JPH0288328A - Slow running control system - Google Patents

Abstract

(57) [Abstract] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

[Detailed Description of the Invention] [Industrial Application Field] This invention is a slow running control for controlling the running of an automobile! !
It's about location.

[Conventional technology]

FIG. 3 is a block diagram showing the configuration of a conventional slow running @control device disclosed in, for example, Japanese Patent Laid-Open No. 61-247526. In the figure, slow running mode setting switch 1 and slow running A mode release switch 2, an accelerator sensor 12 that detects depression of the accelerator pedal 3, a brake control device 18 that controls the brakes, and a throttle actuator 5 that drives the throttle valve 6 of the engine 7.
, an inter-vehicle distance sensor 9 that detects an inter-vehicle distance, and a controller 11 that controls a throttle actuator 5 and a brake control device 18.

Furthermore, the controller 11 includes, as shown in FIG.
Selector lever position sensor 13, engine rotation sensor 1
4. Signals from sensors such as a vehicle speed sensor 8, a turn signal switch 15, a throttle opening sensor 16, and an accelerator switch 17 are also input. Further, the controller 11 outputs the signal to the alarm display device 10.

Next, the operation will be explained. When the slow running mode is set with the slow running mode setting switch 1 shown in FIG. 3, an accelerator sensor 1 detects the amount of depression of the accelerator pedal 3.
The controller 11 reads the signal No. 2, opens the throttle valve 6 by the throttle actuator 5, and increases the output of the engine 7.

However, instead of opening the throttle valve 6 in proportion to the amount of depression of the accelerator pedal 3, the throttle valve 6 is opened and closed so that the speed is below a certain level regardless of the amount of depression of the accelerator pedal 3. When the accelerator pedal 3 is released, the throttle valve 6 is closed, the brake control device 18 is activated, and the vehicle is stopped.

In this way, by operating only the accelerator pedal 3, the car travels at a speed below a certain level, which is convenient at times when driving at a slow speed, such as in traffic jams.

Additionally, there is a distance sensor 9 for detecting the distance between vehicles, and when a preceding vehicle is detected within a predetermined area in front, the brakes are automatically applied to stop the vehicle. At the same time, the buzzer of the alarm display device 10 is sounded.

This slow running mode is canceled by turning off the slow running mode release switch 2 or by activating the turn signal switch 15 to issue a turn signal signal.

[Problem to be solved by the invention]

Since the conventional slow speed cruise control device is configured as described above, it is necessary to control both the throttle valve 6 and the brake in a balanced manner during traveling, and the device also becomes large.

Further, among these devices, there were problems such as failures of sensors and actuators not being taken into account.

This invention was made to solve the above-mentioned problems, and provides a slow speed cruise control device that is simple, has sufficient functionality, and can maintain safety even when major sensors or actuators fail. The purpose is to

[Means to solve the problem]

The slow speed cruise control device according to the present invention includes a limiter that sets an upper limit value for limiting the opening of the throttle valve during the slow speed drive mode, a plurality of obstacle sensors that detect obstacles, and a vehicle distance that is detected. The system is equipped with a plurality of inter-vehicle distance sensors and a controller that drives and controls a throttle actuator.

[For production]

The controller in this invention controls the throttle actuator in the slow speed driving mode, and controls the opening and closing of the throttle valve by the throttle actuator.
The vehicle is driven at a predetermined speed regardless of the condition of the road, such as a slope, or the amount of cargo, etc., and the brake is operated to control the vehicle from the predetermined speed to a stop, and when the throttle valve opening exceeds the predetermined value, The limiter operates and cuts off the power to the throttle actuator to prevent the throttle valve from opening abnormally and driving out of control. When the following distance sensor detects that the following distance to the vehicle in front is less than a predetermined value, or when the obstacle sensor detects When the distance to the obstacle approaches a predetermined value or less, the controller outputs an alarm signal.

