WO2015119157A1 - Vehicle travel control device - Google Patents

Vehicle travel control device Download PDF

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Publication number
WO2015119157A1
WO2015119157A1 PCT/JP2015/053107 JP2015053107W WO2015119157A1 WO 2015119157 A1 WO2015119157 A1 WO 2015119157A1 JP 2015053107 W JP2015053107 W JP 2015053107W WO 2015119157 A1 WO2015119157 A1 WO 2015119157A1
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Prior art keywords
vehicle
coasting
distance
inter
control
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PCT/JP2015/053107
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French (fr)
Japanese (ja)
Inventor
達也 大島
西村　伸之
伸一 石黒
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いすゞ自動車株式会社
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Publication of WO2015119157A1 publication Critical patent/WO2015119157A1/en

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/18—Propelling the vehicle
    • B60W30/18009—Propelling the vehicle related to particular drive situations
    • B60W30/18072—Coasting
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/18—Propelling the vehicle
    • B60W30/18009—Propelling the vehicle related to particular drive situations
    • B60W30/18072—Coasting
    • B60W2030/1809—Without torque flow between driveshaft and engine, e.g. with clutch disengaged or transmission in neutral
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2552/00—Input parameters relating to infrastructure
    • B60W2552/15—Road slope, i.e. the inclination of a road segment in the longitudinal direction
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/80—Spatial relation or speed relative to objects
    • B60W2554/801—Lateral distance
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect

Definitions

  • the present invention relates to a vehicle travel control device, and more particularly, to coasting control in which power transmission between an engine and driving wheels is interrupted to cause the vehicle to coast.
  • coasting control that reduces fuel consumption during re-acceleration is known by setting the transmission to neutral (or disengaging the clutch) and suppressing deceleration of the vehicle due to engine braking during coasting of the vehicle (for example, see Patent Document 1).
  • An object of the present invention is to optimize the execution condition of coasting control and effectively suppress deterioration of the fuel consumption rate.
  • the vehicle travel control device of the present invention includes a coasting control execution means capable of executing coasting control for interrupting the power transmission between the engine and the drive wheels and coasting the vehicle, and the host vehicle.
  • Detecting means for detecting the inter-vehicle distance and relative speed between the vehicle and the preceding vehicle, and an inter-vehicle distance estimating means for estimating the inter-vehicle distance between the host vehicle and the preceding vehicle when coasting, based on the detection value of the detecting means;
  • Coasting travel determining means for determining whether or not coasting traveling is possible based on the inter-vehicle distance estimated by the inter-vehicle distance estimating means, wherein the coasting control execution means is coasted by the coasting travel determining means.
  • the coasting control is executed when it is determined that the vehicle is possible.
  • the inter-vehicle distance estimation means estimates an approach distance between the host vehicle and a preceding vehicle after a predetermined time has elapsed since the start of coasting based on a detection value of the detection means, and based on the approach distance, the inter-vehicle distance The distance may be estimated.
  • FIG. 1 is a schematic overall configuration diagram showing a vehicle according to an embodiment of the present invention. It is a functional block diagram which shows ECU of this embodiment. It is a typical side view explaining the approach distance of the own vehicle and a front vehicle. It is a flowchart which shows the calculation procedure of the unit acceleration change of this embodiment. It is a flowchart which shows the calculation procedure of the acceleration change at the time of coasting of this embodiment. It is a typical side view explaining vehicle drag at the time of downhill running. It is a flowchart which shows the control content of this embodiment.
  • FIG. 1 is an overall configuration diagram showing a vehicle 1 of the present embodiment.
  • the output shaft of the engine 10 is connected to the input shaft of the transmission 12 via the clutch 11.
  • the output shaft of the transmission 12 is connected to drive wheels (left and right rear wheels) 16L and 16R via a propeller shaft 13, a differential device 14, and a drive shaft 15, respectively.
  • reference numerals 17L and 17R are steered wheels (front left and right wheels), reference numeral 18 is a retarder that is driven to generate power during braking, reference numeral 20 is a distance / relative speed detector, reference numeral 21 is a vehicle speed sensor, and reference numeral 22 is an accelerator pedal.
  • Reference numeral 23 denotes a brake pedal sensor, and reference numeral 50 denotes an electronic control unit (hereinafter referred to as ECU).
  • the distance / relative velocity detection device 20 is, for example, a millimeter wave radar or the like, and transmits a radio wave to the preceding vehicle and receives a radio wave reflected from the preceding vehicle. detecting a following distance S and the relative speed V R and. The detected inter-vehicle distance S and the relative speed V R are transmitted to the electrically connected ECU 50.
