Adaptive cruise speed controlling apparatus and method for automotive vehicle
First Claim
1. An adaptive cruise speed controlling apparatus for an automotive vehicle, comprising:
- a target vehicular velocity setting section that sets a target vehicular velocity in such a way that an addition value of a difference between a target inter-vehicle distance from the vehicle to a preceding vehicle, the preceding vehicle running ahead of the vehicle on the same traffic lane, and an actual inter-vehicle distance thereof multiplied by a first gain and a relative velocity between the vehicle and the preceding vehicle multiplied by a second gain is included in the set vehicular velocity; and
a control gain setting section that sets the first and second gains to control a vehicular driving force to make the inter-vehicle distance substantially equal to the target inter-vehicle distance and to converge the inter-vehicle distance into the target inter-vehicle distance within a predetermined small overshoot crossing the target inter-vehicle distance when a size of an external form of the preceding vehicle is larger than a predetermined size.
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Accused Products
Abstract
In adaptive cruise speed controlling apparatus and method for an automotive vehicle, a target vehicular velocity is set in such a way that an addition value of a difference between a target inter-vehicle distance from the vehicle to a preceding vehicle, the preceding vehicle running ahead of the vehicle on the same traffic lane, and an actual inter-vehicle distance thereof multiplied by a first gain and a relative velocity between the vehicle and the preceding vehicle multiplied by a second gain is included in the set vehicular velocity and the first and second gains are set to control a vehicular driving force to make the inter-vehicle distance substantially equal to the target inter-vehicle distance and to converge the inter-vehicle distance into the target inter-vehicle distance within a predetermined small overshoot crossing the target inter-vehicle distance when a size of an external form of the preceding vehicle is larger than a predetermined size.
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Citations
20 Claims
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1. An adaptive cruise speed controlling apparatus for an automotive vehicle, comprising:
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a target vehicular velocity setting section that sets a target vehicular velocity in such a way that an addition value of a difference between a target inter-vehicle distance from the vehicle to a preceding vehicle, the preceding vehicle running ahead of the vehicle on the same traffic lane, and an actual inter-vehicle distance thereof multiplied by a first gain and a relative velocity between the vehicle and the preceding vehicle multiplied by a second gain is included in the set vehicular velocity; and
a control gain setting section that sets the first and second gains to control a vehicular driving force to make the inter-vehicle distance substantially equal to the target inter-vehicle distance and to converge the inter-vehicle distance into the target inter-vehicle distance within a predetermined small overshoot crossing the target inter-vehicle distance when a size of an external form of the preceding vehicle is larger than a predetermined size. - View Dependent Claims (2, 3)
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4. An adaptive cruise speed controlling apparatus for an automotive vehicle, comprising:
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a target inter-vehicle distance setting section that sets a target inter-vehicle distance between the vehicle and a preceding vehicle which is running ahead of the vehicle at the same traffic lane;
an inter-vehicle distance detecting section that detects an actual inter-vehicle distance between the vehicle and the preceding vehicle;
a relative velocity detecting section that detects a relative velocity of the vehicle to the preceding vehicle;
a target vehicular velocity setting section that sets a target vehicular velocity in such a way that an addition value between a value of difference between the target inter-vehicle distance set by the target inter-vehicle distance setting section and the inter-vehicle distance detected by the inter-vehicle distance detecting section multiplied with a first gain and a value of a second gain multiplied with the relative velocity detected by the relative velocity detecting section is included in the set vehicular velocity;
a vehicular velocity detecting section that detects the vehicular velocity of the vehicle;
a vehicular driving force controlling section that controls a vehicular driving force to make the inter-vehicle distance detected by the inter-vehicle distance detecting section substantially equal to the target inter-vehicle distance set by the target inter-vehicle distance setting section and to converge the inter-vehicle distance detected by the inter-vehicle distance detecting section into the target inter-vehicle distance set by the target inter-vehicle distance setting section; and
