JP2003072410A - Following drive control device - Google Patents

Abstract

(57) [Summary] [Problem] To confirm the occupant's intention and start follow-up running control. A high speed range following travel position ACC for performing control to follow a preceding vehicle in a high speed range (high speed range following travel control) is provided in an automatic transmission operation unit, and between an D position and an ACC position. And a low-speed range following travel position INCH for performing control to follow the preceding vehicle in the low-speed range (low-speed range following travel control). The shift guide grooves 33 and 34 are provided between the INCH position and the shift lever position sensor detects that the shift lever 36 has been set to the ACC position, starts high-speed range following running control, and shifts using the shift lever position sensor. Lever 36
Is set to the INCH position, and low-speed range following running control is started.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a follow-up running control device that follows a preceding vehicle.

[0002]

2. Description of the Related Art When a main switch for operating a follow-up running control device is turned on and a preset traffic jam follow-up mode permission condition such as a vehicle speed of less than 30 km / h and a steering angle of less than a predetermined value is satisfied. , When the shift lever of the automatic transmission is moved from the normal driving position (drive) D to the low speed position of the first speed or the second speed, the traffic congestion follow-up control is started, and the inter-vehicle distance from the preceding vehicle becomes a value according to the own vehicle speed. A follow-up running control device for driving and controlling the engine control device and the brake control device as described above is known (for example, JP-A-10-000962).
(See the official gazette).

[0003]

However, in the above-described conventional follow-up running control device, the same shift position of the operating portion is used in the manual shift mode and the follow-up running control mode. There is a possibility that the follow-up control may be started, and there is a problem that the occupant must perform the operation while constantly confirming which control state is under the control of an indicator light or the like.

An object of the present invention is to provide a follow-up running control device for confirming the intention of an occupant and starting follow-up running control.

[0005]

According to a first aspect of the present invention, there is provided an operating section having a D position used for normal running from low speed to high speed and a low speed position (L position) used for low speed running, A shift position detector that detects the shift lever position of the operation unit, and a transmission that changes the gear ratio stepwise or steplessly, and the gear ratio of the transmission according to the shift lever position of the operation unit. A follow-up running control device used in a vehicle equipped with an automatic transmission that controls the vehicle, and a braking / driving force adjusting device that adjusts the driving force and the braking force of the vehicle. In the follow-up running control device that follows the preceding vehicle while adjusting the braking / driving force of the vehicle to ensure a vehicle-to-vehicle distance, the operation unit of the automatic transmission is controlled to follow the preceding vehicle in the high-speed range (hereinafter, referred to as high-speed range). (Following running control)
A high speed follow-up running position (ACC position) is provided for performing the shift control, a shift guide groove is provided between the D position and the ACC position, and control is performed to follow the preceding vehicle in the low speed range (low speed range follow-up). In addition to providing a low-speed range following traveling position (INCH position) for performing traveling control),
A shift guide groove is provided between the position and the INCH position, and the shift position detector detects that the shift lever of the operating portion is set to the ACC position, and starts the high speed range following traveling control; The shift position detector detects that the shift lever of the operation unit is set to the INCH position, and starts the low speed range following traveling control. (2) The follow-up running control device according to claim 2 prevents the shift lever from moving from the D position to the ACC position when a preset permission condition for the high-speed range follow-up running control is not satisfied. Shift lock mechanism, and a second shift lock mechanism that prevents the shift lever from moving from the L position to the INCH position when a preset permission condition for the low speed range following traveling control is not satisfied. . (3) The follow-up running control device according to claim 3 is provided with a brake operation detector that detects a stepped state of a brake pedal, and a first shift mechanism that moves a shift lever from the ACC position to the D position. If the brake pedal detector detects the brake pedal depression,
Alternatively, when the permission condition of the high speed range following running control is not satisfied during the high speed range following running control, the shift lever is moved from the ACC position to the D position by the first shift mechanism and the high speed range is controlled. Stop the following drive control. (4) The follow-up running control device according to claim 4 is provided with a brake operation detector that detects a stepped state of a brake pedal, and a second shift mechanism that moves a shift lever from the INCH position to the L position. When the brake operation detector detects the stepping state of the brake pedal, or when the permission condition for the low speed range following travel control is not satisfied during the low speed range following travel control, the INCH is performed by the second shift mechanism. The shift lever is moved from the position to the L position and the low speed range following traveling control is stopped. (5) The follow-up running control device according to claim 5 controls the operation unit of the automatic transmission to keep the vehicle in a stopped state after the vehicle stops during the low-speed range follow-up running control (automatic stop control). ) Is provided and a shift guide groove is provided between the AUTO STOP position and the INCH position to move the shift lever from the INCH position to the AUTO STOP position. 3 shift mechanism and stop determination means for determining that the own vehicle has stopped during the low-speed range follow-up running control, and when the stop determination means determines that the vehicle is stopped, the third shift mechanism The shift lever is moved from the INCH position to the AUTO STOP position, and the automatic stop control is started. (6) The follow-up running control device according to claim 6 is provided with a start determination means for determining the start of the preceding vehicle, and a warning means for issuing a warning when the start determination means determines that the preceding vehicle has started.
The shift position detector causes the shift lever to move to the AUTO S
When it is detected that the vehicle has moved from the TOP position to the INCH position, the low speed range following traveling control is restarted. (7) In the follow-up running control device according to claim 7, the AUTO STOP position and the parking position (P position) are provided on the operation unit of the automatic transmission.
A shift guide groove that connects the
A fourth shift mechanism that moves the shift lever from the TO STOP position to the P position is provided, and when a failure occurs in the following travel control device during the automatic vehicle stop control, the AUTO STOP is performed by the fourth shift mechanism. The shift lever is moved from the position to the P position and the automatic vehicle stop control is stopped. (8) The follow-up running control device according to claim 8 is characterized in that the AUTOSTOP position and the neutral position (N position) are provided on the operation portion of the automatic transmission.
And a shift guide groove connecting between the shift lever and the shift lever, the shift lever moving from the UTO STOP position to the N position only when the brake pedal depression state is detected by the brake operation detector. The shift lock mechanism is provided.

