JPS63151528A - Controller for traveling of vehicle - Google Patents

Abstract

PURPOSE:To enable a vehicle to travel controllably with safe constant speed even along a curved road by controlling the constant traveling with a vehicle traveling controller when lateral acceleration during traveling along the curved road when lateral acceleration is lower than a predetermined value and reducing the vehicle speed to a manual mode when the lateral acceleration exceeds the predetermined value. CONSTITUTION:A vehicle speed signal from a vehicle speed sensor 1, a steering angle signal from a steering angle sensor 8 and a lateral acceleration signal from a G sensor 9 are input in a microcomputer control unit 7. Next, when the vehicle traveling along the curved road is being detected at present and a resume switch 4 has been left turned on, a traveling flag is set to 1 and when turned off, to 0. Also, whether or not a set switch 3 was turned on during traveling on a straight road is judged. When said switch was turned on, the traveling flag is set to 2. Thus, the set value of traveling flag is checked and a brake controller 10 is operated to reduce the vehicle speed to the safe speed while releasing the control of vehicle speed.

Description

[Detailed description of the invention]

[Industrial Field of Application] The present invention relates to a vehicle running control device that automatically changes running conditions in response to road conditions. [Prior Art] FIG. 2 is a 10-step diagram showing the configuration of a conventional vehicle running control device. In the figure, 1 is a vehicle speed sensor that detects the vehicle speed, 2 is a brake switch that is activated by brake operation, 3 is a set switch that outputs a set signal for constant speed driving based on the driver's operation, and 4 is a set switch that is also operated by the driver. This is a resume switch that outputs a resume signal for constant speed driving when operated by the input/output port 5 of the microcomputer control unit 5.
Connected to 1. In addition, the microcomputer control unit 5
PU52. It has ROM53 and RAM54,
An opening control signal is output to a throttle opening control device 6 that adjusts the opening of a throttle valve (not shown) to control the vehicle speed. The vehicle travel control device configured as described above first inputs a vehicle speed signal V detected by the vehicle speed sensor 1 to the microcomputer control unit 5. Next, when the driver turns on the set switch 3 in this state, the vehicle speed at that time is stored in the RAM 54 as the set vehicle speed signal Vc, and from then on, the throttle opening is proportional to the vehicle speed deviation so that the own vehicle speed follows this set vehicle speed. A control signal is sent to the throttle opening control device 6 so that constant speed driving control is performed. [Problems to be Solved by the Invention] However, the conventional vehicle running control device as described above is not equipped with a detection means for distinguishing between a straight road and a curved road. If the driving road condition is judged and it is determined that constant speed driving is possible on a substantially straight and ugly road, the set switch 3 is turned on and constant speed driving is performed.Generally, constant speed driving control is not performed on curved roads. Not yet,
From the viewpoint of safe driving, it was only used when driving on straight roads. In addition, if you enter a curved road with constant speed control set on a straight road, constant speed control will be canceled only by the driver's brake operation.
Further, when the set switch 3 is operated on a curved road, the constant speed cruise control is set in this case as well, and thereafter the constant speed cruise control cannot be canceled unless the brake is operated as in the case described above. That is, in the conventional vehicle running control device, there is no fail-safe mechanism for constant speed running control on curved roads other than release by brake operation, and there is a problem that safe constant speed running control cannot be performed on curved roads. The present invention has been made to solve the above-mentioned conventional problems, and an object of the present invention is to provide a vehicle travel control device that can perform safe constant speed travel control even on curved roads. [Means for Solving the Problems] The vehicle running control device according to the present invention performs constant speed running control in which the vehicle speed when the operation means for constant speed running control is actuated is the set vehicle speed when driving on a straight road, and When it is determined that the vehicle is traveling on a curved road, and when the lateral acceleration is less than a predetermined reference value, constant speed driving control is performed with the vehicle speed at the time when it is determined that the vehicle is traveling on the curved road as the target speed; In addition, the vehicle speed control means performs deceleration travel control to reduce the speed to a predetermined travel speed when the lateral acceleration exceeds a predetermined reference value, and cancels the vehicle speed control to set the vehicle to manual mode. [Function] In the vehicle running control device of the present invention, a range in which constant speed running is possible is automatically selected not only for constant speed running on a straight road but also for curved roads. In addition, by detecting the lateral acceleration, the degree of the curved road is automatically determined. For example, in the case of a curved road where the curvature gradually increases, if the lateral acceleration increases and reaches a certain dangerous area, the brake will be applied. After deceleration control is performed and the vehicle is decelerated to a safe running speed,
Driving control is canceled and the vehicle enters manual mode. [Embodiment] FIG. 1 is a 10-step diagram showing the configuration of a vehicle running control device according to an embodiment of the present invention. In the figure, 1 to 6 are similar to the conventional vehicle running control device shown in FIG. 2, so corresponding parts are given the same reference numerals and their explanation will be omitted. Also 7
Vi microcomputer control unit, 71, 72, 73, 74
are the input/output ports and ROM corresponding to 51 to 54 in Figure 2.
, CPU and RAM″r: There is a steering angle sensor 8 that detects the steering angle, an acceleration detection device 9 (hereinafter referred to as a G sensor) that detects the lateral acceleration of the vehicle, and a microcomputer control unit f. 70 is connected to the input port door 1. 10 is a brake control device connected to the output port door 1 of the microcomputer control unit 7.The operation of the vehicle running control device having the above configuration will be briefly explained.First, A vehicle speed signal is input from the vehicle speed sensor 1, a steering angle signal is input from the steering angle sensor 8, and a lateral acceleration signal is input from the G sensor 9 to the microcomputer control unit 7.Next, the input steering angle signal is inputted to a predetermined preset value. The state of the curved road is detected by determining whether or not it is above the reference value, and it is also checked whether the curved road was detected in the interrupt processing one cycle before, and if it is not detected, it is immediately after entering the curved road. If it is determined that the lateral acceleration of the vehicle is below a predetermined reference value, the vehicle speed V at that time is stored in the RAM 74 as a set vehicle speed Vc for constant speed driving on a curved road, which will be described later. If a curved road is being detected, it is determined whether the resume switch 4 has ever been turned on while traveling on this curved road, and if it has been turned on, the traveling flag is set to [1] and the resume switch 4 is turned off. If it remains the same, change the running flag [
0]. However, if the lateral acceleration of the vehicle exceeds a predetermined reference value at the time of these determinations, the running flag will be set to 0 regardless of whether the resume switch 40 is on or off.
]. If no curved road is currently detected, it is determined that the vehicle is traveling on a substantially straight road, and it is determined whether or not the set switch 3 was ever turned on while traveling on this straight road. If there is, the running flag is set to [2], and if it remains off, the current value of the running flag is held. Next, check the value of the travel flag set by the above process, and check if this is

