TRACKING RUNNING CONTROL APPARATUS

• US 20130024084A1
• Filed: 07/11/2012
• Published: 01/24/2013
• Est. Priority Date: 07/23/2011
• Status: Active Grant

• Current Assignee: DENSO Corporation
• Original Assignee: DENSO Corporation
• Inventors: Yamashiro, Takahisa
• Granted Patent: US 8,538,656 B2
• Time in Patent Office: Days
• US Class Current: 701/96
• CPC Class Codes: B60W 2050/0215 Sensor drifts or sensor failures
• CPC Class Codes: B60W 2420/408 Radar; Laser, e.g. lidar
• CPC Class Codes: B60W 2554/801 Lateral distance
• CPC Class Codes: B60W 2556/50 of positioning data, e.g. GPS [Global Positioning System] data
• CPC Class Codes: B60W 2556/65 Data transmitted between vehicles
• CPC Class Codes: B60W 30/165 Automatically following the path of a preceding lead vehicle, e.g. "electronic tow-bar"
• CPC Class Codes: B60W 50/029 Adapting to failures or work around with other constraints, e.g. circumvention by avoiding use of failed parts

Abstract

A tracking running control apparatus determines a failure-predicted segment where distance measurement using a laser radar is predicted to undergo a failure. Upon reaching the failure-predicted segment, a distance measurement device used in tracking running control is changed from the distance measurement device using the laser radar to a distance measurement device using a GPS receiver. Before the change of the distance measurement devices, a target inter-vehicle distance is gradually changed to a GPS-utilized target inter-vehicle distance through changing a vehicle speed with an acceleration equal to or less than a predetermined value. Under the configuration, it is possible to suppress annoyance for a driver of the vehicle because of the change of the target inter-vehicle distances accompanying the change of the distance measurement devices.

Claims

1. A tracking running control apparatus in a vehicle having a plurality of distance measurement devices using mutually different modes, respectively, to sequentially measure an inter-vehicle distance that is a distance to a preceding vehicle,

the tracking running control apparatus performing a tracking running control with respect to the preceding vehicle so as to set the inter-vehicle distance to a target inter-vehicle distance that is associated with each of the distance measurement devices,

the tracking running control comprising:

a radio receiver to receive failure information of a different vehicle that is different from the vehicle via an outside source outside of the vehicle, the failure information of the different vehicle containing (i) failure device information to specify a distance measurement device that underwent a measurement failure in a measurement of an inter-vehicle distance and (ii) failure point information to determine a failure point at which the measurement failure was undergone;

a failure prediction section to obtain (i) failure-predicted device information indicating a failure-predicted distance measurement device that is predicted to undergo a measurement failure in a measurement of an inter-vehicle distance and (ii) a failure-predicted segment in which the measurement failure is predicted, based on the failure information of the different vehicle received by the radio receiver;

a target inter-vehicle distance change section to,

in cases that a used distance measurement device that is used in the tracking running control of the vehicle is the failure-predicted distance measurement device indicated by the failure-predicted device information,

determine to change the used distance measurement device from the failure-predicted distance measurement device indicated by the failure-predicted device information to a different distance measurement device other than the failure-predicted distance measurement device, and

change gradually the target inter-vehicle distance set in the tracking running control to a changed target inter-vehicle distance that is associated with the different distance measurement device at an acceleration equal to or less than a predetermined value before the vehicle reaches the failure-predicted segment; and

a distance measurement device change section to, when an inter-vehicle distance to a preceding vehicle becomes the changed target inter-vehicle distance, change the used distance measurement device from the failure-predicted distance measurement device to the different distance measurement device.

2. The tracking running control apparatus according to claim 1, wherein:

the target inter-vehicle distance change section determines the changed target inter-vehicle distance based on a measurement accuracy with respect to each of the failure-predicted distance measurement device and the different distance measurement device by correcting the target inter-vehicle distance based on a length between (i) a position in the vehicle as an origin point of measurement by the failure-predicted distance measurement device and (ii) a position in the vehicle as an origin point of measurement by the different distance measurement device.

3. The tracking running control apparatus according to claim 1, further comprising:

a measurement accuracy difference calculation section to calculate a measurement accuracy difference between the distance measurement devices, based on results of sequentially measuring the inter-vehicle distances by the distance measurement devices, respectively,

wherein;

the target inter-vehicle distance change section sets the changed target inter-vehicle distance based on the measurement accuracy difference calculated by the measurement accuracy distance calculation section.

4. The tracking running control apparatus according to claim 3, wherein:

the target inter-vehicle distance change section further corrects the changed target inter-vehicle distance, which was set based on the measurement accuracy difference, based on a length between (i) a position in the vehicle as an origin point of measurement by the failure-predicted distance measurement device and (ii) a position in the vehicle as an origin point of measurement by the different distance measurement device, finally determining the changed target inter-vehicle distance as a final target inter-vehicle distance.

