Method and apparatus for automatic control of driving speed

• US 4,519,469 A
• Filed: 09/07/1982
• Issued: 05/28/1985
• Est. Priority Date: 09/07/1981
• Status: Expired due to Term

• Current Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Original Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Inventors: Nogami, Takahiro, Hayashi, Kunihisa
• Primary Examiner(s): Bertsch, Richard A.
• Assistant Examiner(s): MAR, MICHAEL Y
• Application Number:
  US06/415,436
• Time in Patent Office: 994 Days
• Field of Search: 180/169, 180/143, 180/170, 340/53, 340/62, 340/903, 343/7 VM
• US Class Current: 180/169
• CPC Class Codes: B60K 31/0008 including means for detecting potential obstacles in vehicle path
• CPC Class Codes: B60K 31/0066 responsive to vehicle path curvature
• CPC Class Codes: B60K 31/04 and means for comparing one electrical quantity, e.g. voltage, pulse, waveform, flux, or the like, with another quantity of a like kind, which comparison means is involved in the development of an electrical signal which is fed into the controlling means
• CPC Class Codes: B60W 2540/18 Steering angle
• CPC Class Codes: B60W 2554/801 Lateral distance
• CPC Class Codes: B60W 30/18145 Cornering
• CPC Class Codes: G01S 13/931 of land vehicles
• CPC Class Codes: G01S 2013/9319 Controlling the accelerator
• CPC Class Codes: G01S 2013/932 using own vehicle data, e.g. ground speed, steering wheel direction
• CPC Class Codes: G01S 2013/9321 Velocity regulation, e.g. cruise control
• CPC Class Codes: G01S 2013/9325 for inter-vehicle distance regulation, e.g. navigating in platoons

Abstract

A system for automatically controlling driving speed includes a fixed speed driving device for keeping the driving speed at a predetermined speed and a control device for maintaining an optimum interval between the vehicle and the vehicle driving ahead. A hold circuit for holding the optimum driving speed, based on the distance from the vehicle driving ahead, is actuated by a circuit for detecting curves in the road, whereby the hold circuit maintains the driving speed of the vehicle as it rounds a curve at the optimum driving speed determined for the vehicle before it entered the curve.

Claims

1. In a device for automatically controlling a driving speed of a first motor vehicle, the device including means for setting a desired fixed driving speed signal for the first vehicle, means for detecting a distance to a second vehicle driving ahead of the first vehicle and for generating a corresponding distance signal, means for generating an optimum driving speed signal in response to the distance signal for maintaining an optimum interval between the first and second vehicles, means for comparing the optimum and desired driving speed signals, and means for controlling the driving speed of the first vehicle in response to the lower of said compared signals, the improvement comprising:

means for detecting a deviation from straight course driving of the first vehicle;

means for generating a deviation signal corresponding to a detected deviation from straight course driving; and

a hold circuit connected between the means for generating the optimum driving speed signal and the means for comparing the optimum and desired driving speed signals, said hold circuit being responsive to said deviation signal for holding the value of the optimum driving speed signal delivered to the comparing means constant for the duration of the deviation signal at a value obtained at the beginning of the deviation signal.

2. In a device according to claim 1, the means for detecting a deviation from straight course driving of the first vehicle comprising a steering angle sensor for generating a signal corresponding to steering angle;

and the means for generating a deviation signal comprising means for generating a signal corresponding to zero steering angle deflection and a comparator for comparing said steering angle signal with said zero steering angle deflection signal and for delivering a difference signal to said hold circuit.

3. A method for automatically controlling the driving speed of a first motor vehicle, the method including providing a selected desired fixed driving speed signal for the first vehicle, detecting a distance to a second vehicle driving ahead of the first vehicle, generating a corresponding distance signal, calculating an optimum driving speed signal for the first vehicle in response to the distance signal, comparing the desired and optimum driving speed signals, and controlling the driving speed of the first vehicle in accordance with the lesser of the compared signals, wherein the improvement comprises:

sensing a deviation from straight course driving of the first vehicle;

generating a signal in response to a sensed deviation from straight course driving of the first vehicle; and

holding the optimum driving speed signal constant for the duration of said deviation signal at a value obtained at the beginning of the deviation signal.

4. A method according to claim 3 wherein the step of sensing a deviation from straight course driving comprises sensing a deviation of steering angle of the first vehicle from a straight course steering angle.