  • the vehicle speed sensor 21 detects the traveling speed V T of the vehicle 1 from the rotational speed of the propeller shaft 13.
  • the accelerator pedal sensor 22 detects the accelerator opening Q from the depression amount of the accelerator pedal 31.
  • the brake pedal sensor 23 detects the presence or absence of a brake operation by the driver from the amount of depression of the brake pedal 32. The sensor values of these various sensors 21 to 23 are transmitted to the electrically connected ECU 50.
  • the ECU 50 performs various controls of the engine 10 and the transmission 12, and includes a known CPU, ROM, RAM, input port, output port, and the like. Further, as shown in FIG. 2, the ECU 50 includes a coasting control execution unit 51, an inter-vehicle distance estimation unit 52, and a coasting travel execution determination unit 53 as some functional elements. In the present embodiment, these functional elements are described as being included in the ECU 50, which is an integral piece of hardware. However, any one of these functional elements may be provided in separate hardware.
  • the coasting control execution unit 51 executes coasting control for coasting the vehicle 1 when it is determined that coasting control is possible by the coasting execution determination unit 53 described later in detail.
  • the transmission 12 is neutral (or the clutch 11 is disengaged), and power transmission from the drive wheels 16L and 16R to the engine 10 is interrupted, and the fuel injection of the engine 10 is maintained at, for example, an idle injection amount. Is executed.
  • the inter-vehicle distance estimation unit 52 estimates a distance (hereinafter referred to as an approach distance St ) that the host vehicle approaches the preceding vehicle after a predetermined time (t) has elapsed since the start of coasting control (see FIG. 3).
  • This approach distance S t is calculated based on the equation (1) below which is previously stored in the ECU 50.
  • V R is the relative speed is inputted from the distance and a relative speed detecting device 20, a acceleration change per unit time (hereinafter, the unit acceleration change A) and the acceleration in the case of executing the coasting control
  • the sum (a A + B) of the change (hereinafter, coasting acceleration change B).
  • the unit acceleration change A is calculated, for example, according to the flow shown in FIG. That is, the relative speed V R_1 is read from the distance / relative speed detector 20 in S100, the relative speed V R_2 after a predetermined set time t A (eg, 3 seconds) is read in S110, and these relative speeds V R_1 are read in S120. Then, the deviation ⁇ V R of the relative speed V R — 2 is calculated, and the deviation ⁇ V R is divided by the set time t A in S130 to obtain the unit acceleration change A.
  • a predetermined set time t A eg, 3 seconds
  • the coasting acceleration change B is calculated according to the flow shown in FIG.
  • the travel speed V T_1 is read from the vehicle speed sensor 21 in S200
  • the travel speed V T_2 after a predetermined set time t B (for example, 1 second) is read in S210
  • the travel speed V T_1 and the travel speed V are read in S220.
  • an acceleration change a ′ per unit time during coasting control is calculated.
  • the acceleration change B during coasting is substituted into the following formula (2) to obtain the coasting acceleration change B.
  • Equation (2) i is the total reduction ratio ( ⁇ ), ⁇ is the transmission efficiency ( ⁇ ), Te is the engine torque (Nm), r is the tire diameter (m), and m is the vehicle weight (kgf). ing.
  • This formula (2) is obtained from the following formulas (3) and (4) indicating the balance of the forces applied to the vehicle when the vehicle coasts on a downhill (see FIG. 6).
  • the coasting execution determination unit 53 determines whether or not the coasting control can be performed based on the relative distance between the host vehicle and the preceding vehicle. More specifically, the coasting travel execution determination unit 53 satisfies the three conditions that the accelerator opening Q is less than a predetermined set value (for example, less than idle injection), the service brake is off, and the auxiliary brake is off, the difference between the inter-vehicle distance S between the approach distance S t if (a predetermined time (t) following distance after) is larger than the set inter-vehicle distance S p (S-S t> S p), the execution of the coasting control Judge that it is possible.
  • a predetermined set value for example, less than idle injection
  • the service brake is off
  • the auxiliary brake is off
  • the set inter-vehicle distance Sp is set, for example, as a safe inter-vehicle distance that can avoid a rear-end collision of the host vehicle with the preceding vehicle.
  • S300 it is determined whether or not the accelerator opening Q is less than the set value.
  • S310 it is determined whether the service brake is off.
