JPH02106445A - Constant speed traveling device - Google Patents

Abstract

PURPOSE:To finely adjust the aimed car speed surely, suppressing the blowup of an engine, by installing an aimed value varying switch means for variation- sets the aimed car speed to the value higher or lower by a prescribed value. CONSTITUTION:After turning-ON a main switch 1 for selecting autocruise mode, a driver manually turns ON a set switch 2 and sets an aimed car speed, and then in a constant speed traveling device, the opening degree of a throttle valve 6 is controlled through a throttle driving circuit 5 by a controller 3 according to the deviation between the aimed car speed and the car speed signal supplied from a car speed sensor 4, and the aimed car speed is maintained. In this case, a resume switch 8 which is provided with the function for restarting the autocruise operation by the turning-ON after the suspension of the autocruise operation by pressure down a brake pedal is provided with the function for setting the aimed car speed to the value higher by a prescribed value by the tap operation of the switch 8 in the autocruise operation, and operation perfor mance can be improved.

Description

DETAILED DESCRIPTION OF THE INVENTION (Field of Industrial Application) The present invention relates to a constant speed traveling device for automatically driving a vehicle at a desired constant speed.

(Prior Art) In order to reduce the burden on driving operations when a vehicle is driven at a constant speed, a constant speed driving device (auto cruise device) is known that automatically drives the vehicle at a set speed (target vehicle speed).

FIG. 1 shows the configuration of a constant speed driving device, in which the speedometer (
After visually confirming that the desired speed has been reached at yJ (not shown) and manually operating (turning on) the set switch 2 to set the target vehicle speed (auto cruise speed), the controller 3 operates based on a predetermined control law. According to the deviation between the target vehicle speed and the vehicle speed signal from the vehicle speed sensor 4, the opening degree of the throttle valve 6 is controlled via the throttle drive circuit 5, and the engine 1
0 output to maintain the target vehicle speed.

Then, when the driver steps on a brake pedal (not shown), a stop lamp switch 7 that is linked to the pedal and also functions as a cancel switch is turned on, and the auto cruise operation is canceled.

Thereafter, when the resume switch 8 is turned on, autocruise operation is resumed. In addition, automatic transmission 1
An inhibit switch 9 is provided which is linked to the gear shift lever 1 (not shown) and acts as a cancel switch. The cruise operation is canceled to prevent the engine 10 from revving up.

Also, if you keep pressing the resume switch 8 during auto cruise operation, the vehicle will accelerate and the resume switch 8 will accelerate.
If you keep pressing set switch 2 during auto cruise operation, the vehicle will be decelerated and the vehicle speed will be set to a new target vehicle speed at the time you release your finger from set switch 2. There are also known vehicles that can set a target vehicle speed.

When changing the target vehicle speed during auto-cruise driving, the controller 3 executes acceleration processing (ACC processing) or deceleration processing based on a predetermined control law.For example, when the resume switch 8 is pressed during auto-cruise driving, If you want to accelerate the vehicle by continuing to press the button, control is performed as follows in consideration of control responsiveness. That is, the throttle valve is gradually opened until the acceleration of the vehicle reaches a predetermined value, and after the acceleration becomes constant, the throttle valve opening is controlled so that the acceleration is maintained (ACC processing), and the resume switch is activated. When the finger is removed from 8, the acceleration reaches a predetermined value (i'
A post-acceleration process (ACCOFF process) in which the throttle valve is gradually closed until the acceleration reaches 0 is executed, and when the acceleration reaches a predetermined value, the throttle valve is opened to maintain the current vehicle speed as the new target vehicle speed. degree control is in place.

In addition, 14 is a throttle valve opening sensor that detects the valve opening of the throttle valve 6, and 15 is a hydraulic control circuit that switches the gear stage of the automatic transmission Wll in response to a gear shift command signal from the controller 3 during autocruise. be.

