JP3029438B2 - Car speed control device - Google Patents
Car speed control deviceInfo
- Publication number
- JP3029438B2 JP3029438B2 JP2079650A JP7965090A JP3029438B2 JP 3029438 B2 JP3029438 B2 JP 3029438B2 JP 2079650 A JP2079650 A JP 2079650A JP 7965090 A JP7965090 A JP 7965090A JP 3029438 B2 JP3029438 B2 JP 3029438B2
- Authority
- JP
- Japan
- Prior art keywords
- vehicle speed
- fuzzy
- speed control
- target
- control device
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Landscapes
- Control Of Throttle Valves Provided In The Intake System Or In The Exhaust System (AREA)
- Control Of Vehicle Engines Or Engines For Specific Uses (AREA)
- Combined Controls Of Internal Combustion Engines (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Controls For Constant Speed Travelling (AREA)
Description
【発明の詳細な説明】 （産業上の利用分野） この発明は自動車の速度制御装置、特に、ファジィ制
御を行う速度制御装置に関する。Description: BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a speed control device for a motor vehicle, and more particularly to a speed control device for performing fuzzy control.
（従来の技術） ファジィ制御は熟練者と同等の操作を行うことがで
き、近年では自動車の車速制御にも応用されている。(Prior Art) Fuzzy control can perform the same operation as a skilled person, and has recently been applied to vehicle speed control.
従来、ファジィ制御による車速制御装置としては、特
開昭63−173329号公報、特開昭63−176739号公報あるい
は特開昭64−42712号公報等に記載されたものが知られ
る。例えば、64−42712号公報に記載される自動車の速
度制御装置は、車速、加速度、スロットル開閉状態およ
びブレーキ液圧の有無を検出し、また、実車速と目標車
速との車速制御偏差を算出し、車速制御偏差および加速
度のそれぞれについて前件部を定めるとともに、スロッ
トル開閉状態およびブレーキ液圧に基づきファジィ制御
ルールを作成し、前件部の組み合せからファジィ制御ル
ールに従いスロットル開度の変化量とブレーキ液圧の変
化量とを設定して車速を制御する。2. Description of the Related Art Conventionally, as a vehicle speed control device based on fuzzy control, those described in JP-A-63-173329, JP-A-63-176739 or JP-A-64-42712 are known. For example, a vehicle speed control device described in Japanese Patent Application Laid-Open No. 64-42712 detects a vehicle speed, an acceleration, a throttle opening / closing state, and the presence or absence of a brake fluid pressure, and calculates a vehicle speed control deviation between an actual vehicle speed and a target vehicle speed. In addition to defining the antecedent part for each of the vehicle speed control deviation and acceleration, a fuzzy control rule is created based on the throttle opening / closing state and the brake fluid pressure, and the throttle opening change amount and brake are determined from the combination of the antecedent part according to the fuzzy control rule. The vehicle speed is controlled by setting the amount of change in hydraulic pressure.
（発明が解決しようとする課題） しかしながら、上述した特開昭64−42712号公報に記
載される自動車の速度制御装置にあっては、車速制御偏
差および加速度のみから前件部を定めるため、ファジィ
推論によって得られるスロットル開度の変化量とブレー
キ液圧の変化量も自動車の運動状態に合致しないことが
あり、自動車が滑らかに欠ける「ギクシャク」した挙動
を呈して良好な乗心地を得られないことがあった。(Problems to be Solved by the Invention) However, in the above-described vehicle speed control device disclosed in Japanese Patent Application Laid-Open No. 64-42712, since the antecedent portion is determined only from the vehicle speed control deviation and the acceleration, the fuzzy The amount of change in throttle opening and the amount of change in brake fluid pressure obtained by inference may not match the vehicle's motion state, and the vehicle may exhibit a `` jerky '' behavior that lacks smoothness and does not provide good riding comfort There was something.
この発明は、上記事情、また、自動車の運動状態が車
速に大きな影響を受けることに鑑みてなされたもので、
自動車の運動状態に合致した車速制御を行うことができ
る速度制御装置を提供し、乗心地の向上を図ることを目
的とする。The present invention has been made in view of the above circumstances, and that the motion state of an automobile is greatly affected by the vehicle speed.
