JP3225845B2 - Constant speed traveling equipment for vehicles - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a vehicular constant-speed traveling device for controlling the traveling speed of a vehicle to a target value.

[0002]

2. Description of the Related Art There is known a constant speed traveling apparatus for a vehicle in which an automatic transmission repeatedly shifts down and up during climbing a slope, that is, so-called shift hunting is prevented. -3539).

[0003] However, the conventional constant-speed traveling device for a vehicle has a problem that shift hunting cannot be sufficiently suppressed due to inappropriate shift-up conditions after shift-down.

[0004] It is an object of the present invention to suppress shift hunting of an automatic transmission during uphill and downhill and to perform smooth shift control.

[0005]

(1) The invention of claim 1 is applied to a vehicular constant-speed traveling device that controls an engine output and a shift range of a transmission so that an actual vehicle speed matches a target vehicle speed. The vehicle speed deviation between the actual vehicle speed and the target vehicle speed is a predetermined value α1
Shift down the transmission under the above conditions,
Not affected by running resistance based on actual vehicle speed and target vehicle speed
The driving force is calculated and the running resistance is calculated based on the actual vehicle speed.
Is calculated, the running resistance of the vehicle is estimated from the difference between the two driving forces, and the vehicle speed deviation becomes a predetermined value α3 (however,
The transmission is shifted up under the condition that 0 <α3 <α1) or less and the running resistance estimated value after downshifting is equal to or less than a value obtained by subtracting a predetermined value γ from the running resistance estimated value before downshifting. However, if the estimated running resistance after downshifting is less than or equal to the estimated running resistance before downshifting and the state continues for a predetermined time, the transmission is shifted up even if the upshift condition is not satisfied. (2) In the vehicle constant-speed traveling device according to the second aspect, the traveling resistance estimation value before downshift is set to a value estimated when the vehicle speed deviation becomes a predetermined value α2 (where 0 <α2 <α1). . (3) The vehicle constant-speed traveling device according to claim 3, wherein the predetermined value α2
Is approximately 1 km / h or less. (4) In the vehicle constant speed traveling device according to claim 4, the predetermined value γ is a traveling resistance corresponding to an approximately 2% gradient.

[0006]

According to the present invention, it is possible to prevent shift hunting while climbing a hill, and to surely shift up and return to the OD range even when the gradient of the hill is small. In addition, the running resistance estimation value before downshift used for upshift determination is determined by using the vehicle speed deviation as a predetermined value α2 (0 <α2 <α1).
, And preferably a predetermined value α2
Is set to approximately 1 km / h or less. When the vehicle speed deviation is small, the throttle opening does not include an acceleration component for eliminating the vehicle speed deviation, and an accurate running resistance corresponding to only the gradient of the road surface can be obtained. Further, the predetermined value γ used for the shift-up determination is set to approximately 2
By setting the running resistance equivalent to the% gradient, shift hunting during climbing a slope can be appropriately suppressed.

[0007]

FIG. 1 shows the configuration of an embodiment.
The vehicle speed control control unit 1 includes a microcomputer 10, a drive circuit 11, and a fail-safe shutoff circuit 12. The microcomputer 10 includes a memory and an interface, and executes a control program described later to control the traveling speed of the vehicle. The drive circuit 11 drives the throttle actuator 30 according to a command from the microcomputer 10. Further, the fail-safe shutoff circuit 12 shuts off the power supply from the battery BAT to the actuator drive circuit 11 when an abnormality occurs, and stops the constant speed traveling control.

The control unit 1 includes a main switch 2, a set switch 3, an accelerate switch 4, a coast switch 5, a cancel switch 6, a brake switch 7, a vehicle speed sensor 8, a throttle sensor 9,
The engine speed sensor 13 is connected.

The main switch 2 is a switch for starting or stopping the vehicle speed control device. The set switch 3 is a switch for starting constant speed traveling control and setting the vehicle speed. The accelerate switch 4 is a switch for instructing an increase in the target vehicle speed, and the coast switch 5 is a switch for instructing a decrease in the target vehicle speed. The cancel switch 6 is a switch for releasing the cruise control, and the brake switch 7 is a switch that is activated when the foot brake is operated. When the brake switch 7 is actuated, the cruise control is released in the same manner as when the cancel switch 6 is operated.