〔Example〕

An embodiment of the present invention will be described below with reference to the drawings. 1st
The figure is a block diagram showing the configuration of the device according to the present invention. In the figure, 1 is a slow running mode setting switch, 2 is a slow running mode release switch, 3 is an accelerator pedal, 5 is a throttle actuator, and 6 is a throttle valve. , 7 is an engine, 8 is a vehicle speed sensor, 9 is an inter-vehicle distance sensor, 10 is a warning display device, 11 is a controller, 12 is an accelerator sensor, 16 is a throttle opening sensor, and the configuration up to the above is the same as that in FIG. The parts described below are newly added parts according to the present invention.

That is, 4a is a brake pedal, and 4 is a brake depression amount sensor, the output of which is sent to the controller 11.

Moreover, 20 is an obstacle sensor, and when an obstacle is detected, the detection output is sent to the controller 11. Note that in FIG. 1, illustration of the engine rotation sensor 14 is omitted.

FIG. 2 is a perspective view showing the configuration of the throttle actuator 5. As shown in FIG. 2, a limiter 21 and a self-excited relay 23 are provided outside the motor 22 of the throttle actuator 5. The motor 22 drives the throttle valve 6 to open and close.

The power to the motor 22 is turned off by a limiter 21, and when the power to the motor 22 is turned off, the throttle valve 6 is returned to the fully closed position to reduce the output of the engine 7.

The limiter 21 and the relay 23 are connected between the power source and the motor 22, and the power source of the motor 22 is connected to the controller 1.
It is given from 1.

Next, we will explain the operation.0 During normal driving, the driver controls the output of the engine 7 by operating the accelerator pedal 3, but when driving in traffic jams, the driver may run at low speed or stop. It's repetitive.

Therefore, when the driver presses the slow-speed driving mode setting switch l, the controller 11 detects the signal, sets the slow-speed driving mode, and tells the driver to use the warning display device 1.
0 indicates this.

If the driver takes his foot off the brake pedal 4a,
The controller 11 determines from the signal of the brake depression amount sensor 4 and sets a predetermined constant speed, for example, 110-
The opening degree of the throttle valve 6 is controlled by feeding back the signal from the vehicle speed sensor 8 so that the speed becomes 15 k/h.

Therefore, this speed is independent of the slope or the amount of load (a constant speed is maintained).

Also, if you want to increase the speed, you can press the accelerator pedal 3, and if you want to decrease the speed, you can press the brake pedal 4.
When step a is pressed, the brake is applied mechanically, and the brake pedal depression amount sensor 4 detects the depression amount of the brake pedal 4a, and the throttle actuator 5 is driven in the direction to close the throttle valve 6, thereby reducing the output of the engine 7. lower. Furthermore, when the brake pedal 4a is depressed, the throttle valve 6 is completely closed, and at the same time the brakes are activated to stop the vehicle.

Therefore, in the slow running mode, the vehicle speed can be controlled from a certain constant speed to a stop by operating one brake pedal 4a, and the burden on the driver can be reduced.

However, if the vehicle speed sensor 8 is malfunctioning and outputs a vehicle speed that is significantly lower than the actual vehicle speed, the controller 11 will abnormally operate the throttle valve 6 to maintain the predetermined vehicle speed.
There is a risk of the vehicle opening up and speeding up, or causing the vehicle to run out of control.

To prevent this, a throttle opening sensor 16 is provided to prevent the throttle valve 6 from opening beyond a certain upper limit value.

It is also possible that the controller 11 itself has a problem and issues a command to open the throttle valve 6 abnormally.

In order to prevent the throttle valve 6 from opening abnormally even in such a situation, a limiter 21 is provided as shown in the slot actuator 5 in FIG. 2. When the opening degree of the throttle valve 6 reaches the set upper limit value, the limiter 21
is activated, thereby turning off the power to the motor 22, returning the throttle valve 6 to the fully closed position, and reducing the output of the engine 7.