An object of the present invention is to provide a speed control device capable of performing vehicle speed control that matches the motion state of an automobile, and to improve riding comfort.
（課題を解決するための手段） この発明にかかる自動車の速度制御装置は、車速およ
び加速度を検出し、実車速と目標車速との車速制御偏差
を算出し、これら車速、加速度および車速制御偏差のそ
れぞれに基づき前条件を規定し、これら３つの前条件か
ら制御ルールに従い結論部を導き、この結論部に基づき
車速調節器の操作量を定めて車速を目標車速に制御する
ことが要旨である。(Means for Solving the Problems) A vehicle speed control device according to the present invention detects a vehicle speed and an acceleration, calculates a vehicle speed control deviation between an actual vehicle speed and a target vehicle speed, and calculates the vehicle speed, the acceleration and the vehicle speed control deviation. The gist of the present invention is to define a precondition based on each of these conditions, derive a conclusion from the three preconditions in accordance with a control rule, determine the operation amount of the vehicle speed adjuster based on the conclusion, and control the vehicle speed to the target vehicle speed.
特に、実車速、実加速度および車速制御偏差のそれぞ
れに基づく３つの前件部ファジィラベルの組み合わせか
ら１つの後件部ファジィラベルを導く構成とする。In particular, one consequent fuzzy label is derived from a combination of three antecedent fuzzy labels based on each of the actual vehicle speed, the actual acceleration, and the vehicle speed control deviation.
（作用） この発明の自動車の速度制御装置は、車速制御偏差、
加速度および車速のそれぞれについて前件部を規定し、
これら前件部の組み合せに対し制御ルールに従い車速調
節器の操作量、すなわちスロットルバルブのバルブ開度
の変化量およびブレーキ液圧の変化量等を設定する。こ
のため、車速調節器の操作量に車速を反映でき、車速の
大小に関わらず、すなわち低速、中速および高速の全車
速域において滑らかな車速制御を行なえ、良好な乗心地
が得られる。(Function) The vehicle speed control device of the present invention has a vehicle speed control deviation,
The antecedent part is specified for each of acceleration and vehicle speed,
For the combination of these antecedents, the operation amount of the vehicle speed adjuster, that is, the change amount of the throttle valve opening, the change amount of the brake fluid pressure, and the like are set according to the control rules. For this reason, the vehicle speed can be reflected in the operation amount of the vehicle speed adjuster, and smooth vehicle speed control can be performed regardless of the vehicle speed, that is, in all low, medium, and high vehicle speed ranges, and a good ride quality can be obtained.
（実施例） 以下、この発明の実施例を図面を参照して説明する。Hereinafter, embodiments of the present invention will be described with reference to the drawings.
第１図から第６図はこの発明の一実施例にかかる自動
車の速度制御装置を表し、第１図が全体制御系の制御ブ
ロック図、第２図が要部の制御ブロック図、第３図がフ
ァジィ制御ルールを示すテーブル、第４図，第５図およ
び第６図がメンバシップ関数の特性図である。1 to 6 show an automobile speed control apparatus according to an embodiment of the present invention. FIG. 1 is a control block diagram of an entire control system, FIG. 2 is a control block diagram of a main part, and FIG. Is a table showing fuzzy control rules, and FIGS. 4, 5 and 6 are characteristic diagrams of membership functions.
第１図に示すように、この実施例の自動車の速度制御
装置は、車速計画発生部11、目標車速追従部12、アクチ
ュエータ制御部13、スロットルバルブ駆動用のスロット
ルモータ14およびブレーキ液圧制御用のソレノイドバル
ブ15を有し、また図示されないが、走行距離を検出する
距離センサ、車速を検出する車速センサ、加速度を検出
する加速度センサ、スロットルバルブのバルブ開度を検
出するスロットルセンサおよびブレーキの作動状態（液
圧）を検出するブレーキセンサ等を有する。As shown in FIG. 1, a vehicle speed control device according to this embodiment includes a vehicle speed plan generation unit 11, a target vehicle speed follow-up unit 12, an actuator control unit 13, a throttle motor 14 for driving a throttle valve and a brake fluid pressure control. Although not shown, the distance sensor for detecting the traveling distance, the vehicle speed sensor for detecting the vehicle speed, the acceleration sensor for detecting the acceleration, the operation of the throttle sensor for detecting the valve opening of the throttle valve, and the operation of the brake are provided. It has a brake sensor and the like for detecting the state (fluid pressure).