[0006]

(1) According to the invention of claim 1, in the operating portion of the automatic transmission, the shift positions D and L used for normal traveling and the shift position ACC for performing the high speed follow-up traveling control. Since the shift position INCH for performing the low speed range following control is independently arranged, the shift lever must be operated to switch from the normal running mode to the high speed range or the low speed range following mode. The follow-up running control can be started after confirming the intention to switch to the follow-up running. Therefore, unlike the conventional case, it is not necessary to perform the operation while constantly confirming which control is currently being performed by a display or the like, and the following traveling control is started according to the occupant's intention. (2) According to the second aspect of the present invention, if the respective permission conditions for the high-speed range follow-up running control and the low-speed range follow-up running control are not satisfied, the shift lever is moved to the follow-up running shift position ACC.
Or, since it is not possible to move to INCH, the conditions for performing follow-up running are satisfied, and the follow-up run in the high speed range or low speed range is started only after the occupant's willingness to follow the run by lever operation is shown. Therefore, it is possible to improve the stability when starting the following running. (3) According to the invention of claim 3, even if the brake pedal is depressed, or the high-speed range following traveling condition is not satisfied and the high-speed range following traveling control is automatically released,
The shift lever automatically moves from the high speed range following traveling position ACC to the normal traveling D position. Therefore, even if the brake pedal is released and the high speed follow-up running condition is satisfied and the high speed follow-up running is enabled again, the occupant again moves the shift lever from the normal travel D position to the high speed follow-up running position ACC. Therefore, after confirming the occupant's willingness to restart the follow-up running, the high-speed follow-up running is restarted, and the high-speed follow-up running is restarted according to the occupant's intention. (4) According to the invention of claim 4, even if the brake pedal is depressed or the low speed range following travel condition is not satisfied and the low speed range following travel control is automatically released,
The shift lever automatically moves from the low speed range following traveling position INCH to the normal traveling L position. Therefore, even if the brake pedal is released and the low speed follow-up running condition is satisfied and the low speed follow-up running is enabled again, the occupant again moves the shift lever from the normal travel L position to the low speed follow-up travel position INCH. Therefore, after confirming the occupant's intention to restart the follow-up running, the low-speed follow-up running is restarted, and the low-speed follow-up running is restarted according to the occupant's intention. (5) According to the invention of claim 5, even if the preceding vehicle starts again after the preceding vehicle stops after the preceding vehicle stops during the low speed range following traveling, the own vehicle automatically starts. In order to avoid such a situation and to restart the low-speed range following drive again, move the shift lever from the AUTO STOP position to the INCH position.
It is necessary to move to a position, and even when the vehicle is traveling in the low-speed range, in which the vehicle is frequently started and stopped repeatedly due to traffic congestion, the occupant's willingness to start can be reliably reflected when the vehicle starts. (6) According to the invention of claim 6, when the preceding vehicle starts during the automatic stop control, a warning is issued to call attention to the occupant, and the low-speed range is followed after confirming the occupant's intention to start by operating the lever. The traveling can be resumed, and the stability during traveling in the low speed range can be improved. (7) According to the invention of claim 7, even if a failure occurs in the following drive control device during the automatic vehicle stop control, the shift lever automatically moves to the parking position P, so that the vehicle is reliably stopped. The stability can be improved. (8) According to the invention of claim 8, since the shift lever cannot be moved from the AUTO STOP position to the N position without depressing the brake pedal, the automatic stop control is manually released by operating the shift lever. The condition is that the brake pedal must be operated, and the stability can be improved.

[0007]

BEST MODE FOR CARRYING OUT THE INVENTION << First Embodiment of the Invention >> FIG.
Shows the configuration of the first embodiment, and FIG. 2 shows the operating portion of the automatic transmission of the first embodiment. Although the automatic transmission is not shown, in the following embodiments, an automatic transmission having three forward gears and one reverse gear will be described as an example.

The type and specifications of the automatic transmission are not limited to those in this embodiment, and may be two forward gears or four forward gears, for example.
The present invention can be applied to a stepped transmission having more than two stages or a belt type or toroidal type continuously variable transmission. Further, in the following embodiments, a vehicle that uses only an engine as a drive source of the vehicle will be described as an example, but the present invention is not limited to the engine, and for example, an engine and a motor are used as the power source of the vehicle. The present invention can also be applied to a hybrid vehicle and an electric vehicle using only a motor. Further, the braking force of the vehicle includes not only the braking force of the braking device but also the braking force of the braking device, for example, the braking force of the engine and the regenerative braking force of the motor.

In the first embodiment, as shown in FIG. 2, a parking position P, a reverse (reverse) position R, a neutral (neutral) position N, and a drive used for normal running from low speed to high speed. In addition to the position D, the low-speed position (L) of the second speed used for low-speed traveling and the low-speed position (L) for normal traveling, a high-speed region following traveling position for performing following traveling control in the high-speed region (ACC in this specification) Position) and a low-speed range follow-up running position (referred to as an INCH position in this specification) for performing follow-up running control in the low-speed range.

In this embodiment, a three-forward gearbox is used as an example for explanation. Therefore, the second-speed position and the first-speed position used for low-speed traveling correspond to the above-mentioned low-speed position L. 1st speed used for low speed running corresponds to the low speed position L when using the transmission of No. 1, and 1st speed, 2nd speed and 3rd speed used for low speed running when using the four forward gears are low speed position L.
Corresponding to. The same applies to the case of a transmission having five or more forward gears, and all shift lever positions for forward movement other than the D position used for normal traveling from low speed to high speed are set positions corresponding to the low speed position L described above.

In this specification, the high speed follow-up running control means that when a preceding vehicle is present during high speed running, the vehicle follows the preceding vehicle while ensuring a vehicle-to-vehicle distance with the preceding vehicle, and is preset when there is no preceding vehicle. It means the control to run at the specified vehicle speed.
On the other hand, the low-speed range follow-up running control refers to control that follows the preceding vehicle during low-speed running due to traffic congestion or the like.

The 6 positions of P, R, N, D for normal running, the 2nd speed and the 1st speed are linear shift guide grooves 3 in the vehicle front-rear direction.
Arrange along 1. Then, the shift guide groove 32 extending from the position D to the left in the vehicle width direction is provided, and the ACC position for traveling in the high speed range is arranged at the end thereof. Also, 2nd gear position and 1
Shift guide grooves 33 and 34 extending from the speed position to the left in the vehicle width direction are provided, and INCH positions for low-speed range following traveling are arranged at the ends thereof. Further, the ends of the shift guide grooves 33 and 34 are connected by the shift guide groove 35.

