System and method for automatically controlling vehicle speed

• US 4,670,845 A
• Filed: 10/15/1984
• Issued: 06/02/1987
• Est. Priority Date: 12/06/1983
• Status: Expired due to Term

• Current Assignee: Nissan Motor Co., Ltd.
• Original Assignee: Nissan Motor Co., Ltd.
• Inventors: Etoh, Yoshiyuki
• Primary Examiner(s): Gruber, Felix D.
• Application Number:
  US06/660,958
• Time in Patent Office: 960 Days
• Field of Search: 180/167, 180/168, 180/169, 180/170, 340/903, 364/424, 364/426, 364/460, 364/461
• US Class Current: 701/301
• CPC Class Codes: B60K 31/0008 including means for detecting potential obstacles in vehicle path
• CPC Class Codes: B60K 31/0075 responsive to vehicle steering angle
• 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 2554/801 Lateral distance
• CPC Class Codes: B60W 30/16 Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
• CPC Class Codes: B60W 30/18145 Cornering
• CPC Class Codes: G01S 2013/9321 Velocity regulation, e.g. cruise control

Abstract

A system and method for detecting a distance from a vehicle to an obstacle in front of the vehicle and controlling the vehicle according to changes in the distance thereof holds the vehicle speed constant upon recognition of the fact that the detected obstacle is a plurality of regularly spaced, stationary objects disposed along a side of a curved road and otherwise the vehicle speed is controlled on the basis of the distance between the vehicle and detected obstacles such as other vehicles moving in front of the vehicle or obstacles resting on the road as the vehicle moves through a curve.

Claims

1. A method for automatically maintaining a vehicle speed at a set cruising speed when there are no vehicles in front of the vehicle and moving in the same direction and otherwise controlling the vehicle speed according to the distance from the vehicle to an obstacle in front of the vehicle, comprising the steps of:

(a) detecting when the vehicle is moving through a curve;

(b) monitoring the distance from the vehicle to an obstacle in front of the vehicle;

(c) recognizing that the obstacle in front of the vehicle as it moves through a curve is one of a plurality of regularly spaced, stationary obstacles disposed along a side of a curve in a road when the distance monitored in said step (b) abruptly changes by a predetermined amount; and

(d) holding the vehicle speed constant when the conditions of step (c) are satisfied.

2. A system for automatically maintaining a vehicle speed at a set cruising speed when there are no vehicles moving within a given distance in front of the vehicle and otherwise controlling the vehicle speed according to the distance from the vehicle to an obstacle present in front of the vehicle, comprising:

(a) means for monitoring the distance between the vehicle and an obstacle present in front of the vehicle and outputting a first signal indicative thereof;

(b) means for monitoring vehicle speed and outputting a second signal indicative thereof;

(c) means for recognizing whether the obstacle is a stationary object located near the road on which the vehicle is moving on the basis of said first and second signals and outputting a third signal indicative thereof when the difference between the present value and previous value of said first signal substantially equals a predetermined value; and

(d) means for controlling the vehicle speed so as to hold the vehicle speed constant while receiving the third signal and for controlling the vehicle speed according to the values of the first and second signals in the absence of the third signal.

3. The system as set forth in claim 2, wherein the previous value of said first signal is indicative of the distance between the vehicle and an obstacle sampled 100 milliseconds before the present value.

4. The system as set forth in claim 2, wherein said stationary object recognizing means includes second vehicle recognizing means for recognizing whether a second vehicle is travelling in front of the vehicle on the basis of the first and second signals and for outputting a fourth signal indicative thereof, and wherein said stationary object recognizing means