車速計画発生部11は、目標経路速度点列を表す信号、
また、車速センサと距離センサとから車速を表す信号と
走行距離を表す信号とが入力し、これら目標経路速度点
列、車速および走行距離から目標車速を算出して目標車
速を表す信号を目標車速追従部12に出力する。目標車速
追従部12は、後に詳述するように、車速計画部11、車速
センサおよび加速度センサの出力信号が入力し、目標車
速、実車速および加速度から目標スロットル開度と目標
ブレーキ液圧とを算出してこれら目標スロットル開度と
目標ブレーキ液圧とを表す信号をアクチュエータ制御部
13に出力する。アクチュエータ制御部13は、目標車速追
従部12、スロットルセンサおよびブレーキセンサの出力
信号に基づきモータ14とソレノイドバルブ15とを駆動
し、スロットルバルブのバルブ開度を目標スロットル開
度に、また、ブレーキ液圧を目標ブレーキ液圧に帰還制
御する。The vehicle speed plan generation unit 11 outputs a signal representing the target route speed point sequence,
A signal representing the vehicle speed and a signal representing the traveling distance are input from the vehicle speed sensor and the distance sensor, and a signal representing the target vehicle speed is calculated by calculating the target vehicle speed from the target path speed point sequence, the vehicle speed and the traveling distance. Output to the tracking unit 12. As will be described in detail later, the target vehicle speed follow-up unit 12 receives the output signals of the vehicle speed planning unit 11, the vehicle speed sensor and the acceleration sensor, and calculates the target throttle opening and the target brake fluid pressure from the target vehicle speed, the actual vehicle speed and the acceleration. The calculated signals representing the target throttle opening and the target brake fluid pressure are transferred to the actuator control unit.
Output to 13. The actuator control unit 13 drives the motor 14 and the solenoid valve 15 based on the output signals of the target vehicle speed following unit 12, the throttle sensor and the brake sensor, and adjusts the valve opening of the throttle valve to the target throttle opening and the brake fluid. The pressure is feedback-controlled to the target brake fluid pressure.
なお、上述のモータ14とソレノイドバルブ15とは車速
調節器に相当する。The motor 14 and the solenoid valve 15 correspond to a vehicle speed controller.
目標車速追従部12は、第２図に示すように、車速メン
バシップ関数部16、車速誤差メンバシップ関数部17、加
速度メンバシップ関数部18、ルール適合度判定部19およ
び推論部20を有する。車速メンバシップ関数部16は、第
４図に示すように、メンバシップ関数が略三角波状を成
し、車速センサにより検出された実車速に基づき前件部
としてのファジィラベル（以下、前件部ファジィラベル
と称す）を規定する。同様に、車速誤差メンバシップ関
数部17は実車速と目標車速との車速制御偏差（車速誤
差）から第５図に示すメンバシップ関数に従い前件部フ
ァジィラベルを規定し、加速度メンバシップ関数部18は
加速度から第６図に示すメンバシップ関数に従い前件部
ファジィラベルを規定する。As shown in FIG. 2, the target vehicle speed tracking unit 12 includes a vehicle speed membership function unit 16, a vehicle speed error membership function unit 17, an acceleration membership function unit 18, a rule conformance determination unit 19, and an inference unit 20. As shown in FIG. 4, the vehicle speed membership function section 16 has a fuzzy label (hereinafter referred to as an antecedent section) as an antecedent section based on the actual vehicle speed detected by the vehicle speed sensor. Fuzzy labels). Similarly, the vehicle speed error membership function unit 17 defines the antecedent fuzzy label from the vehicle speed control deviation (vehicle speed error) between the actual vehicle speed and the target vehicle speed according to the membership function shown in FIG. Defines the antecedent fuzzy label from the acceleration according to the membership function shown in FIG.