The vehicle speed sensor 8 generates a pulse signal for each predetermined traveling distance of the vehicle, and can detect the traveling speed of the vehicle by counting the number of generated pulses in a predetermined time. The throttle sensor 9 detects the actual opening of the throttle. Further, the engine speed sensor 13 generates a pulse signal for each predetermined rotation angle of the engine and counts the number of generated pulses in a predetermined time to detect the engine rotation speed.

The automatic transmission control unit 20 includes:
Drives and controls the automatic transmission (automatic transmission) of the vehicle. The automatic transmission control unit 20 sets the shift position of the third speed (hereinafter, referred to as D3) or the overdrive (hereinafter, referred to as OD) during the constant speed traveling control via the signal line 41 to the control unit 1 for controlling the vehicle speed. Send to In this embodiment, a fourth forward speed transmission including an OD will be described as an example. The control unit 1 for controlling the vehicle speed transmits a constant speed traveling control signal to the automatic transmission control unit 2 via a control line 42.
And sends an OD cancel command during the constant-speed running control to the automatic transmission control unit 20 via the signal line 43.

A negative pressure pump 31, a vent valve 32, and a safety valve 33 are connected to the negative pressure type throttle actuator 30, as shown in FIG. In the negative pressure pump 31, a diaphragm 31b is driven by a motor 31a to generate a negative pressure in a negative pressure chamber 30a of the actuator 30. The vent valve 32 and the safety valve 33
It is used to release the negative pressure of the negative pressure chamber 30a to atmospheric pressure. The control unit 1 for controlling the vehicle speed includes a signal line 4
Drive control of the vent valve solenoid 32a, the safety valve solenoid 33a, and the negative pressure pump motor 31a is performed through the control unit 4. The negative pressure in the negative pressure chamber 30a is controlled by the negative pressure pump 3
1. Controlled by the vent valve 32 and the safety valve 33, the diaphragm 30b moves right and left in the figure according to the negative pressure. The movement of the diaphragm 30b is transmitted to a throttle valve 30d via an accelerator wire 30c, and the throttle valve 30d is opened and closed.

A shift control method for the automatic transmission according to this embodiment will be described with reference to FIGS. In this embodiment, shift control of the OD range and the D3 range will be described as an example. In this embodiment, as shown in FIG. 3, the running resistance estimated value when the actual vehicle speed detected by the vehicle speed sensor 8 decreases from the target vehicle speed by a predetermined value α2, in this embodiment, 1 km / h is learned. Further, when the actual vehicle speed decreases from the target vehicle speed by a predetermined value α1, in this embodiment, 3 km / h, O
Shift down from D to D3. Then, when the running resistance estimated value reaches (| learning value | -predetermined value [gamma]) during D3 running, the shift up to OD is performed. In this embodiment, γ is a running resistance corresponding to a 2% gradient, and a predetermined value α1,
α2 has a relationship of 0 <α2 <α1.

However, when the shift control is performed by the above-described method, if the downshift is performed on an uphill road with a slope of 2% or less, the upshift may not be performed even when the uphill is completed. Now, as shown in FIG. 4, when traveling on an uphill road with a 1.5% gradient, the actual vehicle speed is 1 km / h from the target vehicle speed.
The running resistance estimation value is learned when the vehicle speed decreases, and the downshift is performed when the actual vehicle speed decreases by 3 km / h from the target vehicle speed. However, even if the vehicle returns to the flat road, the running resistance estimated value does not reach (| learning value | running resistance corresponding to -2% gradient), and the upshift condition is not satisfied. However, when the vehicle goes downhill, the absolute value of the running resistance estimated value reaches (| learning value | running resistance corresponding to -2% gradient), and the vehicle shifts up and returns to OD.

