values of the inter-vehicle distance. 54,
A switching instruction means 55 for issuing a switching instruction from the constant speed traveling control to the inter-vehicle distance control, and based on the switching instruction, the control signal of the inter-vehicle distance controlling means 54 is decelerated from the control signal of the constant speed traveling control means 53. After the control signal of the constant speed traveling control means 53 is held until the process proceeds to, the switching control means 56 for switching and connecting the control signal of the inter-vehicle distance control means 54 to the acceleration / deceleration means 51 is provided. A throttle actuator, a brake actuator, a gear ratio switching device of an automatic transmission, or the like is used as the acceleration / deceleration means.

Particularly when the acceleration / deceleration means is a throttle actuator, the control signal of the constant speed traveling control means includes the throttle opening for constant speed traveling control, and the control signal of the inter-vehicle distance control means is the inter-vehicle distance. The switching control means includes a throttle opening for distance control, and after the switching instruction of the switching instructing means, the throttle opening for inter-vehicle distance control becomes equal to or less than the throttle opening for constant speed traveling control. After that, the throttle opening can be switched to the inter-vehicle distance control.

Further, the switching control means, after the switching instruction of the switching instruction means, is made after the throttle opening for the inter-vehicle distance control becomes smaller than the throttle opening for the constant speed traveling control, And the inter-vehicle distance control means performs calculation of the throttle opening for inter-vehicle distance control with the throttle opening for constant speed running control as an initial value after switching instruction. Can be

When a throttle actuator and a brake actuator are used as the acceleration / deceleration means, the control signal of the constant speed traveling control means includes the throttle opening for constant speed traveling control, and the inter-vehicle distance control means is controlled. The signal includes a throttle opening and a brake pedal pressure value for inter-vehicle distance control, the switching control means holds the throttle fully closed immediately after the switching instruction of the switching instruction means, and deceleration control based on the brake pedal pressure value. Or the traveling speed of the host vehicle becomes equal to or lower than the speed of the preceding vehicle, the throttle opening degree for the inter-vehicle distance control can be switched to.

Alternatively, the control signal of the constant speed running control means includes a throttle opening and a brake pedal pressure value for constant speed running control, and the control signal of the inter-vehicle distance control means includes a throttle opening for inter-vehicle distance control. And a brake pedal pressure value, the switching control means, after the switching instruction of the switching instruction means, after the throttle opening for the inter-vehicle distance control becomes smaller than the throttle opening for constant speed traveling control, While switching to the throttle opening for the inter-vehicle distance control, after the brake pedal pressure value for the inter-vehicle distance control becomes larger than the brake pedal pressure value for the constant speed traveling control, the brake pedal pressure for the inter-vehicle distance control It can be switched to a value. In this case, the inter-vehicle distance control means performs the calculation of the throttle opening for the inter-vehicle distance control with the throttle opening for the constant speed traveling control as an initial value after the switching instruction of the switching instruction means. It is preferable that the calculation of the brake pedal pressure value for the inter-vehicle distance control is performed with the brake pedal pressure value for the constant speed running control as an initial value.

When a throttle actuator and a gear shift device of an automatic transmission are used as the acceleration / deceleration means, the control signal of the constant speed traveling control means includes a throttle opening and a gear ratio for constant speed traveling control, The control signal of the inter-vehicle distance control means includes a throttle opening, a gear ratio and a brake pedal pressure value for inter-vehicle distance control, and the switching control means holds the throttle fully closed immediately after the switching instruction of the switching instruction means. When the deceleration control is performed based on the brake pedal pressure value or the traveling speed of the host vehicle becomes equal to or lower than the speed of the preceding vehicle, the throttle opening is switched to the inter-vehicle distance control and the gear ratio is set to the constant speed. The speed ratio for the traveling control is maintained, and the speed ratio for the inter-vehicle distance control becomes equal to or higher than the speed ratio for the constant speed traveling control. It may be made to switch to the speed ratio.

Further, the control signal of the constant speed running control means includes a throttle opening and a gear ratio for constant speed running control, and the control signal of the inter-vehicle distance control means includes a throttle opening and a throttle opening for inter-vehicle distance control. Including the gear ratio, the switching control means, after the switching instruction of the switching instruction means, after the throttle opening for the inter-vehicle distance control becomes smaller than the throttle opening for the constant speed traveling control, While switching to the throttle opening for control, the gear ratio is maintained at the gear ratio for the constant speed running control, and the gear ratio for the inter-vehicle distance control becomes equal to or higher than the gear ratio for the constant speed running control. After that, the gear ratio may be switched to the gear ratio for the inter-vehicle distance control.

When the acceleration / deceleration means includes a brake actuator, the control signal of the inter-vehicle distance control means further includes a brake pedal pressure value for inter-vehicle distance control,
The switching control means may select a predetermined brake pedal pressure value until the switching instruction of the switching instruction means, and switch to the brake pedal pressure value for the inter-vehicle distance control after the switching instruction.

[0013]

The constant speed traveling control means 53 is the traveling speed detecting device 1
A control signal for controlling the vehicle to travel at a constant speed is output based on the traveling speed detected at. Inter-vehicle distance control means 5
4 outputs a control signal for maintaining the inter-vehicle distance between the host vehicle and the preceding vehicle at the target inter-vehicle distance based on the traveling speed and the inter-vehicle distance detected by the inter-vehicle distance detecting device 2. During the constant speed traveling control, a control signal for performing the constant speed traveling control is sent to the accelerating / decelerating means 51 such as the throttle actuator, the brake actuator, or the gear ratio switching device of the automatic transmission, so that the predetermined traveling speed is maintained. Retained.

Based on the traveling speed and the inter-vehicle distance, the switching instructing means 55 determines the control switching from the constant speed traveling control to the inter-vehicle distance control, and outputs the switching instruction to the switching control means 56. Based on the switching instruction, the switching control means 56 holds the control signal of the constant speed traveling control means 53 until the control signal of the inter-vehicle distance control means advances from the control signal of the constant speed traveling control means to the deceleration direction. The control signal of the inter-vehicle distance control means 54 is switched to and connected to the acceleration / deceleration means 51. As a result, the vehicle does not accelerate due to the switching of the control method, and the constant speed traveling control smoothly shifts to the inter-vehicle distance control. Further, the control switching judgment is independently determined irrespective of the throttle opening degree and the braking state, so that the switching distance can be set in accordance with the driver's feeling.

[0015]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of a vehicle travel control device according to the present invention will now be described in detail with reference to the accompanying drawings. . FIG. 2 shows a first embodiment of the present invention. A signal from the vehicle speed detecting device 1 is input to the constant speed traveling control circuit 3, and a signal from the vehicle speed detecting device 1 and the inter-vehicle distance detecting device 2 is input to the inter-vehicle distance control circuit 4. The constant speed traveling control circuit 3 is connected to a throttle actuator 7 via a traveling control device 6 that controls the traveling of the vehicle as a whole, and the inter-vehicle distance control circuit 4 is also connected to the throttle actuator 7 and a brake via the traveling control device 6. It is connected to the actuator 8. A control switching determination device 5 is further connected to the vehicle speed detection device 1 and the inter-vehicle distance detection device 2. The constant speed traveling control circuit 3, the inter-vehicle distance control circuit 4, the control switching determination device 5, and the traveling control device 6 are configured using, for example, a microcomputer.

The vehicle speed detecting device 1 is composed of an encoder or the like and outputs a traveling speed signal of the vehicle. The inter-vehicle distance detecting device 2 is composed of a radar, a camera and the like, and detects the inter-vehicle distance to the preceding vehicle and outputs an inter-vehicle distance signal. The constant speed traveling control circuit 3 calculates the throttle opening Ta for controlling the actual traveling speed to a predetermined value based on the traveling speed signal detected by the vehicle speed detecting device 1 and outputs a signal of the calculated result. The inter-vehicle distance control circuit 4 is based on the traveling speed signal from the vehicle speed detecting device 1 and the inter-vehicle distance signal from the inter-vehicle distance detecting device 2 and controls the throttle opening Tb and the brake pedal pressure for controlling the actual inter-vehicle distance to a predetermined value. The value Bb is calculated and the calculation result is output.

The control switching determination device 5 determines the control switching from the constant speed traveling control to the inter-vehicle distance control based on the traveling speed signal and the inter-vehicle distance signal, and controls the inter-vehicle distance according to the driver's feeling. The switching instruction signal of is output to the traveling control device 6. The traveling control device 6 includes the preceding vehicle speed calculator 1
1, a throttle opening initial value setting device 16, a throttle opening switching device 17, a brake pedal pressure initial value setting device 18, a brake pedal pressure switching device 19, a latch circuit 15, and a plurality of logic circuits.

The preceding vehicle speed calculator 11 calculates the traveling speed of the preceding vehicle based on the traveling speed signal from the vehicle speed detecting device 1 and the inter-vehicle distance signal from the inter-vehicle distance detecting device 2. The output of the preceding vehicle speed calculator 11 is compared with the traveling speed signal by the vehicle speed detecting device 1 in the comparator 12,
1 is output when the traveling speed of the preceding vehicle is higher than the traveling speed of the host vehicle. The latch circuit 15 is composed of a monostable circuit, and outputs a throttle fully closed holding signal y described later.