A shift lock pin 7a is provided in the shift guide groove 32 between the D position for normal traveling and the ACC position for high speed region following traveling. When the permission condition (details described later) for the high speed follow-up traveling control is satisfied, the shift lock pin 7a comes off,
The shift lever 36 can be moved from the D position to the ACC position. On the other hand, the shift lock pin 8a is provided in the shift guide groove 33 between the second speed position for normal travel and the INCH position for low speed range follow-up, and between the first speed position for normal travel and the INCH position for low speed range follow-up run. The shift guide pin 34 is provided with the shift lock pin 8b. When the permission condition (details described later) of the low speed range following control is satisfied, the shift lock pins 8a and 8b are disengaged, and the shift lever 36 can be moved from the second speed position to the INCH position or from the first speed position to the INCH position.

In FIG. 1, an inter-vehicle distance sensor 1 detects a preceding vehicle traveling in front of the own lane and detects an inter-vehicle distance between the own vehicle and the preceding vehicle. The type and structure of the inter-vehicle distance sensor 1 are not particularly limited, but for example, a laser radar or the like that scans a predetermined range in front of the vehicle with laser light can be used. The vehicle speed sensor 2 detects the own vehicle speed by measuring the rotation of the output shaft of the automatic transmission with a rotation sensor, for example. The shift lever position sensor 3 includes setting positions P, R, N, D, 2, 1, ACC of the shift lever 36,
Detects INCH.

Further, the main switch 4 is a switch for operating the follow-up running control device, and the brake switch 5 is a switch for detecting the depression state of the brake pedal. The navigation device 6 uses satellite navigation (GP
The current position of the vehicle is detected by S) and self-contained navigation and displayed on the road map, and the optimum route to the destination is searched and displayed on the road map to guide the occupants.

The D-ACC shift lock actuator 7 operates and releases the shift lock pin 7a installed between the normal traveling D position and the high speed follow-up traveling ACC position of the automatic transmission operating portion shown in FIG. To do. Also, 1,2-I
The NCH shift lock actuator 8 operates the shift lock pins 8a and 8b installed between the normal traveling second speed position and the first speed position and the low speed range following traveling INCH position of the automatic transmission operating portion shown in FIG. And release.
The shift lock pins 8a and 8b are operated or released at the same time.

The ACC → D shift actuator 9 is
This is an actuator for automatically moving the shift lever 36 in the ACC position to the D position when the high-speed range following traveling control is automatically released. Also, INCH → 1,
The two-shift actuator 10 is an actuator for automatically moving the shift lever 36 in the INCH position to the first speed position or the second speed position when the low speed range following travel control is automatically released. The automatic cancellation of the follow-up traveling control will be described later.

The engine control unit 11 controls the opening of a throttle valve (not shown) of the engine, controls the fuel injection amount, controls the ignition timing, etc. to output the engine, that is, the driving force and braking force (engine braking force) of the vehicle. Adjust. The brake control device 12 controls the brake fluid pressure to adjust the output of the brake device, that is, the braking force of the vehicle. The transmission control device 13 controls the shift of an automatic transmission (not shown) according to shift-up conditions and shift-down conditions such as the shift lever position and vehicle speed of the automatic transmission operating unit shown in FIG. The display 14 displays various information such as characters and images, and the speaker 15 broadcasts various information by voice. Further, the buzzer 16 gives an occupant an alarm. In this embodiment, the display 14, the speaker 15, and the buzzer 16 notify the occupant of various information regarding the preceding vehicle following traveling control.

The controller 20 is provided with peripheral components such as a CPU 20a and a memory 20b. The inter-vehicle distance from the inter-vehicle distance sensor 1, the vehicle speed from the vehicle speed sensor 2, the shift lever position from the shift lever position sensor 3, the main switch 4 and the brake. ON / OFF state of switch 5,
Based on information such as the current position from the navigation device 6, follow-up running control in a high speed region or a low speed region is performed, shift lock actuators 7 and 8 permit or prohibit shift, engine control device 11 adjusts braking / driving force of a vehicle, and brakes. The control device adjusts the braking force of the vehicle, the transmission control device 13 changes gears, and the display 14, the speaker 15 and the buzzer 16 notify the follow-up traveling control information.

The correspondence between the constituent elements of the claims and the constituent elements of the first embodiment is as follows. That is, the shift lever position sensor 3 serves as a shift position detector, and the engine control device 11 and the brake control device 12
Is the braking / driving force adjusting device, the D-ACC shift lock actuator 7 is the first shift lock mechanism,
The NCH shift lock actuator 8 is the second shift lock mechanism, the brake switch 5 is the brake operation detector, the ACC → D shift actuator 9 is the first shift mechanism, and the INCH → 1,2 shift actuators 10 are the second shift lock mechanism. Each shift mechanism is configured.

FIG. 3 is a flow chart showing a follow-up running control program according to the first embodiment, and FIGS. 4 to 6 are views showing movements of the shift lever during follow-up running control. The operation of the first embodiment will be described with reference to these figures.

In step 1 of FIG. 3, it is confirmed whether or not the main switch 4 is in the on state. If the main switch 4 is in the on state, the process proceeds to step 2 to start the following traveling control.
In step 2, the shift lever position sensor 3 detects the set position of the shift lever 36. In step 3, it is determined whether or not the set position of the shift lever 36 is in the D position for normal traveling. If it is in the D position, the process proceeds to step 4, and if it is not in the D position, the process proceeds to step 8.

When the shift lever is in the D position,
In step 4, it is judged whether or not the permission condition for the high speed follow-up traveling control is satisfied. In this embodiment, the main switch 4 is in the ON state, and the vehicle speed detection value by the vehicle speed sensor 4 is in a preset high speed range (for example, 50 to 120).
When it is in km / h), the high speed follow-up traveling control is permitted.

The permission condition for the high speed follow-up traveling control is not limited to the permission condition of this embodiment. For example, the navigation device 6 detects whether or not the vehicle is traveling on a highway,
When the main switch 4 is on, the vehicle speed detection value is within a preset high speed range, and the vehicle is traveling on a highway, the high speed follow-up traveling control may be permitted.

