JPH03213439A - Automatic tracking device - Google Patents

Abstract

PURPOSE:To reduce a load of a driver on a jammed road by selecting an appropriate change gear ratio so that while checking the distance between one's vehicle an the vehicle in front and also the traveling direction, follow-up traveling can be carried out at a target vehicle speed corresponding to the amount of treading-in of an accelerator, by regulating the throttle valve and the steering wheel. CONSTITUTION:When an automatic follow-up traveling mode switch 19 is turned on, in the case where the distance between one's vehicle and the vehicle in front is less than a prescribed distance (e.g. 10m), and also the vehicle speed is less than a prescribed value (e.g. 30km/h), an automatic follow-up traveling mode is permitted by a computer unit 2. And in the automatic follow-up traveling mode, a throttle valve driving device 12, a brake control device 13, a transmission 14, and a steering control device 22 are feedback-controlled in accordance with the output signals from a vehicle speed sensor 6, an engine speed sensor 9, a throttle opening sensor 16, a steering sensor 17, a vehicle angle sensor 18, an accelerator sensor 10, an inter-vehicle distance sensor 20, an obstracle sensor 21, and a brake sensor 11.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to an automatic tracking system for a motor vehicle.

[Conventional technology]

Conventionally, in devices that control vehicle speed, such as constant-speed vehicle running systems and slow-speed vehicle running systems, a throttle valve that selects the optimum gear ratio depending on the driving condition and is connected to the accelerator pedal with a wire such as a piano wire. By opening and closing, the air flow rate was adjusted and the engine output was controlled.

However, recently, a system has been proposed in which the accelerator pedal and throttle valve are separated and the throttle valve is opened and closed using an accelerator sensor, a throttle valve drive motor, and a controller to control vehicle speed (Isuzu Technical Report No. 72, p. 7). (See page 20). This is shown in FIG.

In Fig. 2, ■ is the engine, 2 is the computer unit, 3 is the throttle valve, 4 is the select lever position sensor, 5 is the gear position sensor, 6 is the vehicle speed sensor, 7 is the clutch position sensor, 8 is the clutch, and 9 is the engine. 1 is an engine rotation sensor that detects rotation; 10 is an accelerator sensor that detects the amount of depression when the driver depresses the accelerator; 11 is a brake sensor; 12 is a motor; 13 is a brake control device; and 14 is a transmission.

The computer unit 2 reads the driver's intention from the output of the accelerator sensor 10, and also reads the driver's intention from the output of the select lever position sensor 4. Engine rotation sensor 9, gear position sensor 5. Based on information from the vehicle speed sensor 6, clutch position sensor 7, etc., the clutch 8 is adjusted according to the driving condition of the vehicle.
and selects the gear position of the transmission 14, controls the engine output by driving the motor 12 that adjusts the opening of the throttle valve 3, and controls the brake control device 13 by turning on and off the brake sensor 11. This enables easy driving and low fuel consumption.

[Problem to be solved by the invention]

However, in the system shown in Figure 2, the driver has to repeatedly step on the accelerator and brake while keeping their faces connected when following the vehicle in a low speed range due to traffic jams.
In addition, it is necessary to pay attention to steering operations so that the direction of travel of the own vehicle matches the direction of travel of the preceding vehicle while maintaining an appropriate distance between the vehicle and the vehicle in front. Drivers become extremely fatigued when following vehicles in traffic jams for long periods of time, which can lead to rear-end collisions.

The present invention has been made in view of these points, and its purpose is to reduce the burden on the driver when following vehicles in a low speed range due to traffic jams, etc., and to improve safety and drivability. The object of the present invention is to provide an automatic following traveling device that does not impair the performance of the vehicle.

[Means to solve the problem]

In order to solve these problems, the present invention includes an automatic following driving mode setting switch that sets the automatic following driving mode, an inter-vehicle distance sensor to the preceding vehicle, a vehicle speed sensor that detects the vehicle speed, and an accelerator depression amount. A brake sensor detects the amount of brake depression, a vehicle angle sensor detects the direction of travel of the preceding vehicle relative to the own vehicle, a steering sensor detects the steering angle, and the sensor is mechanically separated from the accelerator. a throttle valve drive device that controls the engine output by driving the throttle valve; a brake control device that controls the brake;
A steering control device for controlling the traveling direction of the vehicle, and a computer unit are provided, and the computer unit is configured to operate at a distance greater than or equal to a limit inter-vehicle distance determined by the vehicle speeds of the preceding vehicle and the host vehicle and the inter-vehicle distance between the preceding vehicle and the preceding vehicle in the automatic following driving mode. The engine output is adjusted by driving the steering wheel and throttle valve so that the vehicle in front matches the direction of travel of the vehicle in front and the host vehicle while maintaining the following distance and follows the vehicle at a target speed according to the amount of accelerator depression within a predetermined vehicle speed range or less. This system controls the direction of the vehicle and stops the vehicle by controlling the brakes if the accelerator is not pressed, the brakes are pressed, or the following distance is less than the limit distance. be.