  • S320 it is determined that the auxiliary brake is off. If all three conditions are satisfied, the process proceeds to S330. On the other hand, if any of these three conditions is not satisfied, the process proceeds to S400 and the execution of coasting control is canceled and the process returns. Note that these determinations in S300 to 320 may be performed simultaneously.
  • the current inter-vehicle distance S between the host vehicle and the preceding vehicle is read from the distance / relative speed detection device 20.
  • the approach distance S t between the subject vehicle and the preceding vehicle after a predetermined time (t) elapsed in the case of executing the coasting control is calculated based on Equation (1) above.
  • S350 whether the difference between the inter-vehicle distance S between the approach distance S t is larger than the set following distance S p is determined. If the difference between the inter-vehicle distance S between the approach distance S t is equal to or less than the set inter-vehicle distance S p (No) it is returned to cancel the execution of the coasting control proceeds to S400. On the other hand, if the difference between the inter-vehicle distance S between the approach distance S t is larger than the set inter-vehicle distance S p (Yes), since there is no possibility of collision to the vehicle ahead by performing the coasting control proceeds to S360 .
  • the coasting control is performed in which the transmission 12 is set to neutral (or the clutch 11 is disengaged), and the fuel injection of the engine 10 is maintained by idle injection. Thereafter, each control step described above is repeatedly executed until the ignition key OFF operation of the engine 10 is performed.
  • coasting control is executed if the predetermined distance (t) is reached when the inter-vehicle distance between the host vehicle and the preceding vehicle reaches the set inter-vehicle distance by the coasting control, and there is no predetermined time (t). Is configured to cancel coasting control. Therefore, according to the vehicle travel control device of the present embodiment, it is possible to perform optimal coasting control according to the inter-vehicle distance from the preceding vehicle. Further, unnecessary coasting control is effectively reduced, and deterioration of the fuel consumption rate caused by idle injection during coasting control can be effectively prevented.
  • Equation (1) the calculation of approach distance S t is not limited to Equation (1) described above, may be used other formulas or the like.

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  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)

Abstract

The present invention pertains to a vehicle travel control device, and is intended to optimize the conditions in which coasting control is executed. A vehicle travel control device is provided with a coasting control execution unit (51) capable of executing coasting control for blocking the transmission of motive power between an engine (10) and drive wheels (16L, 16R) to cause a vehicle (1) to coast, a distance•relative speed detection device (20) for detecting the headway distance and relative speed between the host vehicle and a preceding vehicle, a headway distance estimation unit (52) for estimating for estimating the headway distance between the coasting host vehicle and the preceding vehicle on the basis of the value detected by the distance•relative speed detection device (20), and a coasting execution determination unit (53) for determining whether or not coasting is possible on the basis of the headway distance estimated by the headway distance estimation unit (52), the coasting control execution unit (51) executing coasting control when coasting is determined to be possible by the coasting execution determination unit (53).

Description

車両走行制御装置Vehicle travel control device
　本発明は、車両走行制御装置に関し、特に、エンジンと駆動輪との間の動力伝達を遮断して車両を惰行走行させる惰行制御に関する。 The present invention relates to a vehicle travel control device, and more particularly, to coasting control in which power transmission between an engine and driving wheels is interrupted to cause the vehicle to coast.
　従来、車両の惰行走行時に、変速機をニュートラル（もしくはクラッチを断）にし、エンジンブレーキによる車両の減速を抑制することで、再加速時における燃料消費の低減を図る惰行制御が知られている（例えば、特許文献１参照）。 Conventionally, coasting control that reduces fuel consumption during re-acceleration is known by setting the transmission to neutral (or disengaging the clutch) and suppressing deceleration of the vehicle due to engine braking during coasting of the vehicle ( For example, see Patent Document 1).
特開２０１２－２１４１８１号公報JP 2012-214181 A
　ところで、惰行制御中はエンジンと駆動輪との間の動力伝達が遮断されるため、エンジンの回転を維持すべく、エンジンをアイドル状態に維持する必要がある。そのため、自車両が前方車両に接近した場合等、惰行制御に適さない条件下においても惰行制御を実行すると、不必要な惰行制御（アイドル噴射）の増加によって燃料消費率の悪化を招く可能性がある。 Incidentally, since the power transmission between the engine and the drive wheels is interrupted during coasting control, it is necessary to maintain the engine in an idle state in order to maintain the engine rotation. Therefore, if coasting control is executed even under conditions that are not suitable for coasting control, such as when the host vehicle approaches a vehicle ahead, there is a possibility that the fuel consumption rate will deteriorate due to an increase in unnecessary coasting control (idle injection). is there.
