System and method for controlling vehicle velocity and inter-vehicle distance

• US 20020173896A1
• Filed: 12/20/2001
• Published: 11/21/2002
• Est. Priority Date: 05/16/2000
• Status: Active Grant

• Current Assignee: Nissan Motor Co., Ltd.
• Original Assignee: Nissan Motor Co., Ltd.
• Inventors: Adachi, Kazutaka, Ino, Junsuke, Sudo, Hideki, Ishizu, Takeshi
• Granted Patent: US 6,529,814 B2
• Time in Patent Office: Days
• US Class Current: 701/96
• CPC Class Codes: B60K 31/0008 including means for detecting potential obstacles in vehicle path
• CPC Class Codes: B60K 31/047 the memory being digital
• CPC Class Codes: B60W 2050/0012 Feedforward or open loop systems
• CPC Class Codes: B60W 2050/0031 Mathematical model of the vehicle
• CPC Class Codes: B60W 2520/10 Longitudinal speed
• CPC Class Codes: B60W 2520/125 Lateral acceleration
• CPC Class Codes: B60W 2540/10 Accelerator pedal position
• CPC Class Codes: B60W 2540/18 Steering angle
• CPC Class Codes: B60W 2552/15 Road slope, i.e. the inclination of a road segment in the longitudinal direction
• CPC Class Codes: B60W 2720/106 Longitudinal acceleration
• CPC Class Codes: F16H 61/66 specially adapted for continuously variable gearings control of exclusively fluid gearing F16H61/38

Abstract

In automatic vehicular velocity controlling apparatus and method for automotive vehicle, a target vehicular velocity to maintain a predetermined inter-vehicle distance between a preceding vehicle which is running ahead of the vehicle is set as a first set vehicular velocity and a vehicular velocity of the vehicle (host vehicle) is controlled to give one of the first set vehicular velocity and a second set vehicular velocity by a manual setting through a set switch and an accelerate switch or coast switch if the preceding vehicle is present and is controlled to maintain the vehicular velocity at the second set vehicular velocity if no preceding vehicle is present. Then, when the set vehicular velocity is modified through the above-described accelerate switch or coast switch, a vehicular velocity variation rate is determined in accordance with a deviation between the actual vehicular velocity and a newly set vehicular velocity after the modification of the vehicular occupant'"'"'s vehicular velocity.

Claims

1. An automatic vehicular velocity controlling system for an automotive vehicle, comprising;

a vehicular velocity controlling command value determining section that selectively determines a vehicular velocity controlling command value from one of a first set vehicular velocity based on an inter-vehicle distance control for a preceding vehicle which is running ahead of the vehicle and a second set vehicular velocity based on a manual setting depending upon a magnitude of which one is smaller than the other and depending upon whether the preceding vehicle is present;

a vehicular drive controlling section that drivingly controls one of a vehicular engine, a vehicular transmission, and a vehicular brake system to make an actual vehicular velocity substantially equal to the vehicular velocity controlling command value;

a vehicular velocity controlling vehicular velocity command value modification determining section that determines whether a modification of the vehicular velocity controlling command value to a new one is made; and

a vehicular velocity command value variation rate determining section that determines a deviation between the new vehicular velocity command value and the actual vehicular velocity and determines a variation rate for the vehicular velocity to reach to the new vehicular velocity command value when the vehicular velocity command value modification determining section determines that the modification is made in such a manner that as a magnitude of the deviation becomes larger, the variation rate becomes larger and as the magnitude of the deviation becomes smaller, the variation rate becomes smaller.

2. An automatic vehicular velocity controlling system for an automotive vehicle as claimed in claim 1, wherein the vehicular drive controlling section drivingly controls one of the vehicular engine, transmission, and brake system in such a manner that the actual vehicular velocity is made substantially equal to the new vehicular velocity controlling command value at the variation rate determined by the vehicular velocity controlling command value variation rate determining section.

3. An automatic vehicular velocity controlling system for an automotive vehicle as claimed in claim 1, further comprising:

a vehicular velocity detector to detect the actual vehicular velocity;

an inter-vehicle distance detector to detect an inter-vehicle distance from the vehicle to the preceding vehicle; and

an inter-vehicle distance controlling block that provides an inter-vehicle related controlling vehicular velocity command value to maintain the actual inter-vehicle distance at a target inter-vehicle distance on the basis of the detected inter-vehicle distance and the detected vehicular velocity for the vehicular velocity controlling command value determining section, the inter-vehicle related controlling vehicular velocity command value corresponding to the first set vehicular velocity.

4. An automatic vehicular velocity controlling system for an automotive vehicle as claimed in claim 3, further comprising a preceding vehicle detector to detect whether the preceding vehicle is present on the basis of the inter-vehicle distance detected by the inter-vehicle distance detector and wherein the vehicular velocity controlling vehicular velocity command value determining section selects one of the first set vehicular velocity and the second set vehicular velocity which is smaller than the other to the vehicular velocity controlling command value V_COM(t) as the target vehicular velocity when the preceding vehicle detector detects that the preceding vehicle is present and selects the second set vehicular velocity as the vehicular velocity controlling command value V_COM(t) when the preceding vehicle detector detects that the preceding vehicle is absent.