[Effect]

In the automatic following driving device according to the present invention, the driver selects the automatic following driving mode setting switch, the computer unit reads the command, and the vehicle speed at that time is less than a predetermined value and the distance between the vehicle and the preceding vehicle is less than a predetermined value. enters automatic follow-up driving mode.

In automatic tracking mode, the vehicle checks the distance to the vehicle in front and the direction of travel, and selects an appropriate gear ratio to follow the vehicle at a target speed based on the amount of accelerator pedal depression within a predetermined vehicle speed range. and adjust the throttle valve and steering. In addition, as a fail-safe function,
When you release the accelerator pedal, press the brake pedal, or when the distance between you and the vehicle in front falls below the threshold for a rear-end collision, the computer unit immediately activates the brake control system. to stop the vehicle.

〔Example〕

In the automatic follow-up mode of the automatic follow-up travel device according to the present invention, it is possible to start and stop the vehicle simply by operating the accelerator pedal. In other words, when you press the accelerator pedal, the vehicle starts moving, and when you release it, the brakes are applied. The computer unit selects an appropriate gear ratio while checking the distance from the vehicle in front and the direction of travel, so that the vehicle will follow the vehicle at a speed that corresponds to the amount of depression of the accelerator pedal within a range below a predetermined vehicle speed. and adjust the steering.

The computer unit immediately activates the brake control device to stop the vehicle when the accelerator pedal is released, the brake pedal is pressed, or when the distance between the vehicle and the preceding vehicle becomes less than the limit distance between the vehicles. To restart automatic tracking mode, once you release the accelerator pedal,
This is done by pressing down again. If the distance between vehicles or the angle indicating the direction of travel suddenly increases due to sudden acceleration or sudden steering by the vehicle in front, the system automatically switches to normal driving mode as a failsafe and notifies the driver of this fact.

DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of an automatic following travel device according to the present invention will be described below with reference to the drawings.

FIG. 1 is a block system diagram showing an embodiment of an automatic following traveling device according to the present invention. In the figure, 12 is a throttle valve drive device, 15 is an accelerator switch that indicates whether or not the accelerator pedal has been released, 16 is a throttle sensor that detects the throttle opening, 17 is a steering sensor that detects the steering angle, and 18 is an automatic steering wheel. Vehicle angle sensor 19 detects the traveling direction of the preceding vehicle with respect to the vehicle
20 is an inter-vehicle distance sensor that detects the distance between the vehicle and the preceding vehicle; 21 is an obstacle sensor that detects the presence or absence of an obstacle; 22 is a steering control device; and 23 is a display device.

In FIG. 1, the same or equivalent parts as in FIG. 2 are given the same reference numerals.

Next, the operation of the apparatus shown in FIG. 1 will be explained.

First, when the automatic follow-up driving mode setting switch 19 is off, it is a normal driving mode, and the computer unit 2 sets the accelerator sensor 10 so that the throttle valve opens in proportion to the amount of depression of the accelerator pedal. The throttle valve drive device 12 is actuated in accordance with the output. When the brake is stepped on at this time, the brake sensor 11 is turned on and the brake control device 13 is activated to stop the vehicle.

When the automatic following driving mode setting switch 19 is switched from OFF to ON, the computer unit is activated only when the distance to the preceding vehicle is less than a predetermined value, for example, 10 m or less, and the vehicle speed is less than a predetermined value, for example, 30 km/h or less. 2 permits entry into the automatic follow-up driving mode and displays it on the display device 23 to notify the driver. This is because, for example, it is dangerous if the brakes are applied the moment the automatic tracking mode is entered when the vehicle speed is high, so if the above conditions are not satisfied, the automatic tracking mode setting switch 19 will be turned on in the convenience store unit 2. Even if the vehicle is in automatic tracking mode, it is determined that the vehicle is not suitable for automatic tracking mode, and the vehicle is not allowed to enter automatic tracking mode. The display device 23 displays the currently selected driving mode as well as an automatic tracking driving mode setting switch 19.
It notifies the driver by displaying information such as vehicle speed, following distance, presence of obstacles, and steering angle.

When the vehicle enters automatic tracking mode, the vehicle speed reaches a predetermined speed (for example, 3
The computer unit 2 uses a vehicle speed sensor 6, an engine rotation speed sensor 9, a throttle opening sensor 16, and a steering sensor 1 to automatically follow the vehicle at a target vehicle speed according to the amount of depression of the accelerator pedal within a range below 0 km/h).
7, vehicle angle sensor 18, accelerator sensor 10, inter-vehicle distance sensor 20, obstacle sensor 21, brake sensor 11
While watching the signals, operate the throttle valve and steering by controlling the throttle valve drive device 12 and brake control device 13.
Feed via hack control.