　本発明の目的は、惰行制御の実行条件の最適化を図り、燃料消費率の悪化を効果的に抑制することにある。 An object of the present invention is to optimize the execution condition of coasting control and effectively suppress deterioration of the fuel consumption rate.
　上述の目的を達成するため、本発明の車両走行制御装置は、エンジンと駆動輪との間の動力伝達を遮断して車両を惰行走行させる惰行制御を実行可能な惰行制御実行手段と、自車両と前方車両との車間距離及び相対速度を検出する検出手段と、惰行走行を行った場合の自車両と前方車両との車間距離を前記検出手段の検出値に基づいて推定する車間距離推定手段と、前記車間距離推定手段で推定される車間距離に基づいて、惰行走行が可能か否かを判定する惰行走行判定手段と、を備え、前記惰行制御実行手段は、前記惰行走行判定手段によって惰行走行が可能と判定された場合に前記惰行制御を実行するものである。 In order to achieve the above-described object, the vehicle travel control device of the present invention includes a coasting control execution means capable of executing coasting control for interrupting the power transmission between the engine and the drive wheels and coasting the vehicle, and the host vehicle. Detecting means for detecting the inter-vehicle distance and relative speed between the vehicle and the preceding vehicle, and an inter-vehicle distance estimating means for estimating the inter-vehicle distance between the host vehicle and the preceding vehicle when coasting, based on the detection value of the detecting means; Coasting travel determining means for determining whether or not coasting traveling is possible based on the inter-vehicle distance estimated by the inter-vehicle distance estimating means, wherein the coasting control execution means is coasted by the coasting travel determining means. The coasting control is executed when it is determined that the vehicle is possible.
　また、前記車間距離推定手段が、前記検出手段の検出値に基づいて、惰行走行開始から所定時間経過後の自車両と前方車両との接近距離を推定すると共に、該接近距離に基づいて前記車間距離を推定するものでもよい。 Further, the inter-vehicle distance estimation means estimates an approach distance between the host vehicle and a preceding vehicle after a predetermined time has elapsed since the start of coasting based on a detection value of the detection means, and based on the approach distance, the inter-vehicle distance The distance may be estimated.
本発明の一実施形態に係る車両を示す模式的な全体構成図である。1 is a schematic overall configuration diagram showing a vehicle according to an embodiment of the present invention. 本実施形態のＥＣＵを示す機能ブロック図である。It is a functional block diagram which shows ECU of this embodiment. 自車両と前方車両との接近距離を説明する模式的な側面図である。It is a typical side view explaining the approach distance of the own vehicle and a front vehicle. 本実施形態の単位加速度変化の演算手順を示すフロー図である。It is a flowchart which shows the calculation procedure of the unit acceleration change of this embodiment. 本実施形態の惰行時加速度変化の演算手順を示すフロー図である。It is a flowchart which shows the calculation procedure of the acceleration change at the time of coasting of this embodiment. 下り坂走行時における車両抗力を説明する模式的な側面図である。It is a typical side view explaining vehicle drag at the time of downhill running. 本実施形態の制御内容を示すフローチャートである。It is a flowchart which shows the control content of this embodiment.
　以下、添付図面に基づいて、本発明の一実施形態に係る車両走行制御置を説明する。同一の部品には同一の符号を付してあり、それらの名称及び機能も同じである。したがって、それらについての詳細な説明は繰返さない。 Hereinafter, a vehicle travel control device according to an embodiment of the present invention will be described with reference to the accompanying drawings. The same parts are denoted by the same reference numerals, and their names and functions are also the same. Therefore, detailed description thereof will not be repeated.
　図１は、本実施形態の車両１を示す全体構成図である。エンジン１０の出力軸は、クラッチ１１を介して変速機１２の入力軸に接続されている。変速機１２の出力軸は、プロペラシャフト１３、差動装置１４、ドライブシャフト１５を介して駆動輪（左右後輪）１６Ｌ，１６Ｒにそれぞれ接続されている。 FIG. 1 is an overall configuration diagram showing a vehicle 1 of the present embodiment. The output shaft of the engine 10 is connected to the input shaft of the transmission 12 via the clutch 11. The output shaft of the transmission 12 is connected to drive wheels (left and right rear wheels) 16L and 16R via a propeller shaft 13, a differential device 14, and a drive shaft 15, respectively.