5. An automatic vehicular velocity controlling system for an automotive vehicle as claimed in claim 2, wherein the vehicular velocity controlling command value variation rate determining section comprises a vehicular velocity command value variation rate determining block that calculates a vehicular velocity command value variation rate Δ

V_COM(t) on a basis of an absolute value of a deviation between the actual velocity V_A(t) and a vehicular velocity command maximum value V_SMAX which corresponds to the second set vehicular velocity when the preceding vehicle detector detects that the preceding vehicle is absent.

6. An automatic vehicular velocity controlling system for an automotive vehicle as claimed in claim 1, wherein as the absolute value of the deviation becomes larger, a vehicular velocity command value variation rate Δ

V_COM(t) which corresponds to the variation rate becomes larger to a degree below a predetermined acceleration upper limitation value α

.

7. An automatic vehicular velocity controlling system for an automotive vehicle as claimed in claim 1, wherein as an absolute value of the deviation becomes smaller, a vehicular velocity command value variation rate Δ

V_COM(t) becomes smaller to a degree above a predetermined acceleration lower limitation value.

8. An automatic vehicular velocity controlling system for an automotive vehicle as claimed in claim 6, wherein the vehicular velocity command value variation rate determining section comprises a vehicular velocity command value variation rate determining block that calculates a vehicular velocity command value variation rate Δ

V_COM(t) on the basis of an absolute value of a deviation between the actual velocity V_A(t) and a vehicular velocity command maximum value V_SMAX which corresponds to the second set vehicular velocity from a map when the preceding vehicle detector detects that the preceding vehicle is absent, the map being represented in such a manner that as the absolute value of the actual vehicular velocity and the vehicular velocity command maximum value V_SMAX becomes larger, the variation rate becomes larger and as the absolute value of the actual vehicular velocity in a predetermined range and the vehicular velocity command maximum value V_SMAX becomes smaller, the variation rate for the vehicular velocity becomes smaller in the predetermined range.

9. An automatic vehicular velocity controlling system for an automotive vehicle as claimed in claim 3, further comprising a set switch, an accelerate switch, and a coast switch, and a vehicular velocity command maximum value setting block that sets the actual vehicular velocity V_A(t) when the set switch is once operated as the vehicular velocity command maximum value V_SMAX and updates the original vehicular velocity command maximum value V_SMAX to a new vehicular velocity command maximum value V_SMAX lower than the original vehicular velocity command value V_SMAX by n×

a unit of a predetermined velocity whenever the coast switch is operated by the n number of times and updates the original vehicular velocity command maximum value V_SMAX to the new vehicular velocity maximum value V_SMAX higher than the original vehicular velocity command value V_SMAX by n×

the unit of the predetermined velocity whenever the accelerate switch is operated by the n number of times.

10. An automatic vehicular velocity controlling system for an automotive vehicle as claimed in claim 4, wherein when the inter-vehicle related controlling vehicular velocity command value V*(t) is selectively set as the target vehicular velocity and the set vehicular velocity modification determining section determines that the first set vehicular velocity which corresponds to the inter-vehicle related controlling vehicular velocity command value is modified to the new set vehicular velocity, the variation rate for the vehicular velocity is determined in accordance with the magnitude of the deviation.

11. An automatic vehicular velocity controlling system for an automotive vehicle as claimed in claim 10, wherein the vehicular velocity command value determining block sets the vehicular velocity command value V_COM(t) as the set vehicular velocity in the following manner:

V_COM(t)=min[V_SMAX, V_A(t)+Δ

V_COM(t)−

V_SUB(t)] when V_SMAX >

V_A(t), wherein V_SUB(t) denotes a vehicular velocity correction value;

V_COM(t)=V_SMAX−

V_SUB(t) when V_SMAX=V_A(t); and

V_COM(t)=max[V_SMAX, V_A(t)−

Δ

V_COM(t)−

V_SUB(t)] when V_SMAX<

V_A(t) and;

V_COM(t)=V_CO−

V_SUB(t) when the preceding vehicle detector detects that the preceding vehicle is present, wherein V_CO=min[V*(t), V_SMAX].

12. An automatic vehicular velocity controlling method for an automotive vehicle, comprising;

selectively determining a vehicular velocity controlling command value from one of a first set vehicular velocity based on an inter-vehicle distance control for a preceding vehicle which is running ahead of the vehicle and a second set vehicular velocity based on a manual setting depending upon a magnitude of which one is smaller than the other and depending upon whether the preceding vehicle is present;

drivingly controlling one of a vehicular engine, a vehicular transmission, and a vehicular brake system to make an actual vehicular velocity substantially equal to the vehicular velocity controlling command value;

determining whether a modification of the vehicular velocity controlling command value to a new one is made; and

determining a deviation between the new vehicular velocity command value and the actual vehicular velocity and determines a variation rate for the vehicular velocity to reach to the new vehicular velocity command value when the vehicular velocity command value modification determining section determines that the modification is made in such a manner that as a magnitude of the deviation becomes larger, the variation rate becomes larger and as the magnitude of the deviation becomes smaller, the variation rate becomes smaller.