5. The tracking running control apparatus according to claim 1, further comprising:

an order determination information generation section to sequentially generate order determination information relative to the vehicle, the order determination information relative to the vehicle indicating an order of the vehicle in a vehicles convoy;

a radio transmitter to sequentially transmit the order determination information relative to the vehicle generated by the order determination information generation section to an outside source outside of the vehicle, wherein the radio receiver receives order determination information relative to a different vehicle transmitted from the different vehicle in the vehicles convoy;

an order-in-convoy determination section to sequentially determine an order of the vehicle from a head in the vehicles convoy based on (i) the order determination information relative to the different vehicle received by the radio receiver and (ii) the order determination information relative to the vehicle generated by the order determination information generation section; and

an information transmitting vehicle determination section to determine whether or not the failure information received by the radio receiver is transmitted from a vehicle ahead of the vehicle in the vehicles convoy,

wherein;

the failure prediction section

determines a percentage of a number of preceding vehicles transmitting failure information to a number of preceding vehicles, based on the order of the vehicle in the vehicles convoy determined by the order-in-convoy determination section and a result of determining by the information transmitting vehicle determination section,

the preceding vehicles being vehicles that are ahead of the vehicle in the vehicles convoy,

the preceding vehicles transmitting failure information being, within the preceding vehicles, vehicles, from each of which the failure information is received by the radio receiver, and

determines the failure-predicted segment using the percentage.

6. The tracking running control apparatus according to claim 1, wherein:

the distance measurement device change section changes again the used distance measurement device from the different distance measurement device to the failure-predicted distance measurement device when the vehicle passes through the failure-predicted segment.

7. The tracking running control apparatus according to claim 6, wherein:

the distance measurement device change section does not change again the used distance measurement device from the different distance measurement device to the failure-predicted distance measurement device even when the vehicle passes through the failure-predicted segment,

in cases that

(i) the failure prediction section predicts a next failure-predicted segment, and

(ii) it is determined that a time period before arrival at the next failure-predicted segment is shorter than a predetermined value.

8. The tracking running control apparatus according to claim 1, further comprising:

a measurement failure determination section to sequentially determine whether or not a measurement by the distance measurement device undergoes a failure;

a failure information generation section to generate failure information indicating a position of the vehicle and a result of determining by the distance measurement device when the measurement by the distance measurement device is determined to having undergone a failure; and

a radio transmitter to broadcast-transmit the failure information generated by the failure information generation section to an outside source outside of the vehicle.

9. The tracking running control apparatus according to claim 1, wherein

the plurality of distance measurement devices includes:

a first distance measurement device to measure an inter-vehicle distance from a time period between transmission of a transmission radio wave and reception of a reflection wave of the transmission radio wave; and

a second distance measurement device to measure an inter-vehicle distance from a distance between a position of the vehicle and a position of a preceding vehicle detected with a global positioning system.

10. A tracking running control apparatus in a vehicle having a first distance measurement device and a second distance measurement device to sequentially measure an inter-vehicle distance that is a distance to a preceding vehicle,

the tracking running control apparatus performing a tracking running control with respect to the preceding vehicle so as to set the inter-vehicle distance to a target inter-vehicle distance that is associated with each of the first distance measurement device and the second distance measurement device,

the first distance measurement device to measure the inter-vehicle distance from a time period between transmission of a transmission radio wave and reception of a reflection wave of the transmission radio wave,

the second distance measurement device to measure the inter-vehicle distance from a distance between a position of the vehicle and a position of the preceding vehicle detected with a global positioning system,

the tracking running control apparatus comprising:

a radio receiver to receive failure information of a different vehicle that is different from the vehicle via an outside source outside of the vehicle, the failure information of the different vehicle containing failure point information to determine a failure point at which a measurement failure in a measurement of an inter-vehicle distance was undergone;

a failure prediction section to determine a failure-predicted segment in which the failure of the distance measurement is predicted based on the failure information received by the radio receiver;

a failure prediction section to obtain a failure-predicted segment in which a measurement failure in a measurement of an inter-vehicle distance is predicted, based on the failure information of the different vehicle received by the radio receiver;

a target inter-vehicle distance change section to,

determine to change a used distance measurement device that is used in the tracking running control of the vehicle to the second distance measurement device in cases that the radio receiver receives the failure information of the different vehicle, and

change gradually the target inter-vehicle distance set in the tracking running control to a changed target inter-vehicle distance that is associated with the second distance measurement device at an acceleration equal to or less than a predetermined value before the vehicle reaches the failure-predicted segment; and

a distance measurement device change section to change to the second distance measurement device after an inter-vehicle distance to a preceding vehicle becomes the changed target inter-vehicle distance.