　なお、図１中において、符号１７Ｌ，１７Ｒは操舵輪（左右前輪）、符号１８は制動時に発電駆動するリターダ、符号２０は距離・相対速度検出装置、符号２１は車速センサ、符号２２はアクセルペダルセンサ、符号２３はブレーキペダルセンサ、符号５０は電子制御ユニット（以下、ＥＣＵと称する）をそれぞれ示している。 In FIG. 1, reference numerals 17L and 17R are steered wheels (front left and right wheels), reference numeral 18 is a retarder that is driven to generate power during braking, reference numeral 20 is a distance / relative speed detector, reference numeral 21 is a vehicle speed sensor, and reference numeral 22 is an accelerator pedal. Reference numeral 23 denotes a brake pedal sensor, and reference numeral 50 denotes an electronic control unit (hereinafter referred to as ECU).
　距離・相対速度検出装置２０は、例えばミリ波レーダ等であって、前方車両に電波を送信すると共に、前方車両から反射した電波を受信して、受信電波の周波数変化から、自車両と前方車両との車間距離Ｓ及び相対速度ＶRを検出する。検出された車間距離Ｓ及び相対速度ＶRは、電気的に接続されたＥＣＵ５０に送信される。 The distance / relative velocity detection device 20 is, for example, a millimeter wave radar or the like, and transmits a radio wave to the preceding vehicle and receives a radio wave reflected from the preceding vehicle. detecting a following distance S and the relative speed V R and. The detected inter-vehicle distance S and the relative speed V R are transmitted to the electrically connected ECU 50.
　車速センサ２１は、プロペラシャフト１３の回転速度から車両１の走行速度ＶTを検出する。アクセルペダルセンサ２２は、アクセルペダル３１の踏み込み量からアクセル開度Ｑを検出する。ブレーキペダルセンサ２３は、ブレーキペダル３２の踏み込み量から運転者によるブレーキ操作の有無を検出する。これら各種センサ２１～２３のセンサ値は、電気的に接続されたＥＣＵ５０に送信される。 The vehicle speed sensor 21 detects the traveling speed V T of the vehicle 1 from the rotational speed of the propeller shaft 13. The accelerator pedal sensor 22 detects the accelerator opening Q from the depression amount of the accelerator pedal 31. The brake pedal sensor 23 detects the presence or absence of a brake operation by the driver from the amount of depression of the brake pedal 32. The sensor values of these various sensors 21 to 23 are transmitted to the electrically connected ECU 50.
　ＥＣＵ５０は、エンジン１０や変速機１２等の各種制御を行うもので、公知のＣＰＵやＲＯＭ、ＲＡＭ、入力ポート、出力ポート等を備え構成されている。また、ＥＣＵ５０は、図２に示すように、惰行制御実行部５１と、車間距離推定部５２と、惰行走行実行判定部５３とを一部の機能要素として有する。これら各機能要素は、本実施形態では一体のハードウェアであるＥＣＵ５０に含まれるものとして説明するが、これらのいずれか一部を別体のハードウェアに設けることもできる。 The ECU 50 performs various controls of the engine 10 and the transmission 12, and includes a known CPU, ROM, RAM, input port, output port, and the like. Further, as shown in FIG. 2, the ECU 50 includes a coasting control execution unit 51, an inter-vehicle distance estimation unit 52, and a coasting travel execution determination unit 53 as some functional elements. In the present embodiment, these functional elements are described as being included in the ECU 50, which is an integral piece of hardware. However, any one of these functional elements may be provided in separate hardware.
　惰行制御実行部５１は、詳細を後述する惰行走行実行判定部５３によって惰行制御が可能と判定された場合に、車両１を惰行走行させる惰行制御を実行する。惰行制御は、変速機１２をニュートラル（もしくはクラッチ１１を断）にして、駆動輪１６Ｌ，１６Ｒからエンジン１０への動力伝達を遮断しつつ、エンジン１０の燃料噴射を例えばアイドル噴射量で維持することで実行される。 The coasting control execution unit 51 executes coasting control for coasting the vehicle 1 when it is determined that coasting control is possible by the coasting execution determination unit 53 described later in detail. In the coasting control, the transmission 12 is neutral (or the clutch 11 is disengaged), and power transmission from the drive wheels 16L and 16R to the engine 10 is interrupted, and the fuel injection of the engine 10 is maintained at, for example, an idle injection amount. Is executed.