Further, the comparator 13 inputs the output signal of the inter-vehicle distance control circuit 4, and outputs 1 when the inter-vehicle distance control circuit 4 outputs a signal indicating the brake depression pressure value. The output of the comparator 12 and the output of the comparator 13 are input to the OR circuit 14, and when the traveling speed of the preceding vehicle is higher than the traveling speed of the own vehicle, or the inter-vehicle distance control circuit 4 outputs a signal indicating the brake pedal pressure value. At this time, 1 is output to the latch circuit 15. This "1" output becomes a reset signal z for holding the throttle fully closed, which will be described later.

The initial value setting device 16 for the throttle opening is
It is a storage device in which a signal of "throttle opening Tc = 0" is set. The throttle opening switch 17 is a 3-input / 1-output selection switching circuit, and switching is controlled by an output signal of the control switching determination device 5 and an output signal of the latch circuit 15.

The three input signals are the constant speed traveling control circuit 3,
These are throttle opening signals from the inter-vehicle distance control circuit 4 and the throttle opening initial value setting device 16, which are selected and transmitted to the throttle actuator 7 as instruction values. The switching output to the throttle actuator in the throttle opening switch 17 is as shown in FIG.

The brake pedal pressure initial value setting device 18 is a storage device in which a signal of "brake pedal pressure Bc = 0" is set. The brake pedal pressure switching device 19 is a 2-input / 1-output selection switching circuit, selects a brake pedal pressure value signal from either the inter-vehicle distance control circuit 4 or the brake pedal pressure initial setting device 18, and instructs the break actuator 8. Output as a value.

The traveling control device 6 constructed as described above is
When the switching instruction signal x = 1 from the constant speed traveling control to the inter-vehicle distance control is output from the control switching determination device 5, the throttle opening signal (Tc = 0) from the initial value setting device 16 is selected and immediately. Fully close the throttle. Then, thereafter, the throttle is held fully closed until a brake pedal pressure value signal is output from the inter-vehicle distance control circuit 4 or until the traveling speed of the preceding vehicle becomes equal to or lower than the traveling speed of the preceding vehicle due to deceleration by engine braking.

The throttle actuator 7 controls the actual actual throttle opening based on the throttle opening instruction value input via the throttle opening switch 17 of the travel control device 6. The brake actuator 8 controls the actual brake pedal pressure to the brake pedal pressure instruction value input via the brake pedal pressure switch 19.

FIG. 4 shows the basic concept of the operation of the apparatus of this embodiment. Symbol r1 in the drawing is a detection distance by the inter-vehicle distance detecting device 2, r2 is a control switching distance, and r3 is a target inter-vehicle distance. That is, when the vehicle-to-vehicle distance between the vehicle traveling at a constant speed and the preceding vehicle approaches within the control switching distance (r
1 ≦ r2) is to switch from the constant speed traveling control to the inter-vehicle distance control and follow the preceding vehicle while maintaining a predetermined target inter-vehicle distance r3.

More specifically, the target inter-vehicle distance and the control switching distance are changed depending on the traveling speed. The switching distance for executing switching from the constant speed traveling control to the inter-vehicle distance control is the timing at which the control switching determination device 5 outputs the switching instruction signal, and FIG. 5 shows an example of obtaining this timing. The higher the traveling speed of the host vehicle, the greater the target inter-vehicle distance in the inter-vehicle distance control, and the greater the relative speed with respect to the preceding vehicle, the greater the inter-vehicle distance for outputting the switching instruction signal. That is, here, the inter-vehicle distance at which the driver releases the accelerator to decelerate is modeled by the following arithmetic expression and used as the output distance of the switching instruction signal from the constant speed traveling control to the inter-vehicle distance control. L = A × V + Lc + B × Vrlt + C × Vrlt ² where L is the switching distance, V is the traveling speed of the host vehicle, and Vrlt
Is a relative speed, and A, B, C, and Lc are constants.

Next, the operation of this embodiment will be described in detail. The vehicle speed detection device 1 outputs a traveling speed signal of the own vehicle. The inter-vehicle distance detecting device 2 also outputs an inter-vehicle distance signal between the host vehicle and the preceding vehicle. The constant speed traveling control circuit 3 calculates and outputs a throttle opening degree Ta for controlling the actual vehicle speed to a predetermined speed based on the traveling speed detected by the vehicle speed detecting device. During the constant speed traveling control, the throttle actuator 7 controls the actual throttle opening to the above-mentioned throttle opening instruction value output from the constant speed traveling control circuit 3 to keep the traveling speed of the own vehicle at a predetermined value. .

Further, the inter-vehicle distance control circuit 4 controls the detected inter-vehicle distance to a predetermined target inter-vehicle distance based on the traveling speed and the inter-vehicle distance detected by the vehicle speed detecting device 1 and the inter-vehicle distance detecting device 2. The throttle opening Tb and the brake pedal pressure value Bb are calculated and output. Based on the inter-vehicle distance and the traveling speed detected by the vehicle speed detection device 1 and the inter-vehicle distance detection device 2, the control switching determination device 5 changes from the constant speed traveling control to the inter-vehicle distance control at a distance that is suitable for the driver. The control system switching instruction signal is output.

When the control switching determination device 5 outputs a switching instruction signal for switching from the constant speed traveling control to the inter-vehicle distance control, in the traveling control device 6, the brake pedal pressure switching device 19 controls the inter-vehicle distance control from the initial value setting device 18. Switch to circuit 4 side. Then, the throttle opening switch 17 selects the throttle opening signal (Tc = 0) from the initial value setting device 16 and immediately closes the throttle fully. Further, in response to the switching instruction signal, the latch circuit 15 outputs the throttle fully closed holding signal y to maintain the throttle fully closed state.

Then, when the brake pedal pressure value signal Bb is output from the inter-vehicle distance control circuit 4 or the traveling speed of the host vehicle becomes equal to or lower than the speed of the preceding vehicle due to deceleration by engine braking, the OR circuit 14 outputs a reset signal. Output (z
= 1) is input to the latch circuit 15 to release the throttle fully closed state. Thus, the brake pedal pressure value signal B is changed from the state where the brake pedal pressure value = 0 during the constant speed traveling control.
When the control signal from the inter-vehicle distance control circuit advances in the deceleration direction such as when b is output, the holding state is released and the inter-vehicle distance control is started. Thereafter, during the inter-vehicle distance control, the throttle opening switch 17 selects the throttle opening instruction value from the inter-vehicle distance control circuit 4, and the brake pedal pressure selector 19 selects the brake pedal pressure value from the inter-vehicle distance control circuit 4. , The brake actuator 8 controls the actual brake pedal pressure to the brake pedal pressure instruction value, and the throttle actuator 7 controls the actual throttle opening degree to the throttle valve opening instruction value to set the inter-vehicle distance to the preceding vehicle to a predetermined target inter-vehicle distance. Hold on.

In this embodiment, the throttle actuator 7 and the brake actuator 8 constitute the acceleration / deceleration means of the invention. The constant speed traveling control circuit 3 serves as the constant speed traveling control means, and the inter-vehicle distance control circuit 4 serves as the inter-vehicle distance control means.
The control switching determination device 5 constitutes switching instruction means, and the traveling control device 6 constitutes switching control means.

FIG. 6 is a flow chart showing the flow of the above-mentioned control processing. Here, the throttle opening and the brake pedal pressure value for the inter-vehicle distance control are calculated during the constant speed traveling control. First, in step 201, the traveling speed from the vehicle speed detection device 1 is read into the control switching determination device 5, and in step 202, the inter-vehicle distance signal between the host vehicle and the preceding vehicle is read from the inter-vehicle distance detection device 2. Then, in step 203, the switching distance from the constant speed traveling control to the inter-vehicle distance control is calculated.

On the other hand, in step 204, the throttle opening for constant speed traveling control is calculated by the constant speed traveling control circuit 3 based on the traveling speed of the host vehicle. Further, in step 205, the inter-vehicle distance control circuit 4 calculates the throttle opening for inter-vehicle distance control, and in step 2
Similarly, at 06, a brake pedal pressure value for inter-vehicle distance control is calculated. Then, in step 207, the control switching determination device 5 compares the inter-vehicle distance read in step 202 with the switching distance calculated in step 203,
If the former inter-vehicle distance is equal to or less than the latter, a switching instruction signal from the constant speed traveling control to the inter-vehicle distance control is output, and the routine proceeds to step 209.

While the inter-vehicle distance is larger than the switching distance, the constant speed traveling control is continued, and in step 208, the throttle opening for the constant speed traveling control calculated in the previous step 204 is set to the throttle opening switching device 17. It is then supplied to the throttle actuator 7.

On the other hand, in step 209, the brake pedal pressure changer 19 moves from the initial value setting device 18 to the inter-vehicle distance control circuit 4.
Switch to the side. Then, in step 210, the throttle opening degree switch 17 selects the throttle opening degree signal (= 0) from the initial value setter 16 and supplies it to the throttle actuator 7 to fully close the throttle. After that, in step 211, after the switching instruction signal from the constant speed traveling control to the inter-vehicle distance control, whether the brake pedal pressure value is output from the inter-vehicle distance control circuit 4 even once, or the traveling speed of the own vehicle is decelerated by the engine braking. Is checked to see if it is below the speed of the preceding vehicle.

When the result of this check is NO, the routine returns to step 210, where the throttle is fully closed and the check is repeated. When the check result is YES, the routine proceeds to step 212, where the throttle opening switch 17 selects the throttle opening for inter-vehicle distance control calculated by the inter-vehicle distance control circuit 4 and supplies it to the throttle actuator 7. Since the brake pedal pressure switch 19 has already been switched to the inter-vehicle distance control circuit 4 side, the brake pedal pressure value calculated by the inter-vehicle distance control circuit 4 is also supplied to the brake actuator 8.