(Problem to be Solved by the Invention) There are cases where it is desired to slightly increase or decrease the target vehicle speed during autocruise. In such a case, in the conventional constant speed traveling system, it is necessary to operate the resume switch 8 or the set switch 2 to set a new target vehicle speed. For example, if you try to slightly increase the target vehicle speed by operating the resume switch 8, As mentioned above, in consideration of control responsiveness, the controller 3 tries to open the throttle valve until the acceleration of the vehicle reaches a predetermined value, which not only causes the engine to rev up, making it difficult to fine-tune the target vehicle speed.
The driving feeling was also bad.

The present invention has been made to solve such conventional problems, and an object of the present invention is to provide a constant speed traveling device that can reliably set the target vehicle speed to a slightly higher or lower value. purpose.

(Means for Solving the Problems) In order to achieve the above object, according to the present invention, the vehicle speed is maintained near the target vehicle speed by controlling the driving parameter value that adjusts the output of the engine installed in the vehicle. A constant speed traveling device is provided which is characterized in that it is provided with target value change switch means for changing and setting a target vehicle speed to a higher or lower value by a predetermined value.

(Function) The specially provided target value change switch means changes the target vehicle speed to a higher or lower value by a predetermined value. Preferably, this predetermined value is normally set by the vehicle speed in consideration of control responsiveness. is set to a small value within a range that does not require the throttle valve to be opened or closed until a constant acceleration is achieved. Therefore, in the constant speed traveling system, the valve opening degree of the throttle valve is controlled so as to eliminate the slight deviation between the new target vehicle speed and the vehicle speed.

(Example) An example of the present invention will be described in detail below based on the drawings.

The constant speed traveling device in this example is installed in a vehicle equipped with a gasoline engine, and its configuration (
Since the hardware (hardware) is not substantially different from that shown in FIG. 1, and the only difference is the control program (software) adopted in the controller 3, a description of the configuration will be omitted and will not be explained as necessary in the following explanation. If there is, please refer to Figure 1.

First, a normal vehicle speed control method executed by the device of the present invention will be explained. Main switch 1 and set switch 2
By turning on the target vehicle speed (auto cruise speed) Vo
is set, the controller 3 first selects a control law to be applied in vehicle speed control. FIG. 2 is a flowchart showing the control law selection procedure executed by the controller 3. First, the vehicle speed V detected by the vehicle speed sensor 4 is read, and a vehicle speed deviation ΔVk (-Vo-V) between the target vehicle speed Vo and the vehicle speed V is calculated (step S1), and the absolute value of this vehicle speed deviation ΔVk is determined as a predetermined value. It is determined whether or not the determination value Δv0 (for example, 8 to 3 km/hr) is exceeded (step S2), and if it is above, P (constant acceleration) control is executed (step S3).

If the determination result in step S2 is negative (NO), the absolute value of the deviation ΔVk is the predetermined determination value Δ■. (For example, 5 to 1
km/hr) or less (step S5). If the result of this determination is negative, that is, the deviation ΔV
The absolute value of k is the discriminant value Δ■, and the discriminant value Δ■. If the value is between, PID control is executed (step S6), and if it is affirmative (Yes), fuzzy control is executed (step S7).

FIG. 3 illustrates the control law regions selected as described above, and as is clear from the above description, these control law regions are selected only by the deviation ΔVk.

Next, the fuzzy control, which is a control law when the deviation ΔVk is small, executed in step S7 described above will be explained. In fuzzy control, four rules are set in advance, one of these rules is selected, and the valve opening of the throttle valve is controlled according to the selected rule.

To explain this in more detail, first, the four rules are as follows.

Rule 1. If the deviation ΔVk is negative, the throttle valve 6 is closed slightly.

Rule 2. If the deviation ΔVk is positive, open the throttle valve 6 slightly (.

Rule 36 If acceleration A is positive, throttle valve 6
close wide.

Rule 4. If acceleration A is negative, throttle valve 6
open wide.