When the permission condition for the high speed region following traveling control is not satisfied, the shift lock pin 7a is provided between the normal traveling D position and the high speed region following traveling ACC position as shown in FIG. 4 (a). It remains inserted, the movement of the shift lever 36 from the D position to the ACC position is prohibited, and the high speed range following traveling control is not permitted. When the high speed follow-up traveling control is not permitted, the process returns from step 4 to step 1.

On the other hand, when the permission condition for the high speed follow-up running control is satisfied, the routine proceeds to step 5, where the D-ACC shift lock actuator 7 is used to move between the D position and the ACC position, as shown in FIG. 4 (b). The shift lock pin 7a is removed to permit movement of the shift lever 36 from the D position to the ACC position. In step 6, as shown in FIG. 4C, the shift lever 3 is operated by the shift lever position sensor 3.
It is confirmed whether or not 6 has been set to the ACC position for high speed follow-up traveling, and if it has been set to the ACC position, the process proceeds to step 7, otherwise returns to step 1.

When the shift lock is released and the shift lever 36 is set to the ACC position for high speed range following travel, the high speed range following travel control is started in step 7. That is, when the preceding vehicle is detected by the inter-vehicle distance sensor 1 in front of the own lane, the engine control device 11, the brake control device 12, and the transmission control device 13 are controlled to adjust the braking / driving force and the gear ratio of the vehicle, The vehicle follows the preceding vehicle while ensuring a vehicle-to-vehicle distance with the preceding vehicle. The inter-vehicle distance at this time may be a preset value or a value corresponding to the own vehicle speed.

On the other hand, when the preceding vehicle is not detected by the inter-vehicle distance sensor 1, the engine control device 11, the brake control device 12 and the transmission control device 13 are controlled to adjust the braking / driving force and the gear ratio of the vehicle, Drive at the set vehicle speed.

When the shift lever 36 is moved from the ACC position to the normal traveling D position as shown in FIG. 4D after the high speed region following traveling control is started, the high speed region following traveling control is performed. To release. Further, when the brake pedal is depressed and the brake switch 5 is turned on during the high speed region following traveling control, the high speed region following traveling control is released. further,
If the above-described permission condition for the high speed range following travel control is not satisfied during the high speed range following travel control, the high speed range following travel control is automatically canceled.

In step 3, the shift lever 36 is moved to D
If it is determined that the position is not set, step 8
Then, the shift lever position sensor 3 determines whether the shift lever 36 is set to the first gear position or the second gear position. If the shift lever 36 is not set to either the first speed position or the second speed position, the process returns to step 1, and if it is set to the first speed position or the second speed position, the process proceeds to step 9.

In step 9, it is determined whether or not the permission condition for the low speed follow-up running control is satisfied. In this embodiment, the main switch 4 is in the ON state, the vehicle speed detection value by the vehicle speed sensor 4 is in a preset low speed range (for example, 0 to 30 km / h), and the inter-vehicle distance sensor 1 is set to the front of the vehicle lane. When the preceding vehicle is detected, the low speed range following traveling control is permitted.

The permission condition for the low speed range following traveling control is not limited to the permission condition of this embodiment. For example, the navigation device 6 detects whether or not the vehicle is traveling on a highway,
When the main switch 4 is on, the vehicle speed detection value is within a preset low speed range, the preceding vehicle is detected in front of the own lane, and the vehicle is traveling on a highway, the low speed range following traveling control is permitted. May be.

When the permission condition for the low speed range following traveling control is not satisfied, as shown in FIGS. 5 (a) and 6 (a),
Between the first speed position for normal running and the INCH position for low speed range following, and the second speed position for normal running and INC for low speed range following run
Shift lock pins 8a and 8b between the H position and
Is left inserted, the movement of the shift lever 36 from the first speed position to the INCH position or from the second speed position to the INCH position is prohibited, and the low speed range following traveling control is not permitted. When the low speed tracking control is not permitted, the process returns from step 9 to step 1.

On the other hand, when the permission condition for the low speed range following traveling control is satisfied, the routine proceeds to step 10, where the 1,2-INCH shift lock actuator 8 is used as shown in FIG. 5 (b) and FIG. 6 (b). The shift lock pin 8a between the 1st speed position and the INCH position and the shift lock pin 8b between the 2nd speed position and the INCH position are removed to remove I from the 1st speed position.
The movement of the shift lever 36 to the NCH position or from the second speed position to the INCH position is permitted. In step 11,
As shown in FIG. 5 (c) or FIG. 6 (c), the shift lever position sensor 3 confirms whether or not the shift lever 36 is set to the INCH position for low-speed range following traveling.
If it is set to the position, proceed to step 12, otherwise return to step 1.

When the shift lock is released and the shift lever 36 is set to the INCH position for low speed range following travel, the low speed range following travel control is started in step 12. That is, the engine control device 11, the brake control device 12, and the transmission control device 13 are controlled to adjust the braking / driving force and the gear ratio of the vehicle, and the vehicle travels following the preceding vehicle while ensuring a vehicle-to-vehicle distance. The inter-vehicle distance at this time is a value according to the own vehicle speed. When the preceding vehicle stops, the own vehicle also stops, and the braking control device 12 adjusts the braking force to an appropriate value while the preceding vehicle is stopped. When the preceding vehicle starts again, the own vehicle also starts, and the vehicle follows the preceding vehicle while ensuring the distance between the preceding vehicle and the preceding vehicle.

When the shift lever 36 is returned from the INCH position to the second speed position or the first speed position as shown in FIG. 5 (d) or FIG. 6 (d) after the low speed follow-up running control is started, Release the low speed tracking control. Further, when the brake pedal is depressed and the brake switch 5 is turned on during the low speed range following traveling control, the low speed range following traveling control is released. Further, when the above-described permission condition for the low speed range following travel control is not satisfied during the low speed range following travel control, the low speed range following travel control is canceled.

As described above, according to the first embodiment,
The automatic transmission operation unit is provided with a high speed range following position ACC for performing control to follow the preceding vehicle in the high speed range (high range following running control), and a shift guide groove is provided between the D position and the ACC position. 32 is further provided, and a low speed range following travel position INCH for performing control for following the preceding vehicle in the low speed range (low speed range following travel control) is provided.
Shift guide grooves 33 and 34 are provided between the L position and the INCH position of the first and second speeds, and the shift lever position sensor 3
Detects that the shift lever 36 has been set to the ACC position and starts the high speed follow-up running control, and detects that the shift lever 36 has been set to the INCH position by the shift lever position sensor 3 to run the low speed follow-up running. Control was started. As a result, in the automatic transmission operation unit, the gear shift positions D and L used for normal traveling, the gear shift position ACC for performing the high speed region following traveling control, and the gear shift position INCH for performing the low speed region following traveling control are provided. Since they are arranged independently of each other, the shift lever must be operated to switch from normal running to follow-up running in the high speed range or low-speed range, and the follow-up running control must be performed after confirming the occupant's intention to switch to follow-up running. You can start. Therefore, unlike in the past, it is not necessary to perform the operation while constantly confirming which control is currently being performed by the display etc., and the follow-up traveling control may be started against the occupant's will. Disappear.