7 to 9 are characteristic diagrams based on the above control. In FIG. 7, since the brake pedal pressure value for the inter-vehicle distance control is not output after the control switching instruction, the throttle opening = 0 continues even if the calculated value of the throttle opening for the inter-vehicle distance control is output. At the same time, the state in which the brake pedal pressure generation is executed by the brake actuator after the brake pedal pressure value is output and the vehicle follows the preceding vehicle is shown.

In FIG. 8, since there is no calculation output of the brake pedal pressure value for the inter-vehicle distance control after the control switching instruction, the throttle opening is set to 0, and the traveling speed of the host vehicle is less than the speed of the preceding vehicle due to deceleration by the engine brake. When, the throttle opening for inter-vehicle distance control is supplied to the throttle actuator, and the following vehicle is followed.

FIG. 9 shows the case where the brake pedal pressure value for the inter-vehicle distance control is output when the control switching instruction is issued. Immediately after that, the control shifts to the inter-vehicle distance control and the brake actuator is operated based on the brake pedal pressure value. The brake is controlled and driven to follow the preceding vehicle.

Since the present embodiment is configured as described above, when the control switching instruction from the constant speed running control to the inter-vehicle distance control is issued, the vehicle can be smoothly controlled without accelerating. It has an effect that it can be switched. Also,
Since the control switching distance is independently determined regardless of the calculated values of the throttle opening and the brake depression pressure for the inter-vehicle distance control, it is possible to set the switching distance that matches the driver's feeling.

FIG. 10 shows the configuration of the second embodiment of the present invention. In this embodiment, the throttle opening of the inter-vehicle distance control is calculated during the constant speed traveling control, and the throttle openings of both are compared after instructing the switching of the control system to continue the constant speed traveling control or to control the inter-vehicle distance control. To switch to. Therefore, the traveling control device 6A is provided instead of the traveling control device 6 of the first embodiment.

The travel control device 6A comprises a brake pedal pressure initial value setting device 18, a brake pedal pressure switching device 19, a throttle opening switching device 27, and a plurality of logic circuits. As a logic circuit, a comparator 21 for comparing each throttle opening (calculated value) signal input from the constant speed traveling control circuit 3 and the inter-vehicle distance control circuit 4 and an output signal of the comparator 21 and the control switching determination device 5 are input. AND circuit 24 is provided.

The throttle opening degree switch 27 is a 2-input / 1-output selection switching circuit, and outputs a throttle opening degree signal from the constant speed traveling control circuit 3 and the inter-vehicle distance control circuit 4 according to the output of the AND circuit 24. It is selectively switched and output as an instruction value to the throttle actuator. The brake pedal pressure selector 19 receives the output signal of the control switching determination device 5 and selects the brake pedal pressure value (calculated value) from the inter-vehicle distance control circuit 4 and the brake pedal pressure value (Bc = 0) from the initial value setting device 18. It is switched and output as an instruction value to the brake actuator 8. The comparator 21 compares the magnitudes of two throttle openings (calculated values) of the constant speed traveling control circuit 3 and the inter-vehicle distance control circuit 4, and the throttle opening for constant speed traveling control is used for the inter-vehicle distance control. "1" is output when the throttle opening is larger. The other structure is the same as that of the first embodiment.

In this embodiment, the vehicle speed detecting device 1 outputs the traveling speed of the host vehicle, and the inter-vehicle distance detecting device 2 outputs the inter-vehicle distance between the host vehicle and the preceding vehicle. The constant speed traveling control circuit 3
Based on the traveling speed detected by the vehicle speed detection device 1, a throttle opening Ta for controlling the actual vehicle speed to a predetermined speed is calculated and output. Further, the inter-vehicle distance control circuit 4 controls the detected inter-vehicle distance to a predetermined target inter-vehicle distance based on the traveling speed and the inter-vehicle distance detected by the vehicle speed detection device 1 and the inter-vehicle distance detection device 2. Tb and brake pedal pressure value Bb are calculated and output. During the constant speed traveling control, the throttle actuator 7 controls the actual throttle opening degree to the throttle opening degree Ta output from the constant speed traveling control circuit 3 to keep the speed of the host vehicle at a predetermined speed.

The control switching judgment device 5 from the constant speed running control to the inter-vehicle distance control is composed of the vehicle speed detecting device 1 and the inter-vehicle distance detecting device 2.
Based on the inter-vehicle distance and the traveling speed detected in step 1, the control system switching instruction signal is output at a distance that matches the driver's feeling. In the traveling control device 6A, when the control switching determination device 5 outputs a switching instruction signal from the constant speed traveling control to the inter-vehicle distance control, and the throttle opening of the inter-vehicle distance control becomes equal to or less than the throttle opening of the constant speed traveling control. The AND circuit 24 outputs "1", and in response to this, the throttle opening degree switch 27 supplies the throttle opening degree Tb signal from the inter-vehicle distance control circuit 4 to the throttle actuator 7.

During the inter-vehicle distance control, the brake actuator 8 controls the actual brake pedal pressure to the brake pedal pressure value Bb output from the inter-vehicle distance control circuit 4, and the throttle actuator 7 outputs the throttle opening output from the inter-vehicle distance control circuit 4. The actual throttle opening is controlled to a degree Tb to maintain the inter-vehicle distance with the preceding vehicle at a predetermined inter-vehicle distance.

FIG. 11 is a flow chart showing the flow of the above-mentioned control processing. Steps 301 to 308 are the same as steps 201 to 208 of FIG. 6 in the first embodiment. If the inter-vehicle distance is equal to or less than the switching distance in the check in step 207, the switching instruction signal from the constant speed traveling control to the inter-vehicle distance control is output, and the process proceeds to step 309. In step 309, the brake pedal pressure switching device 19 is switched from the initial value setting device 18 to the inter-vehicle distance control circuit 4 side. Then, in step 310, the comparator 21 of the travel control device 6A compares the throttle opening calculation value for constant speed travel control with the throttle opening calculation value for inter-vehicle distance control.

Here, when the throttle opening for controlling the inter-vehicle distance is larger, the routine proceeds to step 308,
The constant speed running control is continued based on the throttle opening for the constant speed running control. If the throttle opening for the inter-vehicle distance control is smaller than the throttle opening for the constant speed running control, in step 311, the inter-vehicle distance control circuit 4 is used as an instruction value sent by the throttle opening switch 27 to the throttle actuator 7. Select the throttle opening from.

12 to 14 are characteristic diagrams based on the above control. FIG. 12 shows that the constant speed running control is continued because the throttle opening calculated value for the inter-vehicle distance control is larger than the throttle opening calculated value for the constant speed running control immediately after the control system switching instruction. The case where the throttle opening for the inter-vehicle distance control becomes equal to or less than the opening for the constant speed traveling control and then the inter-vehicle distance control is performed to follow the preceding vehicle is shown.

FIG. 13 shows that the inter-vehicle distance control is immediately performed when the calculated throttle opening for the inter-vehicle distance control is smaller than the throttle opening for the constant-speed traveling control when the control system switching instruction is issued. This is a case where the vehicle moves and follows the preceding vehicle at the throttle opening for controlling the inter-vehicle distance.

FIG. 14 shows that the inter-vehicle distance is immediately calculated when the calculated throttle opening for inter-vehicle distance control is smaller than the throttle opening for constant-speed traveling control when a control system switching instruction is issued. Although the control shifts to the control, since the brake pedal pressure value for inter-vehicle distance control has been obtained at the time of switching, a state in which the preceding vehicle is followed by this brake pedal pressure is shown.

Since the present embodiment is configured as described above, when the control switching instruction from the constant speed running control to the inter-vehicle distance control is issued, the host vehicle accelerates as in the first embodiment. The control system can be smoothly switched without any problem. Further, since the control switching distance is independently determined regardless of the calculated values of the throttle opening degree and the brake depression pressure for the inter-vehicle distance control, it is possible to set the switching distance suitable for the driver's feeling.

Next, FIG. 15 shows a third embodiment. In this embodiment, when the constant speed running control is changed to the inter-vehicle distance control, the throttle opening for the constant speed running control is adjusted to a new inter-vehicle distance control when the throttle opening for the inter-vehicle distance control is calculated. This is the initial value of the throttle opening. This embodiment is based on the configuration of the second embodiment and includes an inter-vehicle distance control circuit 4A instead of the inter-vehicle distance control circuit 4. Then, the throttle opening calculation value for constant speed traveling control, which is the output of the constant speed traveling control circuit 3, and the switching instruction signal from the control switching determination device 5 are input to the inter-vehicle distance control circuit 4A. There is. The other structure is the same as that of the second embodiment.

In this embodiment, during the constant speed running control, the throttle actuator 7 controls the actual throttle opening so that it becomes the throttle opening output from the constant speed running control circuit 3 to control the own vehicle. Hold the speed at a predetermined speed. Then, the control switching determination device 5 sends a control system switching instruction signal from the constant speed traveling control to the inter-vehicle distance control based on the inter-vehicle distance and the traveling speed detected by the vehicle speed detection device 1 and the inter-vehicle distance detection device 2. Output. Then, in the travel control device 6A, the comparator 21 compares the throttle opening (calculated value) Tb for inter-vehicle distance control with the throttle opening (calculated value) Ta for constant speed travel control to control the inter-vehicle distance. When the throttle opening degree for the vehicle becomes smaller, the throttle opening degree switch 27 sends the throttle opening degree Tb signal from the inter-vehicle distance control circuit 4A to the throttle actuator 7 as an instruction value to switch to the inter-vehicle distance control.