In selecting these rules, first, vehicle speed deviation ΔVk and acceleration A are calculated. The vehicle speed deviation ΔVk is calculated by the same method as shown in step Sl of the second rjlJ described above, and the acceleration A is calculated by the following equation.

A=ΔVk-Δ'/-1...-(1) Here, ΔV
k is the deviation calculated this time, and ΔVk-1 is the deviation calculated last time.

Next, using the calculated deviation ΔVk and acceleration A, membership function values μ, ~μ, are calculated from the membership functions set corresponding to each rule. Figures 5 to 8 are graphs of membership functions set corresponding to rules 1 to 4, respectively, and the function value μ calculated by the membership function shown in Figure 5 is , when vehicle speed ■ is a value between a value lower than target vehicle speed ■0 by a predetermined value ΔVKst (for example, 1 to 3 km/hr) and a value higher than a predetermined value ΔVH, a linear function is applied as the vehicle speed V increases. It is set to a value between 0 and 1. and,
When the vehicle speed V is less than or equal to a value smaller than the target vehicle speed VO by a predetermined value Δv01, it is set to the minimum value O, and when it is greater than or equal to a value larger by a predetermined value Δvxg+, it is set to the maximum value 1.

Similarly, the function value μ2 calculated by the membership function shown in FIG.
When the value is between a value smaller by 5.1 and a larger value by a predetermined value Δv+on, it decreases linearly as the vehicle speed V increases, and is set to a value between 1 and 0. When the vehicle speed V is less than or equal to a value smaller than the target vehicle speed VO by a predetermined value ΔVtS+, it is set to the maximum value l, and when it is greater than or equal to a value larger than the predetermined value ΔvIlst, it is set to the minimum value O. The function value μ calculated by the membership function shown in FIG.
, 1 to -1,0km/hr/5ec) and a positive predetermined value AL
When the value is between I (for example, 0.1 to 1.0 km/hr/5ec), it increases in a linear function as the acceleration A increases, and is set to a value of 0 to l. When the acceleration A is less than or equal to the predetermined value -AL1, it is set to the minimum value 0,
If it is greater than or equal to the predetermined value AL1, it is set to the maximum value l. 8th rJ! The function value μ4 calculated by the membership function shown in J is linearly functional as the acceleration A increases when the acceleration A is a value between the negative predetermined value −ALI and the positive predetermined value A L +. and is set to a value between 1 and 0. When the acceleration A is less than a predetermined value -AL1, the maximum value is set to 1, and when it is more than the predetermined value ALI, the minimum value O
are set respectively.

Membership function values μ, ~μ4 are calculated using these membership functions, and the rule with the largest membership function value is selected. It should be noted that the membership functions shown in FIGS. 5 to 8 may be modified in various ways, and the maximum and minimum values of the membership function values do not necessarily have to be set to the same value for each membership function.

Next, the drive throttle amount Δθ is calculated according to the selected rule. This drive throttle amount Δθ is calculated from the graphs shown in FIGS. 9 to 12 that are set corresponding to each rule. The drive throttle amount Δθ1 is calculated from FIG. 9, which corresponds to FIG. 9th
In the case of the graph shown in the figure, when the membership function value μm takes the maximum value 1, the drive throttle amount Δθ1 is a predetermined value −Δθ
31 (for example, -0,01 to -0,05V), and when the minimum value is 0, the predetermined value Δθ is set to 1. When the value is between the maximum value 1 and the minimum value 0, the member As the ship function value μm decreases, the predetermined value −Δθ, I changes from the predetermined value Δ
θ and l are set to values that increase linearly.