Further, according to the first embodiment, when the preset permission condition for the high speed range following traveling control is not satisfied, the movement of the shift lever 36 from the D position to the ACC position is blocked by D-. When the ACC shift lock actuator 7 and the preset permission condition for the low speed range following traveling control are not satisfied, the INC is started from the L position of the first speed or the second speed.
Blocking the shift lever 36 from moving to the H position 1,2-
The INCH shift lock actuator 8 is provided.
As a result, the shift lever cannot be moved to the follow-up running shift position ACC or INCH unless the permission conditions for the high-speed range follow-up running control and the low-speed range follow-up running control are satisfied. Only when the conditions are satisfied and the occupant's willingness to follow the vehicle by lever operation is shown, the follow-up running in the high speed range or the low speed range is started, and the stability when starting the follow-up running can be improved. .

The shift lever 36 is operated during the high speed range following traveling control.
Is operated from the ACC position to the D position to cancel the high speed follow-up running control, or the shift lever 36 is moved from the INCH position to the first speed position or the second speed position while the low speed follow-up running control is being performed. When the region following traveling control is canceled, the shift lever 36 is moved from the D position to the ACC position when the following traveling control for the high speed region or the low speed region is started again.
INCH to position or from 1st or 2nd position
Since the vehicle must be moved to the position, the occupant's intention by operating the shift lever is confirmed, and then the follow-up traveling control in the high speed range or the low speed range is restarted.

However, when the high speed follow-up running control is automatically released by operating the brake pedal or when the permission condition of the high speed follow-up running control is not satisfied, the shift lever 36 is moved to the ACC position for high-speed follow-up running. Remains set to. In addition, when the low speed range following drive control is automatically released by operating the brake pedal or when the permit condition for the low speed range following run control is no longer satisfied,
The shift lever 36 remains set to the INCH position for low speed range following traveling. When the brake pedal is released in this state and the permission condition for the follow-up running control in the high speed range or the low speed range is satisfied, the follow-up running control in the high speed range or the low speed range is automatically restarted.

In order to solve such a situation, in this embodiment, when the following traveling control is automatically released, the shift lever 36 is moved to the following traveling ACC position or I.
Automatically switch from the NCH position to the normal driving D position or the 1st or 2nd position.

FIG. 7 is a flow chart showing an automatic canceling process of the following running control. The controller 20 executes this automatic cancellation processing program at predetermined time intervals when the follow-up traveling control in the high speed region or the low speed region is started. In step 21, it is confirmed whether or not the occupant's brake operation is performed by the brake switch 5. If the brake operation is performed, the process proceeds to step 23, and if the brake operation is not performed, the process proceeds to step 22. In step 22, it is determined whether or not the conditions for permitting the following traveling control in the high speed range or the low speed range are satisfied. When the permission condition of the follow-up running control is satisfied, the automatic release processing is ended and the follow-up running control in the high speed region or the low speed region is continued.

When a brake operation is performed by an occupant,
Alternatively, if the conditions for permitting the follow-up traveling control are not satisfied, the display 14 and the speaker 1 are determined in step 23.
5 and the buzzer 16 give a warning that the follow-up traveling control is automatically released. Then, in step 24, the follow-up traveling control is stopped.

Step 25 after stopping the following traveling control
In, when the high-speed range follow-up running control is being performed,
The shift lever 36 is automatically moved from the ACC position to the D position by the ACC → D shift actuator 9. If the low speed follow-up running control is being performed, INC
INCH by H → 1,2 shift actuator 10
The shift lever 36 is automatically moved from the position to the first speed position or the second speed position. In step 26, shift lever 36
It is confirmed whether or not the automatic movement from the following traveling position to the normal traveling position is completed, and when the automatic movement is completed, the automatic release processing is ended.

As described above, according to the first embodiment,
When the brake switch 5 detects the stepped state of the brake pedal, or when the permission condition for the high speed region following traveling control is not satisfied during the high speed region following traveling control, the ACC → D shift actuator 9 causes the ACC to move.
The shift lever 36 is moved from the position to the D position, and the high speed range following traveling control is stopped. In addition, when the brake switch 5 detects the depression state of the brake pedal or when the permission condition of the low speed range following travel control is not satisfied during the low speed range following travel control, the INCH
The shift lever 36 is moved from the INCH position to the L position of the first speed or the second speed by the 1,2 shift actuator 10 and the low speed range following traveling control is stopped. As a result, even if the brake pedal is released and the high-speed range following traveling condition is satisfied and the high-speed range following traveling becomes possible again, the occupant again shifts the shift lever from the normal traveling D position to the high speed range following traveling position ACC. It is necessary to move, and after confirming the occupant's intention to restart following-up traveling, the high-speed following-up traveling is restarted, and the high-speed following-up traveling is not restarted against the occupant's intention. Similarly, even if the brake pedal is released, the low-speed range following running condition is satisfied, and the low-speed range following running becomes possible again,
The occupant must move the shift lever again from the normal travel L position to the low speed follow-up running position INCH, and after confirming the occupant's intention to restart the follow-up running, the occupant restarts the low-speed follow-up running. Following the will, the low-speed range follow-up running is restarted.

In the above-described first embodiment, the example in which the shift lever 36 is automatically moved to the normal traveling position when the following traveling control is automatically released has been described. The movement to the driving position is performed manually by an occupant, and an alarm may be issued until the shift lever 36 is moved to the normal traveling position. As a result, without providing the shift actuators 9 and 10,
The follow-up running control device can be constructed at a low cost while preventing forgetting to return the shift lever 36 and preparing for restarting the follow-up running control.