In addition, the feed hack control of this embodiment uses a brake control gain according to the inter-vehicle distance and vehicle speed, and a steering control gain according to the vehicle speed and the traveling direction of the preceding vehicle with respect to the host vehicle, thereby improving the drivability and the vehicle body. Improved stability. Furthermore, an obstacle sensor 2 that monitors the front
1, or if the following distance becomes less than the limit determined by the vehicle speed of the preceding vehicle and the own vehicle detected using the following distance sensor 20 and the vehicle speed sensor 6, and the following distance between the preceding vehicle and the preceding vehicle, the automatic apply the brakes,
Safety is ensured by adding a function that alerts the driver with an audible alarm. In addition, in order to maintain compatibility with operations in normal driving mode, the brake sensor 11 is constantly monitored, and even if the accelerator pedal is depressed, if the brake pedal is depressed, the brake control device 13 will always operate with brake priority and stop the vehicle. let In either case, restarting the automatic tracking mode is performed by once releasing the accelerator pedal and then depressing it again. Therefore, even on a slope, there is no need to repeatedly pull the handbrake or keep pressing the brake, and even when turning a curve, the vehicle's direction of travel is automatically adjusted, so the driver can follow it simply by operating the accelerator. It is possible to drive.

The automatic following driving mode can be canceled either when the automatic following driving mode setting switch 19 is turned off, or for fail-safe purposes, when the following vehicle suddenly accelerates or turns suddenly, resulting in a sudden increase in the following distance or the angle indicating the direction of travel. Then, a warning sound such as a buzzer is sounded and a display is displayed on the display device 23 such as an LED or CRT to inform the driver that the mode has been canceled and the mode is switched to the normal driving mode. However, when the accelerator pedal is strongly depressed, if the above conditions are met and the automatic follow-up mode is canceled, the vehicle will be controlled in proportion to the amount of depression and opening of the accelerator pedal as in the normal mode. , which is extremely dangerous due to sudden acceleration. Therefore, in this embodiment, when canceling the automatic follow-up driving mode, a map is created in which the operating speed of the accelerator sensor 10 corresponds to the time required to reach the throttle opening according to the amount of accelerator depression in the normal driving mode. The throttle valve 3 is opened by the driver to improve safe driving and driving feeling.

For example, if the pedal is depressed below a certain speed V, the throttle valve 3 is opened over a certain period of time.
■If the driver depresses the pedal earlier, it is assumed that the driver is requesting rapid acceleration, and by opening the throttle valve sooner, the driver's will can be respected, resulting in safety without compromising drivability. It is possible to drive.

In this embodiment, the obstacle sensor 21 is provided to perform a temporary stop when an obstacle is detected within a predetermined area, but a simplified type that does not have this function may be used.

〔Effect of the invention〕

As explained above, in the automatic following driving mode, the present invention responds to the amount of accelerator depression within a range where the traveling direction of the preceding vehicle and the host vehicle are the same and the vehicle speed is below a predetermined speed, while maintaining an inter-vehicle distance equal to or greater than the limit inter-vehicle distance. The engine output and direction of the three friendly vehicles are controlled by driving the steering and throttle valves so that the vehicles follow the target speed set. By controlling the brakes to stop the vehicle when the distance is less than the distance, the vehicle can be started or stopped simply by operating the accelerator. In addition, if the vehicle in front gets too close, it can automatically stop and display a warning to the driver, reducing driver fatigue without compromising drivability and allowing safe automatic follow-up driving. can be done.

[Brief explanation of drawings]

FIG. 1 is a block system diagram showing an embodiment of an automatic following traveling device according to the present invention, and FIG. 2 is a block system diagram showing a conventional following traveling device. 1...Engine, 2...Computer unit, 3
... Throttle valve, 6... Vehicle speed sensor, 9... Engine rotation sensor, 10... Accelerator sensor, 11.
... Brake sensor, 12... Throttle valve drive device, 13... Brake control device, 14... Transmission, 1
5...Accelerator switch, 16...Throttle sensor, 17...4 Steering sensor, 18...Vehicle angle sensor, 19
... Automatic following driving mode setting switch, 20... Inter-vehicle distance sensor, 21... Obstacle sensor, 22... Steering control device, 23... Display device.

Claims (1)

[Claims of Claims] An automatic following driving mode setting switch that sets an automatic following driving mode, an inter-vehicle distance sensor that detects the following distance to the preceding vehicle, a vehicle speed sensor that detects the vehicle speed, and an accelerator pedal depression amount. An accelerator sensor, a brake sensor that detects the amount of brake depression, a vehicle angle sensor that detects the direction of travel of the preceding vehicle relative to the own vehicle, a steering sensor that detects the steering angle, and a throttle that is mechanically separated from the accelerator. A throttle valve drive device that drives a valve to control engine output, a brake control device that controls brakes, a steering control device that controls the direction of travel of the vehicle, and a computer unit, the computer unit having automatic tracking. In the driving mode, the vehicle travels within a range where the traveling direction of the preceding vehicle and own vehicle are the same and the vehicle speed is below a predetermined speed, while maintaining an inter-vehicle distance greater than or equal to the limit inter-vehicle distance determined by the vehicle speeds of the preceding vehicle and the own vehicle and the inter-vehicle distance between the preceding vehicle and the preceding vehicle. The system controls the engine output and direction of the vehicle by driving the steering and throttle valves so that the vehicle follows the target speed according to the amount of accelerator depression, and checks whether the accelerator is depressed, the brakes are depressed, or
An automatic tracking system that controls a brake to stop a vehicle when the distance between vehicles is less than a limit distance between vehicles.