In the case of [0], the vehicle is set to deceleration mode, and the brake control device 1Ot is activated to decelerate the vehicle to a predetermined safe speed, and at this point, vehicle speed control is canceled. In the case of [1], the set vehicle speed V stored in the RAM 74
In order to drive at a constant speed at c, the opening control signal is set according to the difference between the vehicle speed V and the set vehicle speed vc, and in the case of [2], the vehicle speed at the time when the set switch 3 is activated is set as the set vehicle speed Vc. Similarly, an opening control signal is sent to the throttle opening control device 6 to control the vehicle speed. As described above, the control operations of the above embodiment are summarized as follows: (1) When traveling on a straight road, constant speed traveling control is performed in which the vehicle speed at the time the set switch 3 is operated is set as the vehicle speed. (2) When the vehicle is traveling on a curved road and the lateral acceleration is less than a predetermined reference value, the steering angle signal exceeds the predetermined reference value and constant speed driving control is performed in which the vehicle speed at the time of the steering angle is set as the set vehicle speed. (3) When the lateral acceleration exceeds a predetermined reference value while traveling on a curved road, the brake control device 1o is activated to decelerate the vehicle to a predetermined safe speed, and then the travel control is canceled and the mode is returned to manual mode. This enables highly safe vehicle driving control even on curved roads. [Effects of the Invention] As described above, according to the vehicle running control device of the present invention, when the vehicle is running on a curved road and the lateral acceleration is less than a predetermined value, constant speed running control is performed at the speed at the start of running on the curved road, When the lateral acceleration exceeds a predetermined value, the vehicle is decelerated and placed in manual mode, which has the effect of providing highly safe vehicle driving control even on curved roads.

[Brief explanation of the drawing]

FIG. 1 is a block diagram of a vehicle running control device according to an embodiment of the present invention, and FIG. 2 is a block diagram of a conventional vehicle running device. 1... Vehicle speed sensor, 3... Set switch, 6...
- Throttle opening control device, 7... Microcomputer control unit, 8... Steering angle sensor, 9... G sensor, 10
...Gregi control device. In addition, the same reference numerals in the figures indicate the same or corresponding parts.

Claims (1)

[Claims] Curved road detection means determines that the vehicle is traveling on a curved road when the steering angle exceeds a predetermined reference value, and determines whether the road is straight or curved; and a lateral direction detecting means that detects the lateral acceleration of the vehicle Acceleration detection means, vehicle speed sensor that detects vehicle speed,
An operating means outputs an operation signal for constant speed driving control according to the driver's operation, and when driving on a straight road, constant speed driving control is performed in which the vehicle speed when the operating means is activated is set as the vehicle speed, and the curved road detecting means controls the vehicle. When it is determined that the vehicle is traveling on a curved road, when the lateral acceleration detected by the lateral acceleration detection means is less than a predetermined reference value, the vehicle speed at the time when it is determined that the vehicle is traveling on a curved road is set as the target speed. Vehicle speed control that performs constant speed driving control, and when the lateral acceleration exceeds a predetermined reference value, performs deceleration driving control to decelerate to a predetermined driving speed, cancels vehicle speed control, and enters manual mode. A vehicle running control device comprising means.