<< Second Embodiment of the Invention >> The above-mentioned first embodiment
In the above embodiment, an example has been shown in which when the preceding vehicle stops during low-speed range following traveling, the own vehicle also stops, and when the preceding vehicle starts, the own vehicle also automatically starts. A second embodiment will be described in which, when the host vehicle starts when the preceding vehicle starts running while following the low-speed range, the occupant's willingness to start is confirmed without automatic start.

In this specification, the control for keeping the vehicle in the stopped state after the vehicle stops during the low speed range following traveling control is referred to as automatic vehicle stop control. In this automatic vehicle stop control, the brake control device 12 is controlled to generate a braking force for keeping the vehicle in a stopped state.

FIG. 8 shows the configuration of the second embodiment, and FIG. 9 shows the operating portion of the automatic transmission of the second embodiment. It should be noted that the same reference numerals are given to the same devices and mechanism parts as those of the devices and mechanism parts shown in FIGS. 1 and 2, and the differences will be mainly described.

In the second embodiment, in addition to the structure of the automatic transmission operating portion of the first embodiment shown in FIG. 2, the automatic stop control described above is provided on the left side in the vehicle width direction at the N position for normal traveling. An automatic stop position (hereinafter referred to as AUTO STOP position) is provided for the operation. Then, the N position and the AUTO STOP position are communicated by the shift guide groove 42, the AUTO STOP position and the INCH position are communicated by the shift guide groove 41, and the AUTO STOP position and the P position are communicated.
The positions are communicated by the shift guide groove 43.

Further, a shift lock pin 19a is provided in the shift guide groove 42 which connects the AUTO STOP position and the N position. When the shift lever 36 is in the AUTO STOP position and the brake pedal is depressed during the automatic stop control, the shift lock pin 19a is disengaged, and the shift lever 36 can be moved from the AUTO STOP position to the normal traveling N position. The shift lever 36 can be moved from the AUTO STOP position to the INCH position for low-speed range following travel or the parking position P at any time.

In FIG. 8, the shift lever position sensor 3A has set positions P, R, N, D, and
Detects 2, 1, ACC, INCH, and AUTO STOP. I
The NCH → AS shift actuator 17 shifts the shift lever 36 at the INCH position when the stop of the own vehicle is detected due to the stop of the preceding vehicle during the low speed range following traveling.
It is an actuator that automatically moves to the AUTO STOP position. Also, AS → P shift actuator 1
8 is a shift lever 3 which is in the AUTO STOP position when some failure occurs in the following drive control device during automatic stop.
6 is an actuator for automatically moving 6 to the P position. AS-N shift lock actuator 19
Is the AUTO STOP position and N of the automatic transmission operating section shown in FIG.
The shift lock pin 19a installed in the shift guide groove 42 between the position and the position is operated and released.

The correspondence between the constituent elements of the claims and the constituent elements of the second embodiment is as follows. That is, the shift lever position sensor 3A functions as a shift position detector, and the INCH → AS shift actuator 17 functions as a third position.
Of the shift mechanism, the controller 20A serves as the vehicle stop determination means and the start determination means, the display 14, the speaker 15 and the buzzer 16 serve as the warning means, the AS → P shift actuator 18 serves as the fourth shift mechanism, and the AS-N shift lock actuator. 19 respectively constitute the third shift lock mechanism.

The high-speed range follow-up running control and the low-speed range follow-up running control of the second embodiment are the same as the control of the first embodiment shown in FIG. 3, and illustration and description thereof are omitted. Further, the automatic cancellation of the follow-up traveling control of the second embodiment is also similar to the processing of the first embodiment shown in FIG. 7, and illustration and description thereof are omitted.

FIG. 10 is a flow chart showing the operation during low-speed range following traveling, and FIG. 11 is a flow chart showing the operation during automatic stop. FIG. 12 is a diagram showing the movement of the shift lever during the low speed range following traveling and the automatic stop.

When the low speed range following control is started, the controller 20A executes the processing during the low speed range following running shown in FIG. 10 at predetermined time intervals. In step 31,
If it is determined that the own vehicle is stopped, and if it is determined to be stopped, step 3
When the vehicle is running, the process is ended. The determination of the vehicle stop is made when the vehicle speed of the vehicle detected by the vehicle speed sensor 2 becomes equal to or lower than a preset vehicle stop determination reference value.
It should be noted that the vehicle stop determination is not limited to the determination method of the present embodiment, and in order to perform a more reliable determination, for example, the vehicle speed command value input to the engine control device 11 of the own vehicle is 0, and the vehicle speed sensor 2 is used. It may be determined that the vehicle is stopped when the vehicle speed detection value is equal to or less than the vehicle stop determination reference value.

If it is determined that the host vehicle is stopped, the shift lever 36 at the INCH position is moved by the INCH → AS shift actuator 17 in step 32.
Automatically moves to the AUTO STOP position (Figs. 12 (a)-(b))
reference). Then, the brake control device 12 generates an appropriate braking force to perform automatic stop control. Continued Step 3
In 3, the start of the preceding vehicle is determined based on the inter-vehicle distance detected by the inter-vehicle distance sensor 1. It is determined that the preceding vehicle has started when the inter-vehicle distance detection value during the automatic stop control increases above a preset start determination reference value. The start determination of the preceding vehicle is not limited to the determination method of this embodiment, and for example, it may be determined that the preceding vehicle has started when the inter-vehicle distance detection value during the automatic stop control increases by a preset ratio or more. .

When it is determined that the preceding vehicle has started, it is checked in step 34 whether or not the shift lever 36 has been manually moved by the occupant from the AUTO STOP position to the low-speed range following traveling INCH position. If the vehicle has not been moved to the INCH position, the process proceeds to step 36, where the display 14, the speaker 15 and the buzzer 16 warn the occupant.

As shown in FIG. 12C, when the shift lever 36 is moved to the INCH position with the start of the preceding vehicle, the low speed range following traveling control is restarted at step 35. That is, the engine control device 11, the brake control device 12, and the transmission control device 13 are controlled to adjust the braking / driving force and the gear ratio of the vehicle, and the vehicle travels following the preceding vehicle while ensuring a vehicle-to-vehicle distance. The inter-vehicle distance at this time is a value according to the own vehicle speed.