The inter-vehicle distance control circuit 4A is based on the inter-vehicle distance and the traveling speed detected by the vehicle speed detecting device 1 and the inter-vehicle distance detecting device 2, and the constant speed traveling control output from the constant speed traveling control circuit 3. Is used as an initial value to calculate and output a throttle opening Tb for controlling the detected inter-vehicle distance to a predetermined target inter-vehicle distance.

During the inter-vehicle distance control, the brake actuator 8 controls the actual brake pedal pressure to be the inter-vehicle distance control circuit 4A.
The throttle actuator 7 is controlled so that the brake pedal pressure value Bb output from the vehicle is controlled and the actual throttle opening is controlled to the throttle opening Tb output from the inter-vehicle distance control circuit 4A. The inter-vehicle distance between and is maintained at a predetermined target inter-vehicle distance.

FIG. 16 is a flow chart showing the flow of control processing during this period. Steps 401 to 404 are
Steps 301 to 304 of FIG. 11 in the second embodiment
Is the same as In step 405 after step 404, the control switching determination device 5 compares the inter-vehicle distance detected by the vehicle speed detection device 1 with the switching distance, and if the former inter-vehicle distance is equal to or less than the latter, constant speed traveling is performed. A switching instruction signal from control to inter-vehicle distance control is output, and step 407
Go to. When the inter-vehicle distance is larger than the switching distance, the constant speed traveling control is continued, and in step 406, the previous step 40
The throttle opening for constant speed traveling control obtained in step 4 is sent as an instruction value to the throttle actuator 7 via the throttle opening switch 27.

On the other hand, in step 407, the inter-vehicle distance control circuit 4A calculates the brake pedal pressure value for inter-vehicle distance control. Then, in step 408, the brake pedal pressure value for inter-vehicle distance control is sent to the brake actuator 8 by the brake pedal pressure switch 19 as an instruction value. In step 409, the inter-vehicle distance control circuit 4A
At, the calculation of the throttle opening for inter-vehicle distance control is performed. In this calculation, the value of the throttle opening degree output by the constant speed traveling control circuit 3 is used as its initial value. After that, in step 410, the throttle opening for constant speed traveling control and the throttle opening calculated value for inter-vehicle distance control are compared, and if the latter is not smaller, the routine proceeds to step 406. As a result, the constant speed traveling control is continued until the throttle opening for the inter-vehicle distance control becomes small.

When the latter throttle opening for inter-vehicle distance control becomes smaller, the routine proceeds to step 411, where the throttle opening for inter-vehicle distance control is sent to the throttle actuator 7 via the throttle opening switch 27 as an instruction value. Is transmitted as a control signal and shifts to inter-vehicle distance control.

17 and 18 are characteristic diagrams based on the above control. FIG. 17 shows that after the control system switching instruction, the throttle opening for inter-vehicle distance control calculated with the value of the throttle opening for constant speed traveling control as an initial value is smaller than the throttle opening for constant speed traveling control. Since the constant speed running control is continued and the throttle opening calculation value for the inter-vehicle distance control becomes smaller than the throttle opening for the constant speed running control, the inter-vehicle distance control is started.

FIG. 18 shows that the throttle opening for the inter-vehicle distance control calculated with the value of the throttle opening for the constant speed traveling control as an initial value after the control system switching instruction is the throttle opening for the constant speed traveling control. When the opening is smaller than the opening, a case where the control immediately moves to the inter-vehicle distance control and follows the preceding vehicle is shown.

Since the present embodiment is configured as described above, when the control switching instruction from the constant speed running control to the inter-vehicle distance control is issued, the host vehicle accelerates as in the first embodiment. The control system can be switched smoothly without any need, and the control switching distance is independently determined regardless of the calculated values of the throttle opening and the brake pedal pressure value for inter-vehicle distance control, which suits the driver's feeling. This has the effect that the switching distance can be set. Then, when the control switching instruction is issued, the calculation of the throttle opening for the inter-vehicle distance control is performed with the throttle opening for the constant speed traveling control as the initial value, so that the control can be shifted more quickly and smoothly.

FIG. 19 shows a fourth embodiment of the present invention.
In this embodiment, the brake pedal pressure of the inter-vehicle distance control is calculated while the constant speed traveling control is being performed by the brake control, and after the control method switching instruction, the both brake pedal pressures are compared to continue the constant speed traveling. Or switch to inter-vehicle distance control. This is the constant speed traveling control circuit 3 in the second embodiment.
Instead of this, a constant speed traveling control circuit 3A is provided, and instead of the traveling control device 6A, a traveling control device 6B is provided. The constant speed traveling control circuit 3A calculates and outputs a brake pedal pressure value for constant speed traveling control together with a throttle opening for constant speed traveling control.

The traveling control device 6B is based on the configuration of the traveling control device 6A, and the initial value setting device for the brake pedal pressure is omitted, and the brake pedal pressure switching device 19 connected to the brake actuator 8 includes a constant speed traveling control circuit 3A. The brake pedal pressure value Ba from B and the brake pedal pressure value Bb from the inter-vehicle distance control circuit 4 are input. Further, the comparator 31 for comparing the magnitude of the brake pedal pressure value Ba for constant speed traveling control, which is the output of the constant speed traveling control circuit 3A, and the brake pedal pressure value Bb for inter-vehicle distance control, which is the output of the inter-vehicle distance control circuit 4. Is provided. Further, an AND circuit 34, which receives the output of the comparator 31 and the switching instruction signal x which is the output of the control switching determination device 5, is provided, and the output of the AND circuit 34 serves as the brake pedal pressure switching device 1.
Switching of 9 is performed. The other structure is the same as that of the second embodiment.

With this structure, the traveling control device 6B outputs the switching instruction signal (x = 1) from the constant speed traveling control to the inter-vehicle distance control from the control switching determination device 5 and opens the throttle for the inter-vehicle distance control. When the degree becomes equal to or less than the throttle opening Ta for constant speed traveling control Tb, it shifts to the throttle opening for inter-vehicle distance control, and the brake pedal pressure value Bb for inter-vehicle distance control is the brake for constant speed traveling control. Even when the pedal pressure value Ba becomes equal to or higher than the pedal pressure value Ba, the brake pedal pressure value of the inter-vehicle distance control is changed.

That is, when "1" is input to the AND circuit 34 as the switching instruction signal, when the brake pedal pressure value for inter-vehicle distance control becomes equal to or more than the brake pedal pressure value for constant speed running control, the comparator When the 31 outputs “1”, the AND circuit 34 outputs “1”.
As a result, the brake pedal pressure changer 19 connects the brake actuator 8 to the brake pedal pressure value Ba for constant speed traveling control to the brake pedal pressure value Bb for inter-vehicle distance control.
Switch to.

Explaining the entire operation here, first, the vehicle speed detection device 1 outputs the traveling speed of the host vehicle, and the inter-vehicle distance detection device 2 outputs the inter-vehicle distance between the host vehicle and the preceding vehicle. Then, the constant speed traveling control circuit 3A calculates and outputs the throttle opening Ta and the brake pedal pressure value Ba for controlling the actual traveling speed to a predetermined speed based on the traveling speed detected by the vehicle speed detection device 1. The inter-vehicle distance control circuit 4 calculates and outputs a throttle opening Tb and a brake pedal pressure value Bb for controlling the detected inter-vehicle distance to a predetermined target inter-vehicle distance based on the inter-vehicle distance and the traveling speed.

During the constant speed running control, the throttle actuator 7 controls the actual throttle opening to the throttle opening instruction value output from the constant speed running control circuit 3A, and the brake actuator 8 also drives the constant speed running. The actual brake pedal pressure is controlled to the brake pedal pressure value Ba output from the control circuit 3A to maintain the speed of the host vehicle at a predetermined speed. The control switching determination device 5 outputs a control system switching instruction signal from the constant speed traveling control to the inter-vehicle distance control at a distance that matches the driver's feeling based on the inter-vehicle distance and the traveling speed.

In the traveling control device 6B, the control switching determination device 5 outputs a control system switching instruction signal, and the throttle opening for inter-vehicle distance control is less than or equal to the throttle opening for constant speed traveling control, or When the brake pedal pressure value for the distance control becomes equal to or higher than the brake pedal pressure value for the constant speed traveling control, the control shifts to the inter-vehicle distance control. During the inter-vehicle distance control, the brake actuator 8 controls the actual brake pedal pressure to the brake pedal pressure value Bb output from the inter-vehicle distance control circuit 4, and the throttle actuator 7 outputs the throttle opening instruction value output from the inter-vehicle distance control circuit 4. The actual throttle opening is controlled to Tb, and the inter-vehicle distance from the preceding vehicle is maintained at a predetermined target inter-vehicle distance test.

FIG. 20 is a flow chart showing the flow of control processing during this period. Steps 501 to 509 are
Steps 301 to 308 of FIG. 11 in the second embodiment.
The difference is that the step for calculating the brake pedal pressure value for constant speed traveling control by the constant speed traveling control circuit 3A is inserted between steps 304 and 305. After step 509, step 510 is provided, and the brake pedal pressure value Ba for constant speed traveling from the constant speed traveling control circuit 3A is selected as the brake pedal pressure value sent to the brake actuator 8, and constant speed traveling control is performed. Is continued.