Therefore, in this embodiment, as shown in FIG. 5, if the absolute value of the running resistance estimated value at the time of downshift is smaller than the learning value and the state continues for a predetermined time, the upshift is forcibly performed. In the figure, the running resistance estimated value when the actual vehicle speed decreases by 1 km / h from the target vehicle speed is learned, and the shift down is performed when the actual vehicle speed decreases by 3 km / h from the target vehicle speed. However, the absolute value of the running resistance estimated value after downshifting is (| learning value | -2% gradient running resistance).
Even if it does not become less than the above, if the absolute value of the running resistance estimated value at the time of downshift is smaller than the absolute value of the learning value, and the state lasts for a predetermined time, in this embodiment, 16 seconds, the upshift is forcibly performed.

As shown in FIG. 6, even if the absolute value of the running resistance estimated value at the time of downshift is larger than the absolute value of the learned value, the absolute value of the running resistance estimated value is thereafter equal to or smaller than the absolute value of the learned value. , And if the state continues for a predetermined time, the shift up is forcibly performed. In the figure, the running resistance estimated value when the actual vehicle speed decreases by 1 km / h from the target vehicle speed is learned, and the shift down is performed when the actual vehicle speed decreases by 3 km / h from the target vehicle speed. However, the absolute value of the running resistance estimated value after downshifting is (| learning value | -2% gradient running resistance).
Even if it does not become lower, the absolute value of the running resistance estimated value becomes smaller than the absolute value of the learning value, and if the state continues for a predetermined time, for example, 16 in this embodiment, the shift up is forcibly performed.

FIG. 5 shows a basic shift control method shown in FIG.
By performing backup using the control method shown in FIG. 6 and the control method shown in FIG.
The vehicle travels on an uphill road with a gradient smaller than the gradient (running resistance corresponding to the gradient) and the vehicle remains downshifted even if the absolute value of the traveling resistance estimated value after downshifting does not fall below (| learning value | -predetermined value γ). It is possible to shift up without fail and to return to the OD range.

FIGS. 7 to 10 are flowcharts showing the vehicle speed control. The operation of the embodiment will be described with reference to these flowcharts. The microcomputer 10 of the control unit 1 operates for a predetermined time (in this embodiment, 1
This control program is executed every 00 msec).
In step 1, the average actual vehicle speed Vsp and the average engine speed Ne are calculated based on the measured values of the vehicle speed sensor 8 and the engine speed sensor 13 from the time of the previous execution of the control program to the present time. Measure the opening. In the following step 2,
It is determined whether the cancel switch 6 has been operated or the foot brake has been operated. If the cancel switch 6 or the foot brake has been operated, step 1 is executed.
Go to step 2, otherwise go to step 3. When the cancel switch 6 or the foot brake is operated, the release of the constant speed control is determined, and in step 12, the constant speed control flag and various variables are initialized. And step 13
Then, the supply of power to the actuator drive circuit 11 is cut off by the cutoff circuit 12.

If neither the cancel switch 6 nor the foot brake is operated, it is checked in step 3 whether the set switch 3 is operated. If the set switch 3 has been operated, the process proceeds to step 4, and if not, the process proceeds to step 7. When the set switch 3 is operated, in step 4, the actual vehicle speed Vsp obtained in step 1 is set as the target vehicle speed Vspr and stored. Further, a constant speed control flag is set in step 5, and in step 6, power is supplied to the actuator drive circuit 11 by the cutoff circuit 12.

On the other hand, when the set switch 3 is not operated, it is checked in step 7 whether the constant speed control flag is set, that is, whether the constant speed traveling control is being performed. During the constant speed running control, the drive control of the throttle actuator 30 is performed in steps 8 to 11 so that the actual vehicle speed Vsp matches the target vehicle speed Vspr. When the constant-speed traveling control is not being performed, the process proceeds to step 13, where the supply of power to the actuator drive circuit 11 is cut off by the cutoff circuit 12, and the process is terminated.

Next, the drive control of the throttle actuator 30 in the constant speed control will be described. First, in step 8, the subroutine shown in FIG. 10 is executed to calculate the final target driving force y1 of the engine for making the actual vehicle speed Vsp coincide with the target vehicle speed Vspr. This operation is shown in FIG.
As shown in (2), this is performed using a vehicle speed feedback compensator based on a model matching method which is a linear control method and an approximate zeroing method.