Power to the motor 22 is supplied from the controller 11 through a self-help relay 23, which is turned on when the slow running mode is set and turned off by the limiter 21 and the slow running mode release switch 2. Further, the actuator 5 may be of a pneumatic type.

Further, the present invention also provides an inter-vehicle distance sensor 9 and an obstacle sensor 20.
When the inter-vehicle distance detected by the inter-vehicle distance sensor 9 becomes smaller than a predetermined value or when an obstacle is detected by the obstacle sensor 20, the detection output is sent to the controller 11, and the Accordingly, the controller 11 operates the alarm display device 10 to issue an alarm.

In this case, if a problem occurs in the inter-vehicle distance sensor 9, a rear-end collision may occur, so a dual system consisting of the inter-vehicle distance sensor 9 and the obstacle sensor 20 is used.

Similarly, it is preferable that the warning display device 10 is a dual system. For example, the inter-vehicle distance sensor 9 is an optical system, which can measure relatively accurate distances, but because the field of view is narrow, the other obstacle sensor 2 Therefore, it is preferable to use ultrasonic waves to detect obstacles over a wide range, and two types of alarm display devices are possible: sound and light. It is better for the light to blink.Also, since it is possible that there is a problem with the controller 1, the alarm display device 10 has a route that passes through the controller 11 and a route that directly activates the alarm display device 2.
It's good to have a route.

〔Effect of the invention〕

As described above, according to the present invention, in the slow running mode, the throttle valve opening is controlled by the controller based on the brake pedal depression amount detected by the brake depression amount sensor and the signal from the vehicle speed sensor.
In the slow running mode, the vehicle can be easily stopped by applying the brakes alone.

In addition, when the throttle opening sensor detects that the throttle valve has been open for more than a predetermined period, the throttle valve is prevented from opening more than the upper limit, and when the throttle valve opening reaches the upper limit due to a controller error, the limiter prevents the throttle valve from opening beyond the upper limit. Since the throttle valve is configured to return to the fully closed position by cutting off the power supply to the actuator, there is an effect that a fail-safe can be performed to prevent the vehicle from running out of control.

Furthermore, since a dual distance sensor and an obstacle sensor are provided, a fail-safe system is provided to prevent collisions or rear-end collisions, and a relatively simple system can provide safe and easy driving. There is.

[Brief explanation of drawings]

FIG. 1 is a block diagram of a slow speed cruise control device according to an embodiment of the present invention, FIG. 2 is a perspective view of a throttle actuator in the same embodiment, and FIG. 3 is a block diagram of a conventional slow speed cruise control device. . DESCRIPTION OF SYMBOLS 1... Slow running mode setting switch, 2... Slow running mode release switch, 4... Accelerator depression amount sensor, 5... Throttle actuator, 6... Throttle valve, 8... Vehicle speed Sensor, 9... Inter-vehicle distance sensor, 11... Controller, 16... Throttle opening sensor, 20... Obstacle sensor, 21... Limiter. In addition, in the figures, the same reference numerals indicate the same or equivalent parts. Figure 3

Claims (1)

[Claims] A slow running mode setting switch for setting a slow running mode, a brake depression amount sensor for detecting the amount of brake depression, a throttle actuator for driving a throttle valve, a plurality of inter-vehicle distance sensors for detecting inter-vehicle distance, and the above-mentioned A throttle opening sensor that detects the opening of the throttle valve, a limiter that cuts off the power supply to the throttle actuator when the throttle opening reaches a set upper limit in the slow driving mode, and multiple obstacles that detect obstacles. When the object sensor and the throttle actuator are controlled so that control from a predetermined vehicle speed to a stop is performed by operating a brake when the slow speed driving mode is set, and the inter-vehicle distance detected by the inter-vehicle distance sensor is less than a predetermined value. and a controller that outputs an alarm signal when the obstacle sensor detects an obstacle.