When rule 2 is selected, the drive throttle amount is calculated from FIG. 1O, and in the case of FIG. The amount Δθ8 is a predetermined value Δθ8. , and when taking the minimum value O, the predetermined value −Δθ3. is set to

If rule 3.4 is selected, then the 11th r.
The drive throttle amount is calculated from yJ and FIG. 12, and from the graph in FIG. 11, when the membership function value μ is the maximum value 1, the drive throttle amount Δθ is a predetermined value −ΔθL
l (for example, 0.02 to 0.08V), and when the minimum value O is set to a predetermined value ΔθL1. 12th
From the graph in the figure, the membership function value μ4 is the maximum value 1
When the drive throttle amount Δθ4 is set to a predetermined value Δθ, and when the minimum value is 0, the drive throttle amount Δθ4 is set to a predetermined value −ΔθLl. Note that the predetermined value ΔθLl is set to a value larger than the predetermined value Δθ,1.

In this way, the calculated drive throttle amount Δθ1~
The target throttle θ is calculated by substituting Δθ4 into the following equation (1) as Δθ.

θ, 1Mθ□, +, XΔθ ・・・・・・(2
) Here, θ7-1 is the current throttle valve opening, that is, the previously set target throttle opening, and if this fuzzy control is executed immediately after the start of vehicle speed control, then when traveling on a road surface with a slope of 0%, An initial value is set in advance according to the target speed Vo. KG is a coefficient (nonlinear gain) that is set according to the target throttle opening θn (actually, the previously set target throttle opening θ, l-1 is used). The relationship between the opening degree θ7 and the coefficient is shown, and the target throttle opening degree θi is a voltage (V) corresponding to the valve opening signal of the throttle valve 6 detected by the throttle valve opening sensor 14.
For example, when the target throttle opening degree θ7 is O, it is a predetermined value. (for example, 0.1 to 1.0), and when the target throttle opening degree θ7 is θ, I (for example, 2.5V), the predetermined value is set to 91 (for example, 4 to 5). There is. In setting the coefficient KG, the throttle valve opening sensor 14 is used instead of the target throttle opening θ7 mentioned above.
The throttle valve opening signal vth detected by the above may also be used.

In this way, in vehicle speed control using the fuzzy control law, a rule is selected based on the membership function value as to whether emphasis should be placed on acceleration A or vehicle speed deviation ΔVk, and the drive throttle amount Δθ is calculated according to the selected rule. , the drive throttle amount Δθ is multiplied by a coefficient set according to the current target throttle amount, and the current throttle amount θ7-1 is added to this product value, so the vehicle speed is changed from a high driving range to a low driving range. Stable control can be performed up to

Next, the vehicle speed deviation ΔV is executed in step S6 described above.
A control law when k has a medium size, ie, PID control, will be explained.

First, the target throttle opening θ of the throttle valve 6 in the PID control law. And the current drive throttle amount Δθ of the throttle drive circuit 5 is calculated by the following equations (3) and (4).

θ7=θ, l-6+Δθ ・・・・・・
(3) Δt) = 1 X (V o V) + KP
X (Ao A)...(4) Here, θ7-1 is the drive throttle amount up to the previous time, that is, the current throttle valve opening, and this PIDIIIm law is executed immediately after the start of vehicle speed control. In this case, similar to the fuzzy control described above, a preset initial value is set in accordance with the target speed Vo, assuming that the vehicle is traveling on a road surface with a 0% inclination. The coefficients and in the above formula (4) are both set according to the vehicle speed, and as shown in Fig. 13 and 1.
FIG. 4 shows the relationship between the coefficients 1 and 2 and the vehicle speed V, and these coefficients 1 and KP are set to values that rapidly increase as the vehicle speed 2 increases.

On the other hand, the target acceleration AO is set according to the vehicle speed V, the deviation ΔVk, and the acceleration A as follows.

First, the acceleration ao is set from the relationship between the acceleration ao and the vehicle speed V shown in FIG. The relationship between acceleration ao and vehicle speed V shown in FIG.
(for example, 2.5ks+/hr/5ee),
When the speed is equal to or higher than a predetermined speed VaS (for example, 120 km/hr), the respective values are set to 0. Then, the target acceleration Ao is set from the obtained acceleration ao as shown in the table below.