Here, a vehicle model to be controlled incorporated in the vehicle speed feedback compensator will be described. Since the vehicle is modeled with the target driving force as the manipulated variable and the vehicle speed as the control variable, the transient characteristics of relatively responsive engines and torque converters and the non-linear steady-state characteristics of torque converters can be omitted. The behavior of the power train can be represented by a simple nonlinear model shown in FIG. Then, a throttle opening command value such that the actual driving force matches the target driving force is calculated by using a previously measured engine non-linear compensation map as shown in FIG. 13, for example, and the throttle opening is servo-controlled. Thus, the engine non-linear steady-state characteristics can be linearized. Therefore, a vehicle model having the target driving force as input and the vehicle speed as output has an integral characteristic, and the compensator can set the transmission characteristic of this vehicle model to the pulse transmission characteristic P (z ^-1 ).

In FIG. 11, z is a delay operator,
When multiplied by z ⁻¹ , the value becomes one sample period before. Also, C
1 (z ^-1 ) and C2 (z ^-1 ) are disturbance estimators based on the approximate zeroing method, and suppress the influence of disturbance and modeling errors. Further, C3 (z ^-1 ) is a compensator based on a model matching method, and as shown in FIG.
The response characteristic of the control object when spr is input and the actual vehicle speed Vsp is output is made to match the characteristic of the reference model H (z ^-1 ) having a predetermined first-order delay and a dead time element.

It is necessary to consider the dead time, which is the delay of the power train, as the transfer characteristic of the controlled object. This dead time is about 200 msec, which corresponds to a two-sample period in this embodiment. Therefore, the pulse transfer function P
(Z ^-1 ) can be represented by a product of an integral element P1 (z ^-1 ) and a dead time element P2 (z ^-1 ) (= z ^-2 ) shown in the following equation.

P1 (z ⁻¹ ) = T · z ⁻¹ / {M · (1−z ⁻¹ )} where T is a sample period (100 m in this embodiment).
sec), M is the average vehicle weight. At this time, the compensator C1 (z ^-1 ) is represented by the following equation.

## EQU2 ## C1 (z- ¹ ) = (1-.gamma.) Z- ¹ / (1-.gamma.z- ¹ ), .gamma. = Exp (-T / Tb) That is, compensator C1 (z- ¹ ) Is a low-pass filter with a time constant Tb. Further, the compensator C2 (z ^-1 ) is C1 /
P1 is represented by the following equation.

## EQU3 ## C2 = (z ^-1 ) = M ・ (1-γ) ・ (1-
z ⁻¹ ) / {T · (1−γ · z ⁻¹⁾ } The compensator C2 is obtained by applying a low-pass filter to the inverse system of the vehicle model, and generates a disturbance (running resistance) obtained from the actual vehicle speed Vsp. 12), ie, the driving force shown in FIG.
As shown in (5), the driving force obtained by subtracting the running resistance from the driving force can be calculated backward. If the reference model H (z ^-1 ) is a first-order low-pass filter with a time constant Ta ignoring the dead time of the control target, the compensator C3 has the following constant.

C3 = K = {1-exp (-T / Ta)}. M / T

In step 41 of FIG. 10, a portion corresponding to the model matching compensator C3 (z ^-1 ) of FIG. 11 is calculated to obtain a target driving force y4 for accelerating from the actual vehicle speed Vsp to the target vehicle speed Vspr. . Data y
If (k-1) represents data y (k) one sample cycle earlier,

Y4 (k) = K ・ (Vspr (k) −Vsp (k)) In the following step 42, it corresponds to a part of the robust compensator C2 (z ^{− 1} ) of the disturbance estimator shown in FIG. Partial calculations are performed, and disturbances (such as running resistance) are performed based on the actual vehicle speed Vsp.
The driving force y3 affected by the above is calculated backward.

Y3 (k) = γ · y3 (k−1) + (1−γ)
・ M · {Vsp (k) −Vsp (k−1)} / T

In step 43, the final target driving force y1 is obtained by correcting the target driving force y4 with the estimated running resistance Fr.