ルール適合度判定部19は、各メンバシップ関数部16,1
7,18の出力信号が入力し、これらメンバシップ関数部1
6,17,18が決定した前件部ファジィラベルに基づきファ
ジィ制御ルールに従い結論部（後件部）としてのファジ
ィラベル（後件部ファジィラベル）を決定する。このル
ール適合度判定部19は、ファジィ制御ルールとして第３
図に示すような三次元データテーブルを用い、各前件部
ファジィラベルの組み合せに対して１つの後件部ファジ
ィラベル（第３図中に１つを箱状に例示する）を選択す
る。このルール適合度判定部19で設定された後件部ファ
ジィラベルはブレーキ液圧およびスロットル開度に所定
の変化量を付与するものとして定義される。なお、この
ファジィ制御ルールは第３図に示すものに限定されるも
のでは無く、前述した公報に記載されるようなファジィ
制御ルールを採用することも可能である。推論部20は、
ルール適合度判定部19から後件部ファジィラベルを表す
記号が入力し、この後件部ファジィラベルを基に目標ス
ロットル開度と目標ブレーキ液圧とを決定する。この推
論部20は前述したアクチュエータ制御部13に接続されて
いる。The rule conformance determining unit 19 includes the membership function units 16, 1
7, 18 output signals are input and these membership function parts 1
A fuzzy label (consequent part fuzzy label) as a conclusion part (consequent part) is determined according to the fuzzy control rules based on the antecedent part fuzzy labels determined by 6,17,18. The rule conformance determination unit 19 determines that the third rule is a fuzzy control rule.
Using the three-dimensional data table as shown in the figure, one consequent part fuzzy label is selected for each combination of the antecedent part fuzzy labels (one is shown as a box in FIG. 3). The fuzzy label of the consequent part set by the rule conformity determination unit 19 is defined as providing a predetermined amount of change to the brake fluid pressure and the throttle opening. Note that the fuzzy control rules are not limited to those shown in FIG. 3, and it is also possible to adopt fuzzy control rules as described in the above-mentioned publication. The inference unit 20
A symbol representing the consequent part fuzzy label is input from the rule conformity determining unit 19, and the target throttle opening and the target brake fluid pressure are determined based on the consequent fuzzy label. The inference unit 20 is connected to the actuator control unit 13 described above.
このような自動車の車速制御装置は、車速、車速制御
偏差および加速度に基づきそれぞれ前件部ファジィラベ
ルを定め、これら３つの前件部ファジィラベルから第３
図に示すように後件部ファジィラベルを決定し、すなわ
ち、前件部ファジィラベルの組み合せに対し１つの後件
部ファジィラベルを選択する。そして、この選択された
後件部ファジィラベルに基づきスロットル開度の変化量
とブレーキ液圧の変化量とを定めて目標スロットル開度
と目標ブレーキ液圧とを算出するが、第３図から明らか
なように後件部ファジィラベルは車速制御偏差の前件部
ファジィラベルと加速度の前件部ファジィラベルとが同
一（変化しない場合）でも車速の前件部ファジィラベル
が変化すると変化し、後件部ファジィラベルは車速の影
響を受ける。したがって、目標スロットル開度と目標ブ
レーキ液圧とに車速の大きさを反映でき、全車速域にお
いて滑らかな車速制御を行なえ、良好な乗心地が得られ
る。Such a vehicle speed control device for an automobile determines the antecedent fuzzy labels based on the vehicle speed, the vehicle speed control deviation, and the acceleration, respectively.
As shown in the figure, the consequent part fuzzy label is determined, that is, one consequent part fuzzy label is selected for the combination of the antecedent part fuzzy label. Then, based on the selected fuzzy label of the consequent part, the change amount of the throttle opening and the change amount of the brake fluid are determined to calculate the target throttle opening and the target brake fluid pressure. Thus, the consequent fuzzy label changes when the antecedent fuzzy label of the vehicle speed changes even if the antecedent fuzzy label of the vehicle speed control deviation and the antecedent fuzzy label of the acceleration are the same (if they do not change). Fuzzy labels are affected by vehicle speed. Therefore, the magnitude of the vehicle speed can be reflected on the target throttle opening and the target brake fluid pressure, and smooth vehicle speed control can be performed in the entire vehicle speed range, and a good ride quality can be obtained.
（発明の効果） 以上説明したように、この発明にかかる自動車の速度
制御装置によれば、全車速域において滑らかな車速制御
を行なえ、乗心地を向上できる。(Effects of the Invention) As described above, according to the vehicle speed control device according to the present invention, smooth vehicle speed control can be performed in all vehicle speed ranges, and riding comfort can be improved.