When the valve opening of the throttle valve 6 is controlled by the target throttle amount θ obtained as described above, the target acceleration A
o is set according to vehicle speed V, coefficient (gain) K
Since + and are set according to the vehicle speed V, the vehicle speed V is not temporarily held at a constant value, but the vehicle speed V smoothly and quickly shifts toward the target vehicle speed vO, and the driving performance is improved. The ring is in good condition.

Next, the control law when the deviation ΔVk is large, that is, the P (acceleration-constant) control, which is executed in step S3 above, will be described. Drive throttle amount Δθ in PII4J
is calculated using the following formula.

Δθ−Kg X (Kr X (Ao−A) 1Do)
・・・・・・(5) Here, KP is constant (gain), Ao is target acceleration, A
is the detected acceleration value. DO is a correction variable that corrects the torque that increases or decreases due to an increase or decrease in the engine speed, and is given as a function of the engine speed. - For boat fishing, when the throttle opening is kept constant and the engine speed increases, the torque decreases, so Do is set to a value that corrects this decrease in torque. 6 is a coefficient (nonlinear gain) that is set according to the target throttle opening θ7, and as described above, it is set according to the target throttle opening θ from the graph shown in FIG.

In this way, in P control, the correction variable Do is used to pre-compensate the torque change due to the rise or fall of the engine speed, and the drive throttle Δθ is used as a coefficient that changes according to the target throttle θ. , the acceleration can be kept constant and stable, giving a good feel.

Next, a control procedure when it is desired to change the target vehicle speed to a higher value by operating the resume switch 8 during autocruise will be described with reference to the flowchart shown in FIG. 16.

The resume switch 8 of the constant speed traveling device of the present invention is configured to operate after stepping on the brake pedal and interrupting the auto cruise operation.
In addition to the function of restarting auto-cruise operation by turning on the resume switch 8, two additional functions are provided when this switch is operated during auto-cruise operation, one of which is to turn on the resume switch 8. The other function is to set the target vehicle speed Vo to a predetermined value higher by tapping the resume switch 8.
This function executes the ACC process by continuing to press , accelerates the vehicle until the resume switch 8 is released, and sets the vehicle speed at the time of release as the new target vehicle speed VO.

The controller 3 executes the target vehicle speed increase processing routine shown in FIG.
At this point, it is determined whether the resume switch 8 is on. If the resume switch 8 is not operated,
Both this determination result and the determination result in step Sll, which will be described later, are negative, and the controller 3 ends this routine without doing anything.

On the other hand, if the determination result in step S10 is affirmative, the process proceeds to step 312, where it is determined whether the resume switch 8 is on for a predetermined time period T□. This predetermined time Ta1l is long enough to clearly distinguish noise, etc., and short enough to clearly distinguish the driver's intention to change the target vehicle speed Vo to a higher value by a predetermined value from the ACC process described later, and is The value is set to a value that allows the resume switch 8 to continue to be in the on state by operation, for example, 150 pegs. If it is determined in step S10 that the resume switch 8 is on due to noise or the like, the elapsed time of the on state of the resume switch 80 is a predetermined time T.

In many cases, it is shorter than I, and in such a case, step S12
The determination result is negative, and furthermore, step 31 described below
The determination result in step 3 is negative, and the controller 3 ends this routine without doing anything.

On the other hand, if the determination result in step S12 is affirmative, the process advances to step S14, where tap acceleration processing is executed. This tap acceleration process uses the target vehicle speed V.

is set to a higher value by a predetermined value ΔvAcc,
The predetermined value ΔvAce is, for example, the discrimination value Δ■ used in the above-mentioned fuzzy control. The speed is set to a value similar to or slightly smaller than (for example, 1.5 km/hr).

Then, when this tap acceleration process is executed, the target vehicle speed V
o is reliably set to a higher value by a predetermined value Δ■^cc, and using this new target vehicle speed Vo, the vehicle speed is controlled based on the control law described above.

If you want to set the target vehicle speed Vo to a value that is about twice or three times larger than the predetermined value ΔVACC, repeat the tap operation of the resume switch 8 as many times as necessary at appropriate intervals, and the desired target vehicle speed can be set. VO can be set reliably.