Y1 (k) = y4 (k)-(y3 (k) -y2 (k-2)) = y4 (k) + (y2 (k-2) -y3 (k)), Fr = y2 (K-2) -y3 (k) Here, y2 (k-2) is a value of the driving force y2 (k) calculated in step 45 described later two sample cycles before, and the calculation in step 45 is as described above. Integral element P1
(Z ^-1 ), and using the value two sample periods earlier corresponds to the operation of the dead time element P2 (z ^-1 ). Since y3 (k) is a driving force affected by the running resistance obtained from the actual vehicle speed Vsp, and driving force y2 (k-2) is a driving force not affected by the running resistance obtained in the compensator. The difference between the two becomes the estimated running resistance Fr. As described above, the disturbance estimator configured by the approximate zeroing technique can accurately estimate disturbance such as running resistance based on the difference between the output of the controlled object model and the actual output of the controlled object.

In step 44, the final target driving force y1 is limited within the upper and lower limits. First, the maximum engine torque Temax and the minimum engine torque Temin corresponding to the current engine rotation speed Ne are obtained by using a data table in which the engine torque when the throttle is fully opened and when the throttle is fully closed is measured for each engine rotation speed. Next, from the maximum engine torque Temax and the minimum engine torque Temin, the maximum driving force Fmax and the minimum driving force Fmi are calculated by the following equations.
Find n.

Fmax = Temax · Gm · Gf / Rt, Fmin = Temin · Gm · Gf / Rt where Gm is the transmission gear ratio, Gf is the final gear ratio, and Rt is the effective radius of the tire. Then, the final target driving force y1 is limited within the maximum driving force Fmax and the minimum driving force Fmin.

When y1 (k) ≧ Fmax, y5 (k) = Fmax, when y1 (k) ≦ Fmin, y5 (k) = Fmin, and when Fmin <y1 (k) <Fmax, y5 (k) = y1 (k)

As described above, by limiting the final target driving force to within the upper and lower limit values, a steep ascending slope occurs during the constant speed running control, and the driving force becomes insufficient even at the maximum driving force of the vehicle, and the actual vehicle speed is reduced. Even if the vehicle speed decreases from the target vehicle speed, the final target driving force input to the disturbance estimator is limited so as not to exceed the actual maximum driving force, and does not become a large target driving force that cannot be actually obtained. No error is accumulated inside the disturbance estimator. Therefore, even after returning to the flat road, the disturbance estimator does not function quickly and the actual vehicle speed does not overshoot. Similarly, even in the case where the vehicle goes down steeply during cruise control and the braking force is insufficient even with the maximum engine braking force, and the actual vehicle speed exceeds the target vehicle speed, the final target input to the disturbance estimator is also used. Since the driving force is limited so as not to be smaller than the actual minimum driving force and does not become a large engine braking force that cannot be actually obtained, no error is accumulated inside the disturbance estimator. Therefore, even after returning to the flat road, the disturbance estimator does not function quickly and the actual vehicle speed does not undershoot.

In step 45, a part corresponding to the compensator C1 (z ^-1 ) as a low-pass filter which is a part of the disturbance estimator is operated.

## EQU10 ## y2 (k) =. Gamma.y2 (k-1) + (1-
γ) · y5 (k−1) With the above, the calculation of the vehicle speed feedback compensator shown in FIG. 11 is completed, and the process returns to step 9 in FIG.

In step 9, as shown in FIG. 15, a throttle opening command value is calculated based on the final target driving force y1. First, a target engine torque Ter per liter of equivalent displacement is calculated from the final target driving force y1.

[Expression 11] Ter = y1 · Rt / (Gm · Gf · L) where L is an equivalent displacement in liters and is an index for normalizing the steady-state characteristics of various engines. In this embodiment, for example, the engine displacement is the same as the displacement of a twin cam engine, increased by 20% for a turbocharged engine, and reduced by 30% for a single cam engine. It is sufficient to prepare in advance non-linear steady-state characteristic maps of various types of engines, which are obtained by dividing the engine torque by the equivalent displacement L and normalizing the divided engine torque. It can be seen from these figures that the characteristics are almost the same regardless of the type of engine. Accordingly, a throttle opening command value corresponding to the engine torque command value Ter and the engine rotation speed Ne is calculated from the engine non-linear steady-state characteristic map normalized by the equivalent displacement.