As described above, according to the second embodiment,
In the automatic transmission operation part, if the own vehicle stops during low-speed tracking control, the automatic stop position AUTO STOP for performing control to keep the vehicle in the stopped state (automatic stop control) is provided, and AUTO STOP When the shift guide groove 41 is provided between the position and the INCH position, and it is determined that the own vehicle has stopped during the low speed range following travel control, the INCH → AS shift actuator 17 shifts the shift lever 36 from the INCH position to the AUTO STOP position. Along with moving the vehicle, automatic stop control was started. This prevents the vehicle from automatically starting even if the preceding vehicle starts again after the preceding vehicle stops while the vehicle is following the low speed range. To start the zone following drive, move the shift lever from the AUTO STOP position to INC
It is necessary to move to the H position, and it is possible to reliably reflect the occupant's willingness to start when the own vehicle starts, even during low-speed range follow-up running in which start and stop are frequently repeated due to traffic congestion or the like.

Further, according to the second embodiment, when it is determined that the preceding vehicle has started, a warning is given and the shift lever position sensor 3A detects that the shift lever 36 has moved from the AUTO STOP position to the INCH position. Then, the low speed range following traveling control is restarted. As a result, when the preceding vehicle starts during automatic stop control, a warning is issued to call attention to the occupants, and after confirming the occupant's intention to start by lever operation, it is possible to restart the low-speed follow-up running, It is possible to improve the stability when traveling in the range following.

In the second embodiment described above, the shift lever 36 is set to INCH when the stop of the vehicle is detected.
An example of automatically moving from the position to the AUTO STOP position has been shown. However, when starting the low speed range following traveling control,
By detecting the shift lever movement operation by the occupant from the 1st speed position or the 1st speed position to the INCH position and confirming the intention of the occupant to perform the low speed range following traveling, it is sufficient that the occupant is also in the low speed range following traveling. I am aware that the shift lever 36 should be pushed when the vehicle stops as the preceding vehicle stops.
Even if the occupant is not warned automatically and the shift lever 36 is manually moved to the AUTO STOP position instead of automatically moving to the AUTO STOP position, sufficient stability is ensured in the low speed range following traveling control and the automatic stop control. can do.

When the automatic vehicle stop control is started, the controller 20A repeats the processing during the automatic vehicle stop control shown in FIG. 11 every predetermined time. In step 41, it is confirmed whether or not any failure has occurred in the following drive control device. If no failure occurs, the process proceeds to step 46, and if any failure occurs, the process proceeds to step 42. When a failure occurs, the failure is displayed by the display 14, the speaker 15 and the buzzer 16 in step 42 to give a warning, and in the following step 43, the automatic stop control is stopped. Then, in step 44, the AS → P shift actuator 18 automatically moves the shift lever 36 in the AUTO STOP position to the parking position P (see FIGS. 12 (b) → (d)). When the automatic movement to the P position is completed in step 45, the process ends.

On the other hand, if the follow-up running control device has not failed, it is checked in step 46 whether or not the brake pedal has been depressed by the brake switch 5. If there is no brake operation by the occupant, the routine proceeds to step 50, where the AS-N shift lock actuator 19 is used.
Shift lock pin 19 between AUTO STOP position and N position
After activating a, return to step 46.

When the brake operation is performed by the occupant during the automatic stop, the routine proceeds to step 47, where the AS-N shift lock actuator 19 releases the shift lock pin 19a between the AUTO STOP position and the N position. In the following step 48, it is confirmed whether or not the shift lever 36 in the AUTO STOP position has been manually moved to the N position by the passenger,
When it has been moved to the N position, it proceeds to step 49, and when it has not been moved, it returns to step 46. As shown in FIG. 12 (e), when the occupant operates the brake lever during the automatic vehicle stop control to move the shift lever 36 to the N position, it is determined that the automatic vehicle stop control is canceled by the occupant's intention, and step 49 Stop the automatic stop control with.

As described above, according to the second embodiment,
A shift guide groove 43 that connects the AUTO STOP position and the parking position P is provided in the automatic transmission operation unit, and when a failure occurs in the following travel control device during the automatic stop control, the AS → P shift actuator 18 is used. The shift lever 36 is moved from the AUTO STOP position to the P position and the automatic stop control is stopped. As a result, the vehicle can be reliably stopped when the device fails, and the stability can be improved.

According to the second embodiment, the operation portion of the automatic transmission is provided with the shift guide groove 42 connecting the AUTO STOP position and the neutral position N, and the AS-N shift lock actuator 19 is provided. The shift lever 36 can be moved from the AUTO STOP position to the N position only when the depression state of the brake pedal is detected by the brake pedal. Therefore, when manually releasing the automatic stop control by operating the shift lever, the brake pedal must be operated. As a result, the stability can be improved.

In the second embodiment described above, an example in which the shift lever 36 in the AUTO STOP position is automatically moved to the parking position P when some failure occurs in the following drive control device during automatic stop showed that. However, since the shift lever moving operation by the occupant from the 2nd speed position or the 1st speed position to the INCH position was detected when the low speed range following running control was started, the occupant's intention to perform the low speed range following running was confirmed. , The occupant fully recognizes that the vehicle is following the low speed range and that the vehicle is automatically stopped, and does not automatically move the shift lever 36 to the P position when a device failure occurs. Even if the 36 is manually moved to the P position, the stability in the low speed range following traveling control and the automatic stop control can be sufficiently ensured.

[Brief description of drawings]

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

FIG. 2 is a diagram showing an automatic transmission operating unit according to the first embodiment.

FIG. 3 is a flowchart showing high-speed range and low-speed range following traveling control.

FIG. 4 is a diagram showing a start operation and a release operation of high-speed range following traveling control.

FIG. 5 is a diagram showing a start operation and a release operation of low speed range following travel control from the second speed position for normal travel.

FIG. 6 is a diagram showing a start operation and a release operation of low-speed range follow-up running control from the first speed position for normal running.

FIG. 7 is a flowchart showing automatic cancellation of follow-up traveling control.

FIG. 8 is a diagram showing a configuration of a second exemplary embodiment.

FIG. 9 is a diagram showing an automatic transmission operating unit according to a second embodiment.

FIG. 10 is a flowchart showing an operation during traveling in a low speed range according to the second embodiment.

FIG. 11 is a flowchart showing an operation during automatic vehicle stop control according to the second embodiment.

FIG. 12 is a diagram showing movements of a shift lever during low-speed range follow-up traveling and automatic stop according to the second embodiment.