When the tap acceleration process by the tap operation of the resume switch 8 is completed, the determination result in step S10 described above becomes negative, and step Sll and step 316 are executed. The determination in step Sll is to determine whether the resume switch 8 was on when the routine was executed last time and is off when the routine is executed this time.
Then, it is determined whether or not ACC processing, which will be described later, has been executed. Immediately after the tap acceleration process, the determination result in step 316 becomes negative, and the execution of the routine ends.

If the resume switch 8 continues to be in the on state for a longer time than the predetermined value 'rust', the determination result of the progressive S12 becomes negative, and the controller 3 then determines whether the resume switch 8 has been in the on state for longer than the predetermined time 'rest'. This predetermined time T□2 should be set to a value larger than the above-mentioned predetermined time T by at least the execution interval of the routine. is set to a value large enough to reliably distinguish it from a tap operation.

In this embodiment, the predetermined time Text is set to 500 m5ec. Therefore, the predetermined time T mentioned above. , and shorter than the predetermined time T**t, step S
13 is negative, and the controller 3 ends the execution of the routine without doing anything.

If the determination result in step S13 is affirmative, step S
15 ACC processes are executed. This human CC processing is the conventionally known vehicle speed side, etc., for example, the resume switch 8
If the on state continues, the throttle valve 6 is gradually opened until the acceleration of the vehicle reaches a predetermined value, and when the acceleration reaches the predetermined value, the opening degree of the throttle valve 6 is adjusted to maintain the acceleration at the predetermined value. It is something to control. During this time, the vehicle speed V increases with constant acceleration.

When the vehicle speed increases due to this ACC processing and reaches the desired vehicle speed, the driver releases his finger from the resume switch 8.
The vehicle speed at the time of release is the target vehicle speed V.

is set as . More specifically, when the driver releases his finger from the resume switch 8, by executing the routine immediately after this point, the determination result of step S10 becomes negative, the determination result of step 311 becomes affirmative, and step S
16 is executed. In step 316, it is determined whether the current execution of the routine is to be executed immediately after the execution of the above-mentioned ACC processing, and then in step 317, post-acceleration processing (ACCOFF processing) is executed, and by this ACCOFF processing, a new target vehicle speed Vo is determined. Set.

The ACCOFF process may also be performed by conventionally known vehicle speed control, for example, when the acceleration of the vehicle is set to a predetermined value (for example, Ok■/hr/5ee
), the throttle valve 6 is gradually closed until the acceleration reaches a predetermined value, and the ACCOFF process is completed. The valve opening degree is controlled.

When the ACCOFF process is completed, the determination results in step 310 and step Sll described above are both negative, and the controller 3 repeats execution of the routine without doing anything until the next on-state of the resume switch 8 is detected.

In the above, the target vehicle speed Vo is set to a higher value by a predetermined value using the resume switch 8, but if desired, the target vehicle speed 0 can be set lower by a predetermined value using the set switch 2 in the same manner as described above. It can also be set to a value.

FIG. 17 is a flowchart showing a vehicle speed control procedure when it is desired to change the target vehicle speed 0 to a lower value by operating the set switch 2 during autocruise. In addition to the above-mentioned function, which sets the target vehicle speed Vo and starts constant vehicle speed control by turning on the set switch 2 after turning on the main switch 1 during normal driving, the turning-on operation during auto cruise is also possible. Two additional functions have been added.

That is, one function is to set the target vehicle speed Vo to a predetermined value lower by tapping the center switch 2, and the other function is to perform deceleration processing (DEC processing) by keeping the set switch 2 pressed. This function is executed and decelerates the vehicle until the set switch 2 is released, and the vehicle speed at the time of release is set as the new target vehicle speed Vo.