As described above, the throttle opening corresponding to the engine torque command value and the engine speed is determined by using the engine non-linear steady-state characteristic map having the engine speed as a parameter, normalized by the equivalent displacement of each engine. Since the degree command value is calculated in a lookup table, the throttle opening command value can be obtained from the normalized engine non-linear steady-state characteristic map and the equivalent displacement without using the nonlinear steady-state characteristic map of each engine. This makes it possible to eliminate the complexity of adjusting the nonlinear steady-state characteristic map each time according to the type of engine. Further, it is not necessary to store many types of engine non-linear steady-state characteristic maps in the memory in advance. If the torque saturation characteristics of the various engine non-linear steady-state characteristic maps have the same slope in the low-to-medium opening range and vary greatly, a normalized engine non-linear steady-state characteristic map of several engines with different saturation characteristics is prepared. do it.

In step 10, based on the throttle opening deviation (target opening-actual opening) by the PID control method,
Negative pressure pump motor 31a, vent valve solenoid 32
a and the PWM duty ratio of the drive signal of the safety valve solenoid 33a. Then, in the following step 11, the PWM drive signal of the calculated duty is output via the signal line 44, and the negative pressure pump motor 31a,
It drives the vent valve solenoid 32a and the safety valve solenoid 33a.

Next, in step 21 of FIG.
The running resistance estimated value Fr 'used for the cancellation process is calculated. As shown in FIG. 16, first, an estimated engine torque Te per liter of equivalent displacement corresponding to the actual throttle opening and the engine rotation speed is calculated using a normalized engine non-linear steady-state characteristic map. Here, the normalized engine nonlinear steady-state characteristic map is obtained by converting the nonlinear steady-state characteristic map of each engine by the equivalent displacement L. Next, the estimated driving force To of the actual engine displacement is calculated by the following equation.

To = Te】 Gm ・ Gf ・ L / Rt Then, the driving force y3 obtained in step 42 is subtracted from the driving force estimated value To to obtain the running resistance estimated value Fr '.

## EQU13 ## Fr '= To-y3 (k)

As described above, using the normalized engine non-linear steady-state characteristic map in which the engine speed is a parameter normalized by the equivalent displacement of each engine, the actual throttle opening and the engine speed are corresponded. The engine torque per unit displacement is estimated, and the driving force of the engine is estimated based on the estimated engine torque and the equivalent displacement. Furthermore, since the driving force affected by the running resistance obtained from the actual vehicle speed is subtracted from the estimated driving force to estimate the running resistance, the non-linear steady-state characteristic map of each engine is not required. The driving force of the engine can be estimated from the normalized engine non-linear steady-state characteristic map and the equivalent displacement, and the complexity of adjusting the non-linear steady-state characteristic map for each type of engine can be eliminated. Further, it is not necessary to store many types of engine non-linear steady-state characteristic maps in the memory in advance.
If the torque saturation characteristics of the various engine non-linear steady-state characteristic maps have the same slope in the low-to-medium opening range and vary greatly, a normalized engine non-linear steady-state characteristic map of several engines with different saturation characteristics is prepared. do it.

In step 22, it is confirmed whether or not the shift position of the automatic transmission is OD based on the control signal sent from the automatic transmission control unit 20 via the signal line 41. Go to step 29, otherwise go to step 29. When the vehicle is shifted to the OD position, in step 23, the absolute value of the vehicle speed deviation between the target vehicle speed and the actual vehicle speed is set to a predetermined value α2 (1 k in this embodiment).
m / h) or less, and if the absolute value of the vehicle speed deviation is equal to or less than the predetermined value α2, it is determined that the target vehicle speed is substantially maintained, that is, the running resistance and the driving force are substantially balanced. Step 24 is skipped. The driving force includes a negative driving force (braking force) by the engine brake. On the other hand, if the absolute value of the vehicle speed deviation is larger than the predetermined value α2, it is determined that the running resistance has increased, and step 24 is executed.
To the running resistance estimated value F calculated in step 21
r ′ is stored as the learning storage value FB of the maximum driving force at the OD. The running resistance estimated value F calculated at this time is
Since the vehicle speed deviation is still small, r 'does not include the acceleration for eliminating the vehicle speed deviation in the throttle opening, and is a value corresponding only to the road surface gradient.