When the inter-vehicle distance is equal to or shorter than the switching distance in the check in step 508, a switching instruction signal for switching from the constant speed traveling control to the inter-vehicle distance control is output, and the process proceeds to step 511. In step 511, the comparator 21 of the travel control device 6B compares the throttle opening calculation value for constant speed travel control with the throttle opening calculation value for inter-vehicle distance control.

Here, if the throttle opening for controlling the inter-vehicle distance is larger, the routine proceeds to step 509,
The constant speed running control is continued based on the throttle opening for the constant speed running control. When the throttle opening degree Tb for the inter-vehicle distance control is smaller than the throttle opening degree Ta for the constant speed running control, in step 512, the throttle opening degree switch 27 sends the throttle opening degree signal to the throttle actuator 7 to the inter-vehicle distance. The throttle opening Tb from the distance control circuit 4 is set.

In the next step 513, the calculated brake pedal pressure value for constant speed running control is compared with the brake pedal pressure calculated value for vehicle distance control. If the latter is smaller, the routine proceeds to step 510, where The high speed traveling control is continued.
Here, the brake pedal pressure calculation value Bb for the inter-vehicle distance control
Becomes larger than the brake pedal pressure value Ba for constant speed running control, the routine proceeds to step 514, where the brake pedal pressure value Bb from the inter-vehicle distance control circuit 4 is selected as the brake pedal pressure value sent to the brake actuator 8. Move to inter-vehicle distance control.

21 and 22 are characteristic diagrams based on the above control. FIG. 21 shows that when the control method switching instruction is issued, the constant speed travel control is continued for a while because the constant brake speed control value is smaller than the constant brake speed control value for constant speed travel control. After the brake pedal pressure value for is greater than the calculated value for constant speed running control,
The state which transfers to inter-vehicle distance control is shown.

FIG. 22 shows that when a control system switching instruction is issued,
It shows that the brake pedal pressure value for inter-vehicle distance control is already larger than the brake pedal pressure value for constant speed running control.In this case, immediately after instruction, shift to inter-vehicle distance control,
It will follow the preceding vehicle.

According to this embodiment, as in the case of the first and second embodiments, when the control switching instruction from the constant speed running control to the inter-vehicle distance control is issued, the own vehicle is not accelerated and smoothed. Since the control method can be switched, and the control switching distance is determined independently regardless of the calculated values of the throttle opening and brake pedal pressure for inter-vehicle distance control, set the switching distance to match the driver's feeling. It has the effect that

FIG. 23 shows a fifth embodiment of the invention.
In this embodiment, when the constant speed running control is changed to the inter-vehicle distance control, the throttle opening for the constant speed running control and the constant speed control are calculated when the throttle opening and the brake pedal pressure for the inter-vehicle distance control are calculated. The brake pedal pressure value for travel control is used as a throttle opening initial value and a brake pedal pressure value initial value for new inter-vehicle distance control, respectively.

That is, in this embodiment, an inter-vehicle distance control circuit 4B is provided instead of the inter-vehicle distance control circuit 4 on the basis of the configuration of the fourth embodiment. Then, the throttle opening Ta and the brake pedal pressure value Ba for constant speed traveling control, which are the arithmetic output of the constant speed traveling control circuit 3A, and the switching instruction signal x from the control switching determination device 5 are sent to the inter-vehicle distance control circuit 4B. It is supposed to be entered. The other structure is the same as that of the fourth embodiment.

In this structure, first, the vehicle speed detecting device 1 outputs the traveling speed, and the inter-vehicle distance detecting device 2 outputs the inter-vehicle distance between the host vehicle and the preceding vehicle. Constant speed traveling control circuit 3A
However, based on the traveling speed detected by the vehicle speed detection device 1,
The throttle opening and the brake pedal pressure for controlling the actual traveling speed to a predetermined speed are calculated and output. The inter-vehicle distance control circuit 4B calculates and outputs a throttle opening and a brake pedal pressure value for controlling the detected inter-vehicle distance to a predetermined target inter-vehicle distance based on the inter-vehicle distance and the traveling speed.

During the constant speed running control, the throttle actuator 7 controls the actual throttle opening to the throttle opening Ta output from the constant speed running control circuit 3A, and the brake actuator 8 also controls the constant speed running control. The actual brake pedal pressure is controlled to the brake pedal pressure value Ba output from the circuit 3A to maintain the speed of the host vehicle at a predetermined speed. The control switching determination device 5 outputs a control system switching instruction signal from the constant speed traveling control to the inter-vehicle distance control at a distance that matches the driver's feeling based on the inter-vehicle distance and the traveling speed.

In the traveling control device 6B, the control switching determination device 5 outputs a control system switching instruction signal, and the throttle opening for inter-vehicle distance control is less than or equal to the throttle opening for constant speed traveling control, or When the brake pedal pressure value for the distance control becomes equal to or higher than the brake pedal pressure value for the constant speed traveling control, the control shifts to the inter-vehicle distance control. During the inter-vehicle distance control, the brake actuator 8 controls the actual brake pedal pressure to the brake pedal pressure value Bb output from the inter-vehicle distance control circuit 4B, and the throttle actuator 7 controls the throttle opening Tb output from the inter-vehicle distance control circuit 4B. The actual throttle opening is controlled, and the inter-vehicle distance from the preceding vehicle is maintained at a predetermined target inter-vehicle distance test.

FIG. 24 is a flow chart showing the flow of control processing during this period. First, in step 601, the traveling speed from the vehicle speed detection device 1 is read into the control switching determination device 5, and in step 602, the inter-vehicle distance signal between the subject vehicle and the preceding vehicle is read from the inter-vehicle distance detection device 2. Then, in step 603, the switching distance from the constant speed traveling control to the inter-vehicle distance control is calculated.

On the other hand, in step 604, the throttle opening for constant speed running control by the constant speed running control circuit 3A,
In step 605, the brake pedal pressure values for constant speed traveling control are calculated based on the traveling speed of the host vehicle. After that, in step 606, the control switching determination device 5 compares the inter-vehicle distance detected by the vehicle speed detection device 1 with the switching distance, and if the former inter-vehicle distance is equal to or less than the latter, the inter-vehicle distance is determined from the constant speed traveling control. A control switching instruction signal is output, and the process proceeds to step 609.

On the other hand, when the inter-vehicle distance is greater than the switching distance, the constant speed traveling control is continued, and in step 607, the constant speed traveling control obtained in step 604 is set as the throttle opening sent to the throttle actuator 7. Is selected by the throttle opening switch 27. Subsequently, in step 608, the brake pedal pressure value for constant speed traveling control obtained in step 605 is selected by the brake pedal pressure switch 19 as the brake pedal pressure value sent to the brake actuator 8.

On the other hand, in step 609, the inter-vehicle distance control circuit 4B calculates the throttle opening for inter-vehicle distance control. In this calculation, the throttle opening value output by the constant speed traveling control circuit 3A is used as the initial value. Then, in step 610, the throttle opening for constant speed traveling control and the throttle opening calculated value for inter-vehicle distance control are compared, and if the latter is not smaller, the routine proceeds to step 607. As a result, the constant speed traveling control is continued until the throttle opening for the inter-vehicle distance control becomes small.

On the other hand, when the latter throttle opening for inter-vehicle distance control becomes smaller, the routine proceeds to step 611, where the throttle opening for inter-vehicle distance control is sent to the throttle actuator 7 by the throttle opening switch. Then, in step 612, the brake pedal pressure value for inter-vehicle distance control is calculated. In this calculation, the brake pedal pressure value output by the constant speed traveling control circuit 3A is used as its initial value. Then, in step 613, the brake pedal pressure value for constant speed traveling control and the brake pedal pressure value for inter-vehicle distance control obtained in step 605 are compared.

When the brake pedal pressure value for the inter-vehicle distance control is less than the former value, the process proceeds to step 608.
The brake pedal pressure value for constant speed traveling control is selected by the brake pedal pressure switching device 19, and the constant speed traveling control is continued. When the brake pedal pressure value for inter-vehicle distance control becomes larger than the former, the routine proceeds to step 614, where the brake pedal pressure value for inter-vehicle distance control is changed to the brake pedal pressure switcher 19.
Is selected and transmitted to the brake actuator 8, and the control is shifted to the inter-vehicle distance control.

25 and 26 are characteristic diagrams based on the above control. In FIG. 25, when the control method switching instruction is issued, the constant speed traveling control is continued for a while and the constant distance traveling control is continued because the brake pressing pressure value for the inter-vehicle distance control is smaller than the brake pressing pressure value for the constant speed traveling control. After the brake pedal pressure value for is greater than the calculated value for constant speed running control,
The state which transfers to inter-vehicle distance control is shown.

FIG. 26 shows that the brake pedal pressure value for the inter-vehicle distance control calculated with the brake pedal pressure value for the constant speed traveling control after the control system switching instruction as an initial value is the brake pedal pressure value for the constant speed traveling control. A larger case is shown, and the inter-vehicle distance control is started immediately after the switching instruction. 25 and 26, since the calculated value of the throttle opening during constant speed traveling control and after control switching is 0, the actual throttle opening remains 0.

Since this embodiment is constructed as described above, when the control switching instruction from the constant speed traveling control to the inter-vehicle distance control is issued, the control system is smoothly changed as in the first embodiment. Since the switching can be performed and the control switching distance is independently determined regardless of the calculated values of the throttle opening degree and the brake pedal pressure for the inter-vehicle distance control, it is possible to set the switching distance suitable for the driver's feeling. Have.
When the control switching instruction is issued, the throttle opening and the brake pedal pressure value for the inter-vehicle distance control are calculated using the throttle opening and the brake pedal pressure value for the constant speed running control as respective initial values, so that the control shifts. It is done more quickly and smoothly.