The controller 3 executes the target vehicle speed down processing routine shown in FIG. 17, which is similar to the target vehicle speed up processing routine described above, and lowers the target vehicle speed Vo by a predetermined value by the tapping operation of the set switch 2 described above. tap deceleration processing set to , DEC processing executed by keeping the resume switch 8 pressed, and resume switch 8
Post-deceleration processing (DECO) that is executed immediately after you release your finger from
FF processing) are executed sequentially. Each step in the flowchart shown in FIG. 17 is identical to each step in the flowchart shown in FIG. 16, and the execution contents of each step can be easily guessed, so a brief explanation will be given below.

When the set switch 2 is tapped during autocruise, the on state of the set switch 2 and the predetermined time period Toc+ of the set switch 2 are determined in step 320 and step S22.
The on state of is detected, and tap deceleration processing is executed (
step 524). This tap deceleration process is based on the target vehicle speed Vo.
is the predetermined value ΔvD! .

(for example, 1.5 km/hr), and if the vehicle speed is controlled based on the control law described above using this new target vehicle speed Vo, the vehicle speed ■ will be reliably lowered by the predetermined value Δv,c. The vehicle speed can be controlled to the target vehicle speed VO.

If the set switch 2 is turned on for more than a predetermined time 'rnct, which is longer than the above-mentioned predetermined time TOCI during autocruise, the determination result in step S23 becomes affirmative, and the process proceeds to step S23.
25 DEC processes are executed.

This DEC processing may be conventionally known vehicle speed control,
For example, the throttle valve 6 of the vehicle is gradually closed to decelerate the vehicle until it reaches a predetermined acceleration, and when the vehicle reaches the predetermined value, the valve opening of the throttle valve 6 is controlled to maintain that acceleration, and the vehicle speed remains constant. It will slow down at a rate.

When the finger is released from the set switch 2 and the DEC processing is completed, the determination results in steps S21 and S22 are both affirmative in the execution of the routine immediately after the finger is released, and the DECOFF processing in step S27 is executed. This DE
In the COFF process, for example, the acceleration is a predetermined value (for example, O).
When this predetermined value is reached, the vehicle speed V at that time is stored as a new target vehicle speed Vo, and the vehicle speed V is changed to this target vehicle speed Vo.
The throttle valve opening is adjusted so as to maintain the

Note that the control law applied to vehicle speed control during autocruise is not limited to that of the above-described embodiment, and various conventionally known control laws can be applied.

Further, in the above-described embodiment, the constant speed traveling device of the present invention was applied to a vehicle equipped with a gasoline engine, and the throttle valve opening of the throttle valve 6 was used as an operating parameter for adjusting the engine output. The present invention is not limited to this, and the vehicle speed may be controlled by controlling the fuel injection amount, etc., instead of the throttle valve opening.Furthermore, the application is applicable not only to gasoline engines but also to vehicles equipped with diesel engines. Of course.

(Effect of the invention) As detailed above, according to the constant speed traveling device of the present invention,
Since a target value change switch means is provided to change and set the target vehicle speed to a higher or lower value by a predetermined value, an excellent effect is achieved in that the target vehicle speed can be reliably fine-tuned without the engine revving up. .

[Brief explanation of the drawing]