　車間距離推定部５２は、惰行制御の開始から所定時間（ｔ）経過後に自車両が前方車両に近づく距離（以下、接近距離Ｓt）を推定する（図３参照）。この接近距離Ｓtは、ＥＣＵ５０に予め記憶された以下の数式（１）に基づいて演算される。なお、数式（１）において、ＶRは距離・相対速度検出装置２０から入力され相対速度、ａは単位時間当たりの加速度変化（以下、単位加速度変化Ａ）と、惰行制御を実行した場合の加速度変化（以下、惰行時加速度変化Ｂ）との総和（ａ＝Ａ＋Ｂ）である。 The inter-vehicle distance estimation unit 52 estimates a distance (hereinafter referred to as an approach distance St ) that the host vehicle approaches the preceding vehicle after a predetermined time (t) has elapsed since the start of coasting control (see FIG. 3). This approach distance S t is calculated based on the equation (1) below which is previously stored in the ECU 50. Note that in Equation (1), V R is the relative speed is inputted from the distance and a relative speed detecting device 20, a acceleration change per unit time (hereinafter, the unit acceleration change A) and the acceleration in the case of executing the coasting control The sum (a = A + B) of the change (hereinafter, coasting acceleration change B).
Figure JPOXMLDOC01-appb-M000001
Figure JPOXMLDOC01-appb-M000001
　単位加速度変化Ａは、例えば、図４に示すフローに従って演算される。すなわち、Ｓ１００で距離・相対速度検出装置２０から相対速度ＶR_1を読み込み、Ｓ１１０で所定の設定時間ｔA（例えば、３秒）経過後の相対速度ＶR_2を読み込み、Ｓ１２０でこれら相対速度ＶR_1及び相対速度ＶR_2の偏差ΔＶRを算出し、Ｓ１３０で偏差ΔＶRを設定時間ｔAで除算することで、単位加速度変化Ａが得られる。 The unit acceleration change A is calculated, for example, according to the flow shown in FIG. That is, the relative speed V R_1 is read from the distance / relative speed detector 20 in S100, the relative speed V R_2 after a predetermined set time t A (eg, 3 seconds) is read in S110, and these relative speeds V R_1 are read in S120. Then, the deviation ΔV R of the relative speed V R — 2 is calculated, and the deviation ΔV R is divided by the set time t A in S130 to obtain the unit acceleration change A.
　惰行時加速度変化Ｂは、図５に示すフローに従って演算される。すなわち、Ｓ２００で車速センサ２１から走行速度ＶT_1を読み込み、Ｓ２１０で所定の設定時間ｔB（例えば、１秒）経過後の走行速度ＶT_2を読み込み、Ｓ２２０でこれら走行速度ＶT_1及び走行速度ＶT_2の偏差ΔＶTを算出し、Ｓ２３０で偏差ΔＶTを設定時間ｔBで除算することで、惰行制御時の単位時間当たりの加速度変化ａ’を演算する。そして、Ｓ２４０で、惰行制御時の加速度変化ａ’を以下の数式（２）に代入することで、惰行時加速度変化Ｂが得られる。なお、数式（２）において、ｉは総減速比（－）、ηは伝達効率（－）、Ｔｅはエンジントルク（Ｎｍ）、ｒはタイヤ径（ｍ）、ｍは車両重量（ｋｇｆ）を示している。 The coasting acceleration change B is calculated according to the flow shown in FIG. In other words, the travel speed V T_1 is read from the vehicle speed sensor 21 in S200, the travel speed V T_2 after a predetermined set time t B (for example, 1 second) is read in S210, and the travel speed V T_1 and the travel speed V are read in S220. By calculating the deviation ΔV T of T_2 and dividing the deviation ΔV T by the set time t B in S230, an acceleration change a ′ per unit time during coasting control is calculated. In S240, the acceleration change B during coasting is substituted into the following formula (2) to obtain the coasting acceleration change B. In Equation (2), i is the total reduction ratio (−), η is the transmission efficiency (−), Te is the engine torque (Nm), r is the tire diameter (m), and m is the vehicle weight (kgf). ing.
Figure JPOXMLDOC01-appb-M000002
Figure JPOXMLDOC01-appb-M000002
　この数式（２）は、車両が下り坂で惰行走行した場合（図６参照）に、車両にかかる力の釣り合いを示す以下の数式（３），（４）から得られる。 This formula (2) is obtained from the following formulas (3) and (4) indicating the balance of the forces applied to the vehicle when the vehicle coasts on a downhill (see FIG. 6).