FIG. 27 shows a sixth embodiment. In this embodiment, in a vehicle equipped with a continuously variable automatic transmission (CVT), the throttle opening is fully closed at the time of an instruction to switch from the constant speed running control to the inter-vehicle distance control, and the constant speed running control is performed. The CVT gear ratio is compared with the gear ratio for inter-vehicle distance control, and it is determined whether to continue the gear ratio for constant speed running control or switch to the gear ratio for inter-vehicle distance control. .

Therefore, in this embodiment, based on the first embodiment, a constant speed traveling control circuit 3B is provided instead of the constant speed traveling control circuit 3 and an inter-vehicle distance control 4C is provided instead of the inter-vehicle distance control circuit 4. Further, an inter-vehicle distance control 6C is provided instead of the travel control device 6. The constant speed traveling control circuit 3B calculates the throttle opening degree Ta and the CVT gear ratio Ga for constant speed traveling control for controlling the actual vehicle speed to a predetermined speed based on the traveling speed detected by the vehicle speed detecting device 1. And output.
The inter-vehicle distance control circuit 4C shifts the throttle opening Tb, CVT for inter-vehicle distance control for controlling the detected inter-vehicle distance to a predetermined target inter-vehicle distance based on the traveling speed and the inter-vehicle distance detected by the inter-vehicle distance detecting device 2. The ratio Gb and the brake pedal pressure value Bb are calculated and output.

In addition to the structure of the travel control device 6 in the first embodiment, the travel control device 6C further includes a gear ratio changer 3
It has 0. The gear ratio switch 30 is a 2-input / 1-output selection switching circuit, which selectively switches the CVT gear ratio signals from the constant speed traveling control circuit 3B and the inter-vehicle distance control circuit 4C and outputs the CVT gear ratio switching device 9.

Like the throttle opening switch 17 and the brake pedal pressure switch 19, the gear ratio switch 30 has a switching instruction signal x from the control switching determination device 5 as a control signal.
Is entered. Further, the gear ratio changer 30 is further provided with a comparator 41 and a latch circuit 35. A switching instruction signal (x = 1) is input to the latch circuit 35, and a holding signal y ′ for constant speed traveling control is output to the gear ratio switch 30. The comparator 41 is a CVT from the constant speed traveling control circuit 3B and the inter-vehicle distance control circuit 4C.
The size of the gear ratio signal is compared, and the output is the gear ratio selector 3
It becomes a reset signal z ′ to 0. The other structure is the same as that of the first embodiment.

During the constant speed traveling control, the throttle opening switch 17 selects the throttle opening Ta output from the constant speed traveling control circuit 3B, and the throttle actuator 7 controls the actual throttle opening with this as an instruction value. Then, the traveling speed of the host vehicle is maintained at a predetermined value. During this period, the brake pedal pressure changer 19 is operated by the brake pedal pressure value B from the initial value setting device 18.
The signal of c = 0 is selected.

Based on the inter-vehicle distance and the traveling speed detected by the vehicle speed detecting device 1 and the inter-vehicle distance detecting device 2, the control switching determination device 5 changes the vehicle speed from the constant speed traveling control to the distance between the constant speed traveling control at a distance that is suitable for the driver. A control system switching instruction signal for distance control is output. From the control switching determination device 5, a switching instruction signal (x =
When 1) is output, in the travel control device 6C, the throttle opening degree switch 17 selects the throttle opening degree signal (Tc = 0) from the initial value setting device 16 and immediately closes the throttle fully. Further, the latch circuit 1 receives the switching instruction signal.
5 outputs the throttle fully closed holding signal y to maintain this throttle fully closed state. At this time, the gear ratio switch 3
0 makes it possible to select the gear ratio for inter-vehicle distance control,
The holding signal y'from the latch circuit 35 holds the gear ratio for constant speed traveling control.

Then, when a brake pedal pressure value signal is output from the inter-vehicle distance control circuit 4C or when the traveling speed of the host vehicle becomes equal to or lower than the speed of the preceding vehicle due to deceleration due to engine braking, the OR circuit 14 outputs 1 of the reset signal. The output is input to the latch circuit 15, and the throttle opening switch 17
Then, the fully closed state of the throttle is released, and the throttle opening Tb from the inter-vehicle distance control circuit 4C is switched to. Further, when the gear ratio for the inter-vehicle distance control becomes equal to or higher than the gear ratio Ga for the constant speed traveling control, the gear ratio switching unit 30 switches to the gear ratio Gb for the inter-vehicle distance control. The switching output to the throttle actuator in the throttle opening switching device 17 and the switching output to the CVT shift switching device in the transmission ratio switching device 30 are as shown in FIGS. 28 (a) and 28 (b).

Further, the brake pedal pressure value Bb calculated by the inter-vehicle distance control circuit 4C based on the traveling speed and the inter-vehicle distance.
Also, receiving the switching instruction signal from the control switching determination device 5,
It is supplied to the brake actuator 8 by the brake pedal pressure selector 19.

29 and 30 are flow charts showing the flow of control processing during this period. Steps 701-7
10 includes steps 201 to 201 of FIG. 6 in the first embodiment except that steps 706 and 707 are added.
Same as 208. In this embodiment, after selecting the throttle opening for constant speed traveling control in step 710,
In step 711, the gear ratio calculation value for the constant speed traveling control calculated by the constant speed traveling control circuit as the gear ratio instruction value sent to the CVT gear change device 9 is the gear ratio selector 3
0 is selected. On the other hand, when the control switching instruction signal is issued, in step 712, the brake pedal pressure switching unit switches from the initial value setting unit 18 to select the brake pedal pressure value calculated by the inter-vehicle distance control circuit. Then, in step 713, the throttle opening switch 17 selects the throttle opening signal (Tc = 0) from the initial value setting device 16 and supplies it to the throttle actuator 7 to fully close the throttle.

After that, in step 714, whether the brake pedal pressure value is output from the inter-vehicle distance control circuit 4C even once,
Alternatively, it is checked whether the traveling speed of the host vehicle is equal to or lower than the speed of the preceding vehicle due to the deceleration by the engine brake. If the result of this check is NO, the routine returns to step 713, where the throttle is fully closed and the check is repeated. When the check result is YES, the routine proceeds to step 715, where the throttle opening switch 17 selects the throttle opening Tb for inter-vehicle distance control calculated by the inter-vehicle distance control circuit 4C and supplies it to the throttle actuator 7. . After selecting the throttle opening degree for the inter-vehicle distance control, in the next step 716, the gear ratio calculation value from the inter-vehicle distance control circuit 4C and the gear ratio calculation value from the constant speed traveling control circuit 3B are compared. When the gear ratio from the constant speed running control circuit 3B is larger, the routine proceeds to step 711,
The constant speed traveling control is continued. On the other hand, the inter-vehicle distance control circuit 4
If the gear ratio from C is equal to or higher than the gear ratio from the constant speed traveling control circuit 3B, the process proceeds to step 717, and the gear ratio calculation value for the inter-vehicle distance control is set as the gear ratio to be sent to the CVT gear change device 9. Is selected by the gear ratio changer 30. Since the brake pedal pressure switch 19 has already been switched to the inter-vehicle distance control circuit 4 side, the brake pedal pressure value calculated by the inter-vehicle distance control circuit 4C is also supplied to the brake actuator 8.

FIG. 31 is a characteristic diagram based on the above control. When the control switching instruction is issued, the brake pedal pressure value for inter-vehicle distance control is not output, so even if the calculated value of the throttle opening for inter-vehicle distance control is output, throttle opening = 0
Is continued, the brake pedal pressure value is output, and then the brake pedal pressure is executed by the brake actuator. Regarding the gear ratio, since the gear ratio for inter-vehicle distance control is smaller than that for constant speed running control when the control switching instruction is issued, the latter gear ratio is continued for a while and the gear ratio for inter-vehicle distance control is changed. It switches when the ratio becomes large. As a result, the change to the traveling speed for keeping the inter-vehicle distance and following the preceding vehicle is performed smoothly.

This embodiment is configured as described above, and after the control switching instruction is issued, the brake pedal pressure value for the inter-vehicle distance control is output, and the gear ratio for the inter-vehicle distance control is controlled for the constant speed running control. When the speed ratio becomes equal to or higher than the gear ratio, the calculation values for the inter-vehicle distance control are sequentially switched, so that the control can be smoothly transferred.

FIG. 32 shows the seventh embodiment. In this embodiment, similarly to the previous embodiment, in a vehicle equipped with a CVT, the throttle opening and the CVT gear ratio for inter-vehicle distance control are calculated during constant speed traveling control, and a control system switching instruction is issued. At this time, the throttle opening and gear ratio for constant speed traveling control are compared to the throttle opening and gear ratio for constant speed traveling control, or the throttle opening and gear ratio for inter-vehicle distance control are maintained. To switch to.

This embodiment is based on the configuration of the second embodiment, and instead of the constant speed traveling control circuit 3, the constant speed traveling control circuit 3
B is an inter-vehicle distance control circuit 4C instead of the inter-vehicle distance control circuit 4.
In addition, an inter-vehicle distance control 6D is provided instead of the travel control device 6. The constant speed traveling control circuit 3B calculates the throttle opening degree Ta and the CVT gear ratio Ga for constant speed traveling control for controlling the actual vehicle speed to a predetermined speed based on the traveling speed detected by the vehicle speed detecting device 1. And output. The inter-vehicle distance control circuit 4C includes the traveling speed and inter-vehicle distance detecting device 2 described above.
Based on the vehicle-to-vehicle distance, the throttle opening Tb for controlling the vehicle-to-vehicle distance to a predetermined target vehicle-to-vehicle distance, the gear ratio Gb of CVT, and the brake pedal pressure value Bb.
Is calculated and output.