[Explanation of symbols]

1 inter-vehicle distance sensor 2 vehicle speed sensor 3, 3A shift lever position sensor 4 main switch 5 brake switch 6 navigation device 7 D-ACC shift lock actuator 7a shift lock pin 8 1,2-INCH shift lock actuator 8a, 8b shift lock pin 9 ACC → D shift actuator 10 INCH → 1,2 shift actuator 11 engine controller 12 brake controller 13 transmission controller 14 display 15 speaker 16 buzzer 17 INCH → AS shift actuator 18 AS → P shift actuator 19 AS-N shift lock Actuator 19a Shift lock pin 20, 20A Controller 20a CPU 20b Memory 31, 32, 33, 34, 35, 41, 4 , 43 shift guide groove 36 shift lever

─────────────────────────────────────────────────── ─── Continuation of the front page (51) Int.Cl. ⁷ Identification code FI theme code (reference) B60T 7/12 B60T 7/12 C F term (reference) 3D040 AA10 AA20 AA23 AA35 AA40 AB01 AC62 AD13 AE09 AF08 AF29 3D041 AA41 AB01 AC01 AC15 AC26 AD31 AD41 AD46 AD50 AD51 AE02 AE30 AE32 AE38 AE41 3D044 AA21 AB01 AC22 AC24 AC26 AC55 AC59 AD02 AD17 AD21 AE01 3D046 BB18 BB19 EE01 GG02 GG06 HH02 HH07 HH20 HH22 KK06

Claims (8)

[Claims] 1. An operating portion having a D position used for normal traveling from low speed to high speed, and a low speed position used for low speed traveling (hereinafter referred to as L position), and a shift position for detecting a shift lever position of the operating portion. An automatic transmission that has a detector and a transmission that changes the transmission ratio stepwise or continuously, and that controls the transmission ratio of the transmission according to the position of the shift lever of the operation unit; A follow-up running control device used for a vehicle equipped with a braking / driving force adjusting device for adjusting a braking force and a braking force, which detects an inter-vehicle distance from a preceding vehicle and adjusts the braking / driving force of the vehicle to determine an inter-vehicle distance. In a follow-up running control device that runs while following a preceding vehicle while ensuring the speed, a high-speed range for performing control to follow the preceding vehicle in a high-speed range (hereinafter referred to as high-speed range follow-up running control) in the operation unit of the automatic transmission. Follow-up position (hereinafter referred to as ACC position) Is provided, a shift guide groove is provided between the D position and the ACC position, and further, a low speed for performing control to follow the preceding vehicle in the low speed range (hereinafter, referred to as low speed range following running control) A zone following traveling position (hereinafter referred to as an INCH position) is provided, and a shift guide groove is provided between the L position and the INCH position, and the shift lever of the operation portion is set to the ACC position by the shift position detector. Is detected to start the high speed range following running control, and the shift position detector detects that the shift lever of the operating portion is set to the INCH position to start the low speed range following running control. A follow-up traveling control device characterized by: 2. The follow-up running control device according to claim 1, wherein the shift lever is moved from the D position to the ACC position when a preset permission condition for the high-speed range follow-up running control is not satisfied. A first shift lock mechanism for blocking and a second shift lock for blocking the movement of the shift lever from the L position to the INCH position when a preset permission condition for the low speed range following traveling control is not satisfied. A follow-up running control device comprising a mechanism. 3. The follow-up running control device according to claim 1 or 2, wherein a brake operation detector that detects a stepped state of a brake pedal, and a first shift lever that moves a shift lever from the ACC position to the D position. And a shift mechanism of, when the depression state of the brake pedal is detected by the brake operation detector, or when the permission condition of the high speed range following traveling control is not satisfied during the high speed range following traveling control, The ACC by the first shift mechanism
A follow-up running control device characterized by moving the shift lever from the position to the D position and stopping the high-speed range follow-up running control. 4. The follow-up running control device according to claim 1, wherein a brake operation detector for detecting a stepped state of a brake pedal, and a second shift lever for moving the shift lever from the INCH position to the L position. And a shift mechanism of, when the depression state of the brake pedal is detected by the brake operation detector, or when the permission condition of the low speed range following traveling control is not satisfied during the low speed range following traveling control, The INC by the second shift mechanism
A follow-up running control device characterized in that the shift lever is moved from the H position to the L position and the low-speed range follow-up running control is stopped. 5. The follow-up traveling control device according to claim 1, wherein when the vehicle stops at the operation portion of the automatic transmission during the low-speed range follow-up traveling control, the vehicle is automatically operated thereafter. An automatic stop position (hereinafter referred to as AUTO STOP position) for performing control for keeping the vehicle in a stopped state (hereinafter referred to as automatic stop control) is provided, and a shift guide groove is provided between the AUTO STOP position and the INCH position. A stop determining means for determining that the own vehicle is stopped during the low speed range following traveling control; and a stop determining means for determining whether the vehicle is stopped. When it is determined that the vehicle is stopped, the third
Shift mechanism from the INCH position to the AUTO STO
A follow-up traveling control device, characterized in that the automatic stop control is started while the shift lever is moved to the P position. 6. The follow-up running control device according to claim 5, further comprising: a start determination means for determining the start of the preceding vehicle, and a warning means for issuing a warning when the start determination means determines that the preceding vehicle has started. , The shift position detector causes the shift lever to move to the AUTO S
A follow-up running control device characterized by restarting the low-speed range follow-up running control when it is detected that the vehicle has moved from the TOP position to the INCH position. 7. The follow-up traveling control device according to claim 5 or 6, wherein a shift guide that connects the AUTO STOP position and a parking position (hereinafter, referred to as P position) to the operation unit of the automatic transmission. A fourth shift mechanism is provided that moves the shift lever from the AUTO STOP position to the P position while providing a groove, and when a failure occurs in the following drive control device during the automatic stop control, the fourth shift mechanism is provided. With the shift mechanism, the AUTO STOP
A follow-up running control device characterized by moving the shift lever from the position to the P position and stopping the automatic stop control. 8. The follow-up running control device according to claim 5, wherein an operating portion of the automatic transmission is provided between the AUTO STOP position and a neutral position (hereinafter referred to as N position). A third shift lock that provides a shift guide groove for connecting the shift lever and allows the shift lever to move from the AUTO STOP position to the N position only when the brake pedal detector detects the depression state of the brake pedal. A follow-up running control device characterized in that a mechanism is provided.