Object detection in adaptive cruise control

• US 20030204298A1
• Filed: 04/30/2002
• Published: 10/30/2003
• Est. Priority Date: 04/30/2002
• Status: Active Grant

• Current Assignee: Ford Global Technologies, LLC (Ford Motor Company)
• Original Assignee: Ford Global Technologies, LLC (Ford Motor Company)
• Inventors: Engelman, Gerald H., Haney, Paul Robert, Ahmed-Zaid, Farid
• Granted Patent: US 6,968,266 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: B60W 2520/14 Yaw
• CPC Class Codes: B60W 2552/00 Input parameters relating to infrastructure
• CPC Class Codes: B60W 2552/05 Type of road, e.g. motorways, local streets, paved or unpaved roads
• CPC Class Codes: B60W 2552/10 Number of lanes
• CPC Class Codes: B60W 2552/15 Road slope, i.e. the inclination of a road segment in the longitudinal direction
• CPC Class Codes: B60W 2552/20 Road profile, i.e. the change in elevation or curvature of a plurality of continuous road segments
• CPC Class Codes: B60W 2552/30 Road curve radius
• CPC Class Codes: B60W 2554/00 Input parameters relating to objects
• CPC Class Codes: B60W 2554/20 Static objects
• CPC Class Codes: B60W 2554/802 Longitudinal distance
• CPC Class Codes: B60W 2554/804 Relative longitudinal speed
• CPC Class Codes: B60W 2556/50 of positioning data, e.g. GPS [Global Positioning System] data
• CPC Class Codes: B60W 30/16 Control of distance between vehicles, e.g. keeping a distance to preceding vehicle

Abstract

A control system 20 for an automotive vehicle 22, such as an adaptive cruise control (ACC) system, is provided including a controller 24. The controller 24 is electrically coupled to a radar system and a navigation system. The detection system 28 detects an object and generates an object profile. The navigation system 34 generates a navigation signal. The controller 24 in response to the object profile and the navigation signal, generates a predicted future path profile and inhibits resume speed of the vehicle 22 in response to the predicted future path profile. An additional feature of the invention is that the controller 24 may also be electrically coupled to a yaw rate sensor 30. The yaw rate sensor 30 senses the yaw rate of the vehicle 22 and generates a yaw rate signal. The controller 24 in response to the yaw rate signal inhibits resume speed of the vehicle 22.

Claims

1. A method of adaptively controlling the speed of an automotive vehicle having a controller comprising:

detecting an object and generating an object profile;

detecting a future path of the automotive vehicle;

generating a predicted future path profile in response to said future path and said object profile; and

inhibiting a resume speed of the automotive vehicle in response to said predicted future path profile.

2. A method as in claim 1 further comprising continuously updating said predicted future path profile.

3. A method as in claim 2 wherein updating said predicted future path profile includes updating parameters selected from the following group comprising:

object profile, yaw rate, street category, and upcoming future road paths.

4. A method as in claim 1 further comprising:

determining that said object is a stopped object;

adjusting automotive vehicle speed in relation to said stopped object; and

maintaining a safe operating distance between the automotive vehicle and said stopped object.

5. A method as in claim 1 further comprising assuming a future road condition selected from the following group comprising:

road curvature, speed category, number of lanes, and road inclination is the same as a present road condition.

6. A method as in claim 1 wherein detecting the future path of the automotive vehicle comprises:

sensing yaw rate of the automotive vehicle and generating a yaw rate signal;

relating said yaw rate to road curvature; and

inhibiting resume speed of the automotive vehicle in response to said yaw rate signal.

7. A method as in claim 1 wherein detecting the future path of the automotive vehicle comprises using a navigation system to generate a navigation signal including information selected from the following group comprising:

automotive vehicle position, speed category, future path of the automotive vehicle, landmark location, road curvature, overhead object location, bridge location, construction zone, number of lanes, road type, and road inclination.

8. A method as in claim 1 wherein generating an object profile comprises storing object parameters selected from the following list comprising:

relative distance from the automotive vehicle, object location relative to a road, and velocity of said object relative to the automotive vehicle velocity.

9. A method as in claim 1 wherein generating a predicted future path profile further comprises determining object location with respect to the future path of the automotive vehicle.

10. A method as in claim 1 wherein inhibiting the resume speed of the automotive vehicle further comprises inhibiting resume speed of the automotive vehicle while a present parameter selected from the following group comprising:

road curvature, speed category, number of lanes, and road inclination remains constant.

12. A method as in claim 1further comprising:

detecting an object and generating an object profile;

detecting a future path of the automotive vehicle and generating a predicted future path profile;

assuming a future road condition to be the same as a present road condition; and

inhibiting resume of the automotive vehicle in response to said object profile, said assumption, and said predicted future path profile.

11. A method of adaptively controlling the speed of an automotive vehicle having a controller comprising:

sensing yaw rate of the automotive vehicle;

generating a yaw rate signal; and

inhibiting resume speed of the automotive vehicle in response to said yaw rate signal.

13. A method as in claim 11 wherein detecting a future path of the automotive vehicle is in response to a navigation signal.

14. A method as in claim 11 further comprising adjusting the automotive vehicle speed in response to said object profile and said predicted future path profile to avoid a stopped object.

15. A method as in claim 11 wherein said controller in response to said object profile and said predicted future path profile signals a warning system.

16. A control system for an automotive vehicle comprising:

a detection system detecting an object, said detection system generating a object profile;

a navigation system generating a navigation signal; and

a controller electrically coupled to said radar system and said navigation system, said controller in response to said object profile and said navigation signal, generating a predicted future path profile and inhibiting resume speed of the automotive vehicle in response to said predicted future path profile.

17. A system as in claim 16 wherein said controller in generating a predicted future path profile determines an object location with respect to the future path of the automotive vehicle.

18. A system as in claim 16 wherein said controller determines said object to be a stopped object and adjusts the speed of the automotive vehicle in relation to said stopped object.

19. A control system for an automotive vehicle comprising:

a yaw rate sensor sensing yaw rate of the automotive vehicle, said yaw rate sensor generating a yaw rate signal; and

a controller electrically coupled to said yaw rate sensor, said controller inhibiting resume speed of the automotive vehicle in response to said yaw rate signal.

20. A system as in claim 19 further comprising:

a radar system detecting an object, said radar system generating an object profile; and

a navigation system generating a navigation signal;

said controller electrically coupled to said radar system and said navigation system, said controller in response to said object profile and said navigation signal generating a predicted future path profile and inhibiting resume speed of the automotive vehicle in response to said predicted future path profile.