In addition to the configuration of the travel control device 6A in the second embodiment, the travel control device 6D further selects and switches the CVT gear ratio signal from the constant speed travel control circuit 3B and the inter-vehicle distance control circuit 4C to change the CVT speed. A gear ratio switching device 30 for outputting to the switching device 9 is provided. Gear ratio changer 30
A switching instruction signal from the control switching determination device 5 is input as a control signal.

Further, the gear ratio switching device 30 is further provided with a comparator 41 and a latch circuit 35. A switching instruction signal x is input to the latch circuit 35, and a holding signal y ′ for constant speed traveling control is output to the gear ratio switching device 30. The comparator 41 compares the magnitudes of the CVT gear ratio signals from the constant speed traveling control circuit 3B and the inter-vehicle distance control circuit 4C, and the output thereof becomes the reset signal z ′ to the gear ratio switching device 30. The other structure is the same as that of the first embodiment.

In this structure, during constant speed traveling control,
The throttle opening switch 17 selects the throttle opening Ta output from the constant speed traveling control circuit 3B, and the throttle actuator 7 controls the actual throttle opening based on this. Similarly, the gear ratio Ga calculated by the constant speed traveling control circuit 3B is set as the gear ratio of the CVT gear change device 9,
The traveling speed of the host vehicle is maintained at a predetermined value. During this time, the brake pedal pressure switch 19 selects the signal of the brake pedal pressure value (Bc = 0) from the initial value setting device 18.

Based on the inter-vehicle distance detected by the vehicle speed detecting device 1 and the inter-vehicle distance detecting device 2 and the traveling speed, the control switching determination device 5 changes the constant-speed traveling control to the inter-vehicle distance at a distance that is suitable for the driver. A control system switching instruction signal for distance control is output. From the control switching determination device 5, a switching instruction signal (x =
When 1) is output, in the travel control device 6D, the brake pedal pressure switch 19 is switched to select the calculated value of the brake pedal pressure value from the inter-vehicle distance control circuit 4C. Further, when the throttle opening for inter-vehicle distance control becomes equal to or smaller than the throttle opening for constant speed traveling control, the throttle opening switch 27 is switched, and the throttle opening signal Tb from the inter-vehicle distance control circuit 4C is changed to the throttle opening signal Tb. Supply to the actuator 7.

At this time, the gear ratio changer 30 can select the CVT gear ratio from the inter-vehicle distance control circuit 4C, but the holding signal y'from the latch circuit 35 allows the CVT gear ratio for constant speed running control. Held in. When the gear ratio for the inter-vehicle distance control becomes equal to or higher than the gear ratio for the constant speed running control, the gear ratio switching device 30 is switched, and the gear ratio Gb for the inter-vehicle distance control is sent to the CVT gear shift device.
The switching output to the CVT gear shift device in the gear ratio shifter 30 is as shown in FIG.

34 and 35 are flow charts showing the flow of the control processing during this period. In step 801,
The traveling speed is read from the inter-vehicle distance detecting device 1 to the constant speed traveling control circuit 3B and the inter-vehicle distance control circuit 4C. In step 802, the following distance is read from the following distance detecting device 2 into the following distance control circuit 4C. In step 803, the control switching determination device 5 calculates the switching distance from the constant speed traveling control to the inter-vehicle distance control based on the traveling speed and the inter-vehicle distance.

In step 804, the constant speed running control circuit 3B calculates the throttle opening and the gear ratio for the constant speed running control based on the running speed. Then, in the inter-vehicle distance control circuit 4C, the throttle opening for inter-vehicle distance control is calculated in step 805 based on the traveling speed and the inter-vehicle distance. Then, in steps 806 to 808, the CVT gear ratio and the inter-vehicle distance control circuit 4 by the constant speed traveling control circuit 3B.
The gear ratio and the brake pedal pressure value by C are sequentially calculated. In step 809, the inter-vehicle distance read in step 802 and the switching distance calculated in step 803 are compared. Here, if the switching distance is smaller than the inter-vehicle distance, the process proceeds to step 810, and if the inter-vehicle distance is less than or equal to the switching distance, a switching instruction signal from the constant speed traveling control to the inter-vehicle distance control is output and the process proceeds to step 812.

In step 810, the constant speed running control is continued, and the throttle opening for constant speed running control obtained in step 804 as the throttle opening instruction value sent to the throttle actuator 7 is the throttle opening. It is selected by the switch 27. Then, in step 811, as a gear ratio to be sent to the CVT gear shift device 9,
The gear ratio switching device 30 selects the gear ratio for the constant speed traveling control obtained in step 804. During this period, a signal of the brake pedal pressure value Bc = 0 from the initial value setting device 18 is supplied to the brake actuator via the brake pedal pressure switching device 19.

At step 812, the brake pedal pressure changeover device 19 is switched from the initial value setting device 18 to the inter-vehicle distance control circuit 4C side. As a result, the brake pedal pressure value for the inter-vehicle distance control calculated by the inter-vehicle distance control circuit 4C based on the traveling speed and the inter-vehicle distance is sent to the brake actuator. Then, in step 813, the comparator 21 of the travel control device 6D compares the throttle opening calculation value for constant speed travel control with the throttle opening calculation value for inter-vehicle distance control.

If the throttle opening for controlling the inter-vehicle distance is larger, the process proceeds to step 810.
The constant speed running control is continued based on the throttle opening for the constant speed running control. If the throttle opening for inter-vehicle distance control is less than or equal to the throttle opening for constant speed running control, in step 814, throttle opening switch 2
The throttle opening signal sent from the throttle actuator 7 to the throttle actuator 7 is the throttle opening from the inter-vehicle distance control circuit 4C.

Thereafter, in step 815, the gear ratio for constant speed traveling control obtained in the previous steps 806 and 807 is compared with the gear ratio for inter-vehicle distance control. When the latter gear ratio is smaller than the former, the routine proceeds to step 811, where the gear ratio for constant speed traveling control is sent to the CVT gear shift device. On the other hand, when the gear ratio for the inter-vehicle distance control becomes equal to or higher than the gear ratio for the constant speed running control, step 816
Then, the gear ratio for the inter-vehicle distance control is set to the CVT gear ratio.

FIG. 36 is a characteristic diagram based on the above control. When instructing to switch the control method, the throttle opening calculation value for inter-vehicle distance control is larger than the throttle opening calculation value for constant-speed traveling control, so constant-speed traveling control continues and the inter-vehicle distance control After the throttle opening for controlling the vehicle speed becomes equal to or smaller than the opening for constant speed traveling control, the throttle opening for inter-vehicle distance control is switched. Also, since the gear ratio calculation value for constant speed traveling control is larger than the gear ratio calculation value for controlling the inter-vehicle distance at the time of the switching instruction, the gear ratio for constant speed traveling control is maintained and After the gear ratio calculated value is increased, the gear ratio is switched to the gear ratio for inter-vehicle distance control.

Since the present embodiment is configured as described above, when the control switching instruction from the constant speed traveling control to the inter-vehicle distance control is issued, the own vehicle is not accelerated and the control system is smoothly controlled. It has an effect that it can be switched. Also,
Since the control switching distance is independently determined regardless of the calculated values of the throttle opening and the brake depression pressure for the inter-vehicle distance control, it is possible to set the switching distance that matches the driver's feeling.

[0118]

As described above, the present invention is provided with the traveling speed detecting device, the inter-vehicle distance detecting device, and the switching instruction means for issuing the switching instruction from the constant speed traveling control to the inter-vehicle distance control. Control of the inter-vehicle distance control means from the control signal of the constant-speed traveling control means in order to switch connection of the control signal for constant-speed traveling control and the control signal for inter-vehicle distance control from the inter-vehicle distance control means to the acceleration / deceleration means. Since the switching control means for switching to the control signal of the inter-vehicle distance control means is provided after holding the control signal of the constant-speed traveling control means until the signal advances in the deceleration direction, the constant-speed traveling control and the inter-vehicle distance control, and The switching between them can be controlled and controlled independently. Therefore, the distance at the time of switching from the constant speed traveling control to the inter-vehicle distance control can be set to a distance that suits the driver's feeling regardless of each control, and it is easy to ensure safety and stable traveling. Becomes

As the above-mentioned acceleration / deceleration means, one or more combinations of a throttle actuator, a brake actuator, a gear shift device of an automatic transmission, etc. can be used, and switching between constant speed running control and inter-vehicle distance control is performed. , The throttle opening for each control,
Compare control parameters such as brake pressure and gear ratio,
Smooth switching can be performed by switching at the time when they approach each other.

[Brief description of drawings]

FIG. 1 is a block diagram showing a configuration of the present invention.

FIG. 2 is a block diagram showing a first embodiment.

FIG. 3 is a diagram showing a switching output with respect to a control input in a throttle opening switching device.

FIG. 4 is an explanatory diagram showing the basic concept of the operation of the first embodiment.

FIG. 5 is an explanatory diagram showing an example of the output timing of a switching instruction signal by the control switching determination device.

FIG. 6 is a flowchart showing a flow of control processing in the first embodiment.