FIG. 1 is a block diagram showing a schematic configuration of a constant speed traveling device according to the present invention, FIG. 2 is a flowchart showing a control law selection procedure executed by the controller 3 shown in FIG. 1, and FIG. FIG. 4 is a graph showing the relationship between target throttle θ7 and coefficients; FIGS. 5 to 8 show membership functions; FIG. Figure 6 is a graph of the membership function set corresponding to the rule selected when the deviation ΔVk is negative, and Figure 6 is a graph of the membership function set corresponding to the rule selected when the deviation ΔVk is positive. Graph, Figure 7 is a graph of the membership function set corresponding to the rule selected when acceleration A is positive, Figure 8 is acceleration A
The graph of the membership function set corresponding to the rule selected when is negative, FIG. 9 shows the membership function value μm obtained from the graph of FIG. 5 and the drive throttle amount set accordingly. A graph showing the relationship between Δθ and
Fig. 10 is a graph showing the relationship between the membership function value μ2 obtained from the graph of Fig. 6 and the drive throttle amount Δθ: set thereby, and Fig. 11 is obtained from the graph of Fig. 7. FIG. 12 is a graph showing the relationship between the membership function value μ and the drive throttle amount Δθ set thereby, and the membership function value μ4 obtained from the graph in FIG. 8 and the drive throttle amount Δθ set thereby. A graph showing the relationship between the drive throttle amount Δθ4, FIG. 13 a graph showing the relationship between the coefficient (gain) K1 applied in the PID@III law according to the present invention and the vehicle speed V, and FIG. 14 a graph showing the relationship between the vehicle speed V and the PID control according to the present invention. Figure 15 is a graph showing the relationship between the coefficient (gain) KP applied in the law and the vehicle speed ■, and the target acceleration a. FIG. 16 is a flowchart of the target vehicle speed up processing routine executed by the controller of the constant speed traveling device, and FIG. 17 is the target vehicle speed down processing executed by the controller of the constant speed traveling device. It is a flowchart of a routine. 2...Set switch (target value change switch means),
3... Controller, 4... Vehicle speed sensor, 5...
Throttle drive circuit, 6... Throttle valve, 8...
Resume switch (target value change switch means), 10
... internal combustion engine, 11 ... automatic transmission, 14.
... Throttle valve opening sensor, 15... Hydraulic control circuit (gear stage switching means). Figure 3 Figure 4VKP 1■ F to 8' F y to P Unbalanced Figure 4 Eye God Slo, Toru Question Figure 2 Figure 13 1 Car! V Figure 14 Figure 15 Single series V n ALI AL+ - Δ8L1 △e shi 1 △e4 Indication of procedure Nepo Seisho case 1986 Title of invention Patent application No. 257332 Agent for person making constant speed traveling device amendment (Voluntary) 6. Contents of amendment ■3 Detailed description of the invention column (1) "Acceleration... is being carried out as stated in lines 2 to 7 of page 4 of the specification. ” is corrected to the following sentence. "The vehicle speed at that point is held as a new target vehicle speed, and post-acceleration processing (ACCOFF processing) is executed in which the throttle valve is gradually closed until the acceleration reaches a predetermined value (0)." (2) Ibid. Insert the following sentence after "is" written in the 6th line of page 13. Note that the membership functions shown in FIGS. 9 to 12 can be modified in various ways, and the maximum and minimum values of the membership functions do not necessarily have to be set to the same value. (3) [Vehicle speed control... is set as described in lines 13 to 16 of the same page. ” will be deleted. (4) The phrase "driving throttle amount," written in line 10 of page 15 of the same page, is corrected to read "driving throttle amount. J." (5) Lines 11 to 15 of the same page The description “i.e.
...... will be set. ” will be deleted. (6) On page 16, line 3 of the same page, [J in Figure 16 is corrected to read ``in Figure 15.'' (7) In the fourth line of the same page, replace the phrase “in Figure 16” with “
In Figure 15,” it is corrected. (8) Insert the following sentence after the table on the same page. r Note that the acceleration a. The method of setting is not limited to the one obtained from the relationship shown in FIG. 15, and various modifications can be considered. (9) "Upon completion" stated in the first line of page 24 of the same
The statement has been corrected to ``at the moment you move your finger from resume switch 8''. 00) In the 10th to 11th lines of page 27, the phrase ``at that time'' is corrected to ``when the finger is released from the r set switch 2''. ■2 Drawings Figure 16 of the drawings is corrected as shown in the attached sheet.

Claims (1)

[Claims] In a constant speed driving device that maintains the vehicle speed near the target vehicle speed by controlling the driving parameter values that adjust the output of the engine installed in the vehicle, a target value change that sets the target vehicle speed to a higher or lower value by a predetermined value. A constant speed traveling device characterized by being provided with a switch means.