At step 25, the absolute value of the vehicle speed deviation between the target vehicle speed and the actual vehicle speed is set to a predetermined value α1 (3 km in this embodiment).
/ H) Check if it is above. The predetermined value α1 is a reference value for determining whether or not to shift down, and if the absolute value of the vehicle speed deviation is equal to or more than the predetermined value α1, it is determined that the downshift should be performed, and the process proceeds to step 26. If not, step 26 is skipped. When shifting down, an OD cancel flag is set in step 26.

If the current shift position is not OD, the absolute value of the vehicle speed deviation between the target vehicle speed and the actual vehicle speed is set to a predetermined value α3 (provided that 0 <α3 <α1) in step 29 of FIG.
If the absolute value of the vehicle speed deviation is equal to or less than a predetermined value α3, it is determined that the target vehicle speed is substantially maintained or the actual vehicle speed has returned to a predetermined constant speed traveling range, and the process proceeds to step 30. Otherwise, the process proceeds to step 27 in FIG. Note that α3 = α2 may be set.

In step 30, the absolute value of the running resistance estimated value Fr 'calculated in step 21 is calculated in step 2
4 is determined to be less than or equal to a value obtained by subtracting a predetermined value γ (in this embodiment, a running resistance corresponding to a 2% gradient) from the absolute value of the learning value of the OD maximum driving force. Then, it is determined that the road gradient is such that the target vehicle speed can be maintained, and the process proceeds to step 36; otherwise, the process proceeds to step 31.

If the deviation between the target vehicle speed and the actual vehicle speed is 1 km / h or less and the absolute value of the running resistance estimated value is not more than (| learning value | -predetermined value γ), step 36 is executed.
Reset the D cancel flag.

On the other hand, the deviation between the target vehicle speed and the actual vehicle speed is 1 km
/ H and the absolute value of the running resistance estimated value is (|
If not less than the learning value | -predetermined value γ), step 31
Then, it is confirmed whether or not the absolute value of the running resistance estimated value is equal to or less than the absolute value of the learning value. The shift-up condition is not satisfied unless the absolute value of the running resistance estimated value is equal to or less than the absolute value of the learning value. Therefore, the elapsed time from when the absolute value of the running resistance estimated value becomes equal to or less than the absolute value of the learning value is determined in step 34. The timer for measuring the time is reset, and the process returns to step 27 in FIG.

If the absolute value of the estimated running resistance is equal to or less than the absolute value of the learning value, the process proceeds to step 32, and a timer for measuring the elapsed time after the absolute value of the estimated running resistance becomes equal to or less than the absolute value of the learning value. Check if is operating. If the timer is operating, the process proceeds to step 33, and it is confirmed whether a predetermined time, 16 seconds in this embodiment, has elapsed since the absolute value of the running resistance estimated value became equal to or less than the absolute value of the learning value.
If 16 seconds have elapsed, the process proceeds to step 36, and even if the absolute value of the running resistance estimated value is not less than (| learning value | -predetermined value γ), the OD cancel flag is set to forcibly shift up. Reset and proceed to step 27 in FIG.

If the timer is not operating in step 32, the timer is started in step 35 and the process proceeds to step 27 in FIG. 8. If the timer has not timed out in step 33, the process proceeds to step 2 in FIG.
Proceed to 7.

After setting or resetting the OD cancel flag according to the driving situation, at step 27 in FIG.
A constant speed traveling control signal based on the constant speed traveling control flag is sent to the automatic transmission control unit 20 via the signal line 42. Further, at step 28, an OD cancel signal based on the OD cancel flag is sent to the automatic transmission control unit 20 via the signal line 43.

In the configuration of the above embodiment, the vehicle speed control unit 1 constitutes a downshift control unit, a running resistance estimation unit, and an upshift control unit.

[Brief description of the drawings]

FIG. 1 is a diagram showing a configuration of an embodiment.

FIG. 2 is a diagram showing a configuration of a throttle actuator.