FIG. 7 is a characteristic diagram showing an operation mode in the first embodiment.

FIG. 8 is a characteristic diagram showing an operation mode in the first embodiment.

FIG. 9 is a characteristic diagram showing an operation mode in the first embodiment.

FIG. 10 is a block diagram showing a second embodiment.

FIG. 11 is a flowchart showing a flow of control processing in the second embodiment.

FIG. 12 is a characteristic diagram showing an operation mode in the second embodiment.

FIG. 13 is a characteristic diagram showing an operation mode in the second embodiment.

FIG. 14 is a characteristic diagram showing an operation mode in the second embodiment.

FIG. 15 is a block diagram showing a third embodiment.

FIG. 16 is a flowchart showing a flow of control processing in the third embodiment.

FIG. 17 is a characteristic diagram showing an operation mode in the third embodiment.

FIG. 18 is a characteristic diagram showing an operation mode in the third embodiment.

FIG. 19 is a block diagram showing a fourth embodiment.

FIG. 20 is a flowchart showing a flow of control processing in the fourth embodiment.

FIG. 21 is a characteristic diagram showing an operating mode in the fourth embodiment.

FIG. 22 is a characteristic diagram showing an operating mode in the fourth embodiment.

FIG. 23 is a block diagram showing a fifth embodiment.

FIG. 24 is a flowchart showing the flow of control processing in the fifth embodiment.

FIG. 25 is a characteristic diagram showing an operating mode in the fifth embodiment.

FIG. 26 is a characteristic diagram showing an operating mode in the fifth embodiment.

FIG. 27 is a block diagram showing a sixth embodiment.

FIG. 28 is a diagram showing switching output with respect to control input in the throttle opening switch and the gear ratio switch of the sixth embodiment.

FIG. 29 is a flowchart showing a flow of control processing in the sixth embodiment.

FIG. 30 is a flowchart showing a flow of control processing in the sixth embodiment.

FIG. 31 is a characteristic diagram showing an operating mode in the sixth embodiment.

FIG. 32 is a block diagram showing a seventh embodiment.

FIG. 33 is a diagram showing switching output with respect to control input in the gear ratio switching device of the seventh embodiment.

FIG. 34 is a flowchart showing a flow of control processing in the seventh embodiment.

FIG. 35 is a flowchart showing a flow of control processing in the seventh embodiment.

FIG. 36 is a characteristic diagram showing an operating mode in the seventh embodiment.

FIG. 37 is a block diagram showing a configuration example of a conventional vehicle travel control device.

[Explanation of symbols]

 1 vehicle speed detection device 2 inter-vehicle distance detection device 3, 3A, 3B constant speed travel control circuit 4, 4A, 4B, 4C inter-vehicle distance control circuit 5 control switching determination device 6, 6A, 6B, 6C, 6D travel control device 7 throttle actuator 8 Brake Actuator 9 CVT Shift Switching Device 11 Preceding Vehicle Speed Calculator 12, 13, 21, 31, 41 Comparator 14 OR Circuit 15, 35 Latch Circuit 16 Initial Value Setting Device for Throttle Opening 17, 27 Throttle Opening Switching Device 18 Brake pedal pressure initial value setting device 19 Brake pedal pressure switching device 24, 34 AND circuit 30 Gear ratio switching device

Claims (9)

[Claims] 1. A traveling speed detecting device for detecting a traveling speed of the own vehicle, an inter-vehicle distance detecting device for detecting an inter-vehicle distance between a preceding vehicle and the own vehicle, and an acceleration / deceleration means for changing the traveling speed of the own vehicle. Constant speed running control means for outputting a control signal for controlling the own vehicle to run at a constant speed by controlling acceleration and deceleration according to the running speed; and acceleration and deceleration control according to the detected values of the running speed and the inter-vehicle distance. According to, an inter-vehicle distance control means for outputting a control signal for inter-vehicle distance control for maintaining the inter-vehicle distance at a predetermined target inter-vehicle distance, and a switching instruction means for issuing a switching instruction from the constant speed traveling control to the inter-vehicle distance control,
Based on the switching instruction, after holding the control signal of the constant speed traveling control means until the control signal of the inter-vehicle distance control means advances from the control signal of the constant speed traveling control means to the deceleration direction,
A traveling control device for a vehicle, comprising: switching control means for switching and connecting a control signal of the inter-vehicle distance control means to the acceleration / deceleration means. 2. The acceleration / deceleration means includes a throttle actuator, the control signal of the constant speed traveling control means includes a throttle opening for constant speed traveling control, and the control signal of the inter-vehicle distance control means includes inter-vehicle distance. The switching control means includes a throttle opening degree for control, and after the switching instruction of the switching instructing means, the throttle opening degree for the inter-vehicle distance control becomes equal to or less than the throttle opening degree for constant speed traveling control. 2. The vehicle travel control device according to claim 1, wherein the vehicle opening control is switched to a throttle opening degree for the inter-vehicle distance control. 3. The acceleration / deceleration means includes a throttle actuator, the control signal of the constant speed traveling control means includes a throttle opening for constant speed traveling control, and the control signal of the inter-vehicle distance control means includes inter-vehicle distance. The switching control means includes a throttle opening degree for control, and after the switching instruction of the switching instruction means, the throttle opening degree for the inter-vehicle distance control becomes smaller than the throttle opening degree for the constant speed traveling control. To the throttle opening degree for the inter-vehicle distance control, the inter-vehicle distance control means calculates the throttle opening degree for the inter-vehicle distance control of the constant speed traveling control after the switching instruction of the switching instruction means. 2. The vehicle travel control device according to claim 1, wherein a throttle opening degree for the purpose is performed as an initial value. 4. The acceleration / deceleration means includes a throttle actuator and a brake actuator, the control signal of the constant speed travel control means includes a throttle opening for constant speed travel control, and the inter-vehicle distance control means includes: The control signal includes a throttle opening and a brake pedal pressure value for controlling the inter-vehicle distance, and the switching control means holds the throttle fully closed immediately after the switching command of the switching command means and decelerates based on the brake pedal pressure value. The vehicle travel according to claim 1, wherein the throttle opening for the inter-vehicle distance control is switched after control is performed or the traveling speed of the own vehicle becomes equal to or lower than the speed of the preceding vehicle. Control device. 5. The acceleration / deceleration means includes a throttle actuator and a brake actuator, and the control signal of the constant speed traveling control means includes a throttle opening and a brake pedal pressure value for constant speed traveling control, The control signal of the distance control means includes a throttle opening and a brake pedal pressure value for inter-vehicle distance control, and the switching control means,
After the switching instruction of the switching instruction means, after the throttle opening for the inter-vehicle distance control becomes smaller than the throttle opening for the constant speed traveling control, the throttle opening for the inter-vehicle distance control is switched to, The switch is switched to the brake pedal pressure value for the inter-vehicle distance control after the brake pedal pressure value for the inter-vehicle distance control becomes larger than the brake pedal pressure value for the constant speed traveling control. The vehicle travel control device described. 6. The inter-vehicle distance control means calculates the throttle opening degree for the inter-vehicle distance control with the throttle opening degree for the constant speed traveling control as an initial value after the switching instruction of the switching instruction means. 6. The vehicle travel control device according to claim 5, wherein the brake pedal pressure value for the inter-vehicle distance control is calculated using the brake pedal pressure value for the constant speed traveling control as an initial value. 7. The acceleration / deceleration means includes an actuator for a throttle, an actuator for a brake, and a shift change device for an automatic transmission, and a control signal of the constant speed travel control means is a throttle opening for constant speed travel control. The control signal of the inter-vehicle distance control means includes a gear ratio, the throttle opening for the inter-vehicle distance control, the gear ratio, and the brake pedal pressure value, and the switching control means controls the throttle immediately after the switching instruction of the switching instruction means. Is held fully closed, deceleration control is performed based on the brake pedal pressure value, or while the traveling speed of the host vehicle becomes equal to or lower than the speed of the preceding vehicle, the throttle opening for the inter-vehicle distance control is switched, The gear ratio is maintained at the gear ratio for the constant speed running control, and the gear ratio for the inter-vehicle distance control is not less than the gear ratio for the constant speed running control. 2. The vehicle travel control device according to claim 1, wherein the gear ratio is switched to a gear ratio for controlling the inter-vehicle distance. 8. The acceleration / deceleration means includes an actuator for a throttle and a gear shift device for an automatic transmission, and the control signal of the constant speed travel control means includes a throttle opening and a gear ratio for constant speed travel control. The control signal of the inter-vehicle distance control means includes a throttle opening degree and a gear ratio for inter-vehicle distance control, and the switching control means, after the switching instruction of the switching instruction means, the throttle opening degree for the inter-vehicle distance control. Is smaller than the throttle opening for constant speed running control, the throttle opening is switched to the inter-vehicle distance control, and the gear ratio is maintained at the gear ratio for constant speed running control. The gear ratio for the distance control is switched to the gear ratio for the inter-vehicle distance control after the gear ratio becomes equal to or higher than the gear ratio for the constant speed traveling control. The vehicle travel control device described. 9. The acceleration / deceleration means further includes an actuator of a brake, the control signal of the inter-vehicle distance control means further includes a brake pedal pressure value for inter-vehicle distance control, and the switching control means of the switching instruction means. 9. The vehicle travel control device according to claim 2, wherein a predetermined brake pedal pressure value is selected up to the switching instruction, and the brake pedal pressure value for the inter-vehicle distance control is switched after the switching instruction. .