a preceding vehicle external form detecting section that detects a magnitude of an external form of the preceding vehicle, the target vehicular velocity setting section setting the first and second gains in such a manner that the inter-vehicle distance is smoothly converged within a predetermined small overshoot crossing the target inter-vehicle distance into the target inter-vehicle distance when the magnitude of the external form of the preceding vehicle detected by the preceding vehicle external form detecting section is larger than a predetermined magnitude. - View Dependent Claims (5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17)
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18. An adaptive cruise speed controlling apparatus for an automotive vehicle, comprising:
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target inter-vehicle distance setting means for setting a target inter-vehicle distance between the vehicle and a preceding vehicle which is running ahead of the vehicle at the same traffic lane;
inter-vehicle distance detecting means for detecting an actual inter-vehicle distance between the vehicle and the preceding vehicle;
relative velocity detecting means for detecting a relative velocity of the vehicle to the preceding vehicle;
target vehicular velocity setting means for setting a target vehicular velocity in such a way that an addition value between a value of difference between the target inter-vehicle distance set by the target inter-vehicle distance setting means and the inter-vehicle distance detected by the inter-vehicle distance detecting means multiplied with a first gain and a value of a second gain multiplied with the relative velocity detected by the relative velocity detecting means is included in the set vehicular velocity;
vehicular velocity detecting means for detecting the vehicular velocity of the vehicle;
vehicular driving force controlling means for controlling a vehicular driving force to make the inter-vehicle distance detected by the inter-vehicle distance detecting means substantially equal to the target inter-vehicle distance set by the target inter-vehicle distance setting means and to converge the inter-vehicle distance detected by the inter-vehicle distance detecting means into the target inter-vehicle distance set by the target inter-vehicle distance setting means; and
preceding vehicle external form detecting means for detecting a magnitude of an external form of the preceding vehicle, the target vehicular velocity setting means setting the first and second gains in such a manner that the inter-vehicle distance is smoothly converged within a predetermined small overshoot crossing the target inter-vehicle distance into the target inter-vehicle distance when the magnitude of the external form of the preceding vehicle detected by the preceding vehicle external form detecting means is larger than a predetermined magnitude.
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19. An adaptive cruise speed controlling method for an automotive vehicle, comprising:
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setting a target vehicular velocity in such a way that an addition value of a difference between a target inter-vehicle distance from the vehicle to a preceding vehicle, the preceding vehicle running ahead of the vehicle on the same traffic lane, and an actual inter-vehicle distance thereof multiplied by a first gain and a relative velocity between the vehicle and the preceding vehicle multiplied by a second gain is included in the set vehicular velocity; and
setting the first and second gains to control a vehicular driving force to make the inter-vehicle distance substantially equal to the target inter-vehicle distance and to converge the inter-vehicle distance into the target inter-vehicle distance with a relatively small overshoot crossing the target inter-vehicle distance when a size of the preceding vehicle is larger than a predetermined size.
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20. An adaptive cruise speed controlling method for an automotive vehicle, comprising:
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setting a target inter-vehicle distance between the vehicle and a preceding vehicle which is running ahead of the vehicle at the same traffic lane;
detecting an actual inter-vehicle distance between the vehicle and the preceding vehicle;
detecting a relative velocity of the vehicle to the preceding vehicle;
setting a target vehicular velocity in such a way that an addition value between a value of difference between the set target inter-vehicle distance and the detected inter-vehicle distance multiplied with a first gain and a value of a second gain multiplied with the detected relative velocity is included in the set vehicular velocity;
detecting the vehicular velocity of the vehicle;
controlling a vehicular driving force to make the detected inter-vehicle distance substantially equal to the set target inter-vehicle distance and to converge the detected inter-vehicle distance into the set target inter-vehicle distance; and
detecting a magnitude of an external form of the preceding vehicle, at the target vehicular velocity setting, the first and second gains being set in such a manner that the inter-vehicle distance is smoothly converged within a predetermined small overshoot crossing the target inter-vehicle distance into the target inter-vehicle distance when the detected magnitude of the external form of the preceding vehicle is larger than a predetermined magnitude.
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Specification