Figure JPOXMLDOC01-appb-M000003
Figure JPOXMLDOC01-appb-M000003
Figure JPOXMLDOC01-appb-M000004
Figure JPOXMLDOC01-appb-M000004
　惰行走行実行判定部５３は、自車両と前方車両との相対距離等に基づいて、惰行制御の実行が可能か否かを判定する。より詳しくは、惰行走行実行判定部５３は、アクセル開度Ｑが所定の設定値未満（例えば、アイドル噴射未満）、サービスブレーキがオフ、補助ブレーキがオフの３条件が成立し、且つ、現在の車間距離Ｓと接近距離Ｓtとの差（所定時間（ｔ）経過後の車間距離）が、設定車間距離Ｓpよりも大きい場合（Ｓ－Ｓt＞Ｓp）に、惰行制御の実行を可能と判定する。すなわち、惰行制御によって自車両と前方車両との車間距離が設定車間距離Ｓpに至るのに所定時間（ｔ）あれば、惰行制御を実行可能と判定するように構成されている。なお、設定車間距離Ｓpは、例えば、自車両の前方車両への追突を回避できる安全車間距離で設定される。 The coasting execution determination unit 53 determines whether or not the coasting control can be performed based on the relative distance between the host vehicle and the preceding vehicle. More specifically, the coasting travel execution determination unit 53 satisfies the three conditions that the accelerator opening Q is less than a predetermined set value (for example, less than idle injection), the service brake is off, and the auxiliary brake is off, the difference between the inter-vehicle distance S between the approach distance S t if (a predetermined time (t) following distance after) is larger than the set inter-vehicle distance S p (S-S t> S p), the execution of the coasting control Judge that it is possible. That is, if a predetermined time to headway distance between the host vehicle and the preceding vehicle by coasting control reaches the set inter-vehicle distance S p (t), and is configured to determine executable coasting control. The set inter-vehicle distance Sp is set, for example, as a safe inter-vehicle distance that can avoid a rear-end collision of the host vehicle with the preceding vehicle.
　次に、図７に基づいて、本実施形態の車両走行制御装置による制御フローを説明する。なお、本制御は、イグニッションキーＯＮ操作と同時にスタートする。 Next, a control flow by the vehicle travel control device of the present embodiment will be described based on FIG. This control starts simultaneously with the ignition key ON operation.
　Ｓ３００ではアクセル開度Ｑが設定値未満か否かが判定され、Ｓ３１０ではサービスブレーキのオフが判定され、Ｓ３２０では補助ブレーキのオフが判定される。これら３つの条件が全て成立した場合は、Ｓ３３０に進む。一方、これら３つの条件の何れかが成立しない場合は、Ｓ４００に進み惰行制御の実行をキャンセルしてリターンされる。なお、これらＳ３００～３２０の判定は、同時に行われてもよい。 In S300, it is determined whether or not the accelerator opening Q is less than the set value. In S310, it is determined whether the service brake is off. In S320, it is determined that the auxiliary brake is off. If all three conditions are satisfied, the process proceeds to S330. On the other hand, if any of these three conditions is not satisfied, the process proceeds to S400 and the execution of coasting control is canceled and the process returns. Note that these determinations in S300 to 320 may be performed simultaneously.
　Ｓ３３０では、距離・相対速度検出装置２０から、現在の自車両と前方車両との車間距離Ｓが読み込まれる。Ｓ３４０では、惰行制御を実行した場合の所定時間（ｔ）経過後における自車両と前方車両との接近距離Ｓtが上述の数式（１）に基づいて演算される。 In S330, the current inter-vehicle distance S between the host vehicle and the preceding vehicle is read from the distance / relative speed detection device 20. In S340, the approach distance S t between the subject vehicle and the preceding vehicle after a predetermined time (t) elapsed in the case of executing the coasting control is calculated based on Equation (1) above.
　Ｓ３５０では、車間距離Ｓと接近距離Ｓtとの差が設定車間距離Ｓpよりも大きいか否かが判定される。車間距離Ｓと接近距離Ｓtとの差が設定車間距離Ｓp以下の場合（Ｎｏ）は、Ｓ４００に進み惰行制御の実行をキャンセルしてリターンされる。一方、車間距離Ｓと接近距離Ｓtとの差が設定車間距離Ｓpよりも大きい場合（Ｙｅｓ）は、惰行制御を実行しても前方車両への追突の可能性が無いため、Ｓ３６０に進む。 In S350, whether the difference between the inter-vehicle distance S between the approach distance S t is larger than the set following distance S p is determined. If the difference between the inter-vehicle distance S between the approach distance S t is equal to or less than the set inter-vehicle distance S p (No) it is returned to cancel the execution of the coasting control proceeds to S400. On the other hand, if the difference between the inter-vehicle distance S between the approach distance S t is larger than the set inter-vehicle distance S p (Yes), since there is no possibility of collision to the vehicle ahead by performing the coasting control proceeds to S360 .