第１図から第６図はこの発明の一実施例にかかる自動車
の車速制御装置を示し、第１図が全体の制御ブロック
図、第２図が要部の制御ブロック図、第３図がファジィ
制御ルールを示すテーブル、第４図，第５図および第６
図がメンバシップ関数の特性図である。 11……車速計画発生部 12……目標車速追従部 13……アクチュエータ制御部 14……スロットルモータ 15……ソレノイドバルブ 16……車速メンバシップ関数部 17……車速誤差メンバシップ関数部 18……加速度メンバシップ関数部 19……ルール適合度判定部 20……推論部1 to 6 show a vehicle speed control device according to an embodiment of the present invention. FIG. 1 is an overall control block diagram, FIG. 2 is a main control block diagram, and FIG. 3 is a fuzzy control. Tables showing control rules, FIGS. 4, 5 and 6
The figure is a characteristic diagram of the membership function. 11 Vehicle speed plan generator 12 Target vehicle speed follower 13 Actuator controller 14 Throttle motor 15 Solenoid valve 16 Vehicle speed membership function unit 17 Vehicle speed error membership function unit 18 Acceleration membership function section 19 Rule matching degree judgment section 20 Inference section
フロントページの続き (58)調査した分野(Int.Cl.7，ＤＢ名) B60K 31/00 - 31/18 B60K 41/00 - 41/28 B60T 7/12 - 7/22 B60T 8/22 - 8/96 F02D 29/00 - 29/06 F02D 41/00 - 41/40 C05B 13/00 - 13/04 Continuation of the front page (58) Field surveyed (Int. Cl. 7 , DB name) B60K 31/00-31/18 B60K 41/00-41/28 B60T 7/12-7/22 B60T 8/22-8 / 96 F02D 29/00-29/06 F02D 41/00-41/40 C05B 13/00-13/04
Claims (1)
を検出する加速度センサとを備え、車速を目標車速に制
御する自動車の速度制御装置において、 実車速と目標車速との車速制御偏差を算出し、これら実
車速、実加速度および車速制御偏差のそれぞれに基づい
て３つの前件部ファジィラベルを規定し、 これら３つの前件部ファジィラベルに基づく３次元テー
タテーブルを制御ルールとして用い１つの後件部ファジ
ィラベルを導き、この後件部ファジィラベルに基づいて
スロットル開度とブレーキ液圧との車速調節器の操作量
を定めたことを特徴とする自動車の速度制御装置。A vehicle speed control device comprising a vehicle speed sensor for detecting an actual vehicle speed and an acceleration sensor for detecting an actual acceleration, and controlling a vehicle speed to a target vehicle speed, wherein a vehicle speed control deviation between the actual vehicle speed and the target vehicle speed is determined. Calculate and define three antecedent fuzzy labels based on each of these actual vehicle speed, actual acceleration, and vehicle speed control deviation, and use a three-dimensional data table based on these three antecedent fuzzy labels as a control rule to form one A speed control device for an automobile, wherein a fuzzy label of a consequent part is derived, and an operation amount of a vehicle speed regulator for a throttle opening and a brake fluid pressure is determined based on the fuzzy label of the consequent part.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2079650A JP3029438B2 (en) | 1990-03-28 | 1990-03-28 | Car speed control device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2079650A JP3029438B2 (en) | 1990-03-28 | 1990-03-28 | Car speed control device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH03279028A JPH03279028A (en) | 1991-12-10 |
| JP3029438B2 true JP3029438B2 (en) | 2000-04-04 |
Family
ID=13696002
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP2079650A Expired - Fee Related JP3029438B2 (en) | 1990-03-28 | 1990-03-28 | Car speed control device |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP3029438B2 (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115635956A (en) * | 2022-12-23 | 2023-01-24 | 北京远特科技股份有限公司 | Automatic parking control method, device, control terminal and storage medium |
-
1990
- 1990-03-28 JP JP2079650A patent/JP3029438B2/en not_active Expired - Fee Related
Also Published As
| Publication number | Publication date |
|---|---|
| JPH03279028A (en) | 1991-12-10 |
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| LAPS | Cancellation because of no payment of annual fees |