FIG. 3 is a diagram illustrating a shift control method of the automatic transmission according to the embodiment.

FIG. 4 is a diagram illustrating a shift control method of the automatic transmission according to the embodiment, following FIG. 3;

FIG. 5 is a diagram illustrating a shift control method of the automatic transmission according to the embodiment, continued from FIG. 4;

FIG. 6 is a diagram illustrating a shift control method of the automatic transmission according to the embodiment, continued from FIG. 5;

FIG. 7 is a flowchart showing vehicle speed control according to one embodiment.

FIG. 8 is a flowchart that shows the vehicle speed control of the embodiment, following FIG. 7;

FIG. 9 is a flowchart showing the vehicle speed control of the embodiment, continued from FIG. 8;

FIG. 10 is a flowchart illustrating a target driving force calculation routine.

FIG. 11 is a block diagram illustrating vehicle speed feedback control.

FIG. 12 is a simplified non-linear model of a vehicle powertrain.

FIG. 13 is a map showing non-linear characteristics of an engine, showing a relationship between a throttle opening and an engine torque.

FIG. 14 is a diagram showing a reference model.

FIG. 15 is a diagram illustrating a method of calculating a target throttle opening degree using a normalized engine steady-state characteristic map.

FIG. 16 is a diagram illustrating a method for calculating a driving force estimated value using a normalized engine steady-state characteristic map.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Control unit for vehicle speed control 2 Main switch 3 Set switch 4 Accelerate switch 5 Coast switch 6 Cancel switch 7 Brake switch 8 Vehicle speed sensor 9 Throttle sensor 10 Microcomputer 11 Throttle actuator drive circuit 12 Fail safe shutoff circuit 13 Engine speed sensor Reference Signs List 20 automatic transmission control unit 30 negative pressure type throttle actuator 30a negative pressure chamber 30b diaphragm 30c accelerator wire 30d throttle valve 31 negative pressure pump 31a motor 31b diaphragm 32 vent valve 32a solenoid 33 safety valve 33a solenoid 41-44 signal line

──────────────────────────────────────────────────続 き Continued on the front page (51) Int.Cl. ⁷ identification code FI F16H 61/18 F16H 61/18 // F16H 59:66 59:66 (58) Investigated field (Int.Cl. ⁷ , DB name ) B60K 31/00 B60K 41/00-41/04 F02D 29/02 301 F16H 59/00-61/18

Claims (4)

(57) [Claims] 1. A vehicle constant speed traveling apparatus for controlling an engine output and a shift range of a transmission such that an actual vehicle speed matches a target vehicle speed, wherein a vehicle speed deviation between the actual vehicle speed and the target vehicle speed is equal to or more than a predetermined value α1. Downshift control means for downshifting the transmission, and is not affected by running resistance based on actual vehicle speed and target vehicle speed
The driving force is calculated and the running resistance is calculated based on the actual vehicle speed.
A running resistance estimating means for calculating a driving force affected by the above, and estimating a running resistance of the vehicle from a difference between the two driving forces; and wherein the vehicle speed deviation is a predetermined value α3 (where 0 <α3 <α1).
Shift-up control means for shifting up the transmission under the condition that the running resistance estimated value after downshifting is equal to or less than a value obtained by subtracting a predetermined value γ from the running resistance estimated value before downshifting. The shift-up control means, when the running resistance estimated value after downshifting is equal to or less than the running resistance estimated value before downshifting and the state continues for a predetermined time, the shift-up condition is satisfied. A constant-speed traveling device for a vehicle, wherein the transmission is shifted up even without the transmission. 2. The constant-speed traveling device for a vehicle according to claim 1, wherein the estimated traveling resistance before downshifting is determined when the vehicle speed deviation reaches a predetermined value α2 (where 0 <α2 <α1). A constant-speed traveling device for a vehicle, characterized in that the estimated value is used. 3. The constant speed traveling device for a vehicle according to claim 2, wherein the predetermined value α2 is set to a value of approximately 1 km / h or less. 4. The constant speed traveling device for a vehicle according to claim 1, wherein the predetermined value γ is a traveling resistance corresponding to an approximately 2% gradient. Traveling device.