　Ｓ３６０では、変速機１２をニュートラル（もしくは、クラッチ１１を断）にし、且つ、エンジン１０の燃料噴射をアイドル噴射で維持する惰行制御が実行されてリターンされる。その後、上述の各制御ステップは、エンジン１０のイグニッションキーＯＦＦ操作まで繰り返し実行される。 In S360, the coasting control is performed in which the transmission 12 is set to neutral (or the clutch 11 is disengaged), and the fuel injection of the engine 10 is maintained by idle injection. Thereafter, each control step described above is repeatedly executed until the ignition key OFF operation of the engine 10 is performed.
　次に、本実施形態の車両走行制御装置による作用効果を説明する。 Next, functions and effects of the vehicle travel control device of this embodiment will be described.
　本実施形態の車両走行制御装置では、惰行制御によって自車両と前方車両との車間距離が設定車間距離に至るのに所定時間（ｔ）あれば惰行制御を実行し、所定時間（ｔ）ない場合は惰行制御をキャンセルするように構成されている。したがって、本実施形態の車両走行制御装置によれば、前方車両との車間距離に応じた最適な惰行制御の実行が可能となる。また、不必要な惰行制御が効果的に低減されて、惰行制御時のアイドル噴射により引き起こされる燃料消費率の悪化を効果的に防止することができる。 In the vehicle travel control device of this embodiment, coasting control is executed if the predetermined distance (t) is reached when the inter-vehicle distance between the host vehicle and the preceding vehicle reaches the set inter-vehicle distance by the coasting control, and there is no predetermined time (t). Is configured to cancel coasting control. Therefore, according to the vehicle travel control device of the present embodiment, it is possible to perform optimal coasting control according to the inter-vehicle distance from the preceding vehicle. Further, unnecessary coasting control is effectively reduced, and deterioration of the fuel consumption rate caused by idle injection during coasting control can be effectively prevented.
　なお、本発明は、上述の実施形態に限定されるものではなく、本発明の趣旨を逸脱しない範囲で、適宜変形して実施することが可能である。 It should be noted that the present invention is not limited to the above-described embodiment, and can be appropriately modified and implemented without departing from the spirit of the present invention.
　例えば、接近距離Ｓtの演算は、上述の数式（１）に限定されず、他の数式等を用いてもよい。 For example, the calculation of approach distance S t is not limited to Equation (1) described above, may be used other formulas or the like.

Claims (2)

  1. 　エンジンと駆動輪との間の動力伝達を遮断して車両を惰行走行させる惰行制御を実行可能な惰行制御実行手段と、
    　自車両と前方車両との車間距離及び相対速度を検出する検出手段と、
    　惰行走行を行った場合の自車両と前方車両との車間距離を前記検出手段の検出値に基づいて推定する車間距離推定手段と、
    　前記車間距離推定手段で推定される車間距離に基づいて惰行走行が可能か否かを判定する惰行走行判定手段と、を備え、
    　前記惰行制御実行手段は、前記惰行走行判定手段によって惰行走行が可能と判定された場合に前記惰行制御を実行する
    　車両走行制御装置。     Coasting control execution means capable of executing coasting control to intercept the power transmission between the engine and the drive wheels and coast the vehicle;
    Detecting means for detecting the inter-vehicle distance and relative speed between the host vehicle and the preceding vehicle;
    An inter-vehicle distance estimating means for estimating an inter-vehicle distance between the host vehicle and the preceding vehicle when coasting is performed based on a detection value of the detecting means;
    Coasting travel determination means for determining whether coasting travel is possible based on the inter-vehicle distance estimated by the inter-vehicle distance estimation means,
    The coasting control execution unit executes the coasting control when the coasting traveling determination unit determines that coasting traveling is possible.
  2. 　前記車間距離推定手段が、前記検出手段の検出値に基づいて、惰行走行開始から所定時間経過後の自車両と前方車両との接近距離を推定すると共に、該接近距離に基づいて前記車間距離を推定する
    　請求項１に記載の車両走行制御装置。     The inter-vehicle distance estimating means estimates the approach distance between the host vehicle and the preceding vehicle after a predetermined time has elapsed since the start of coasting based on the detection value of the detecting means, and calculates the inter-vehicle distance based on the approach distance. The vehicle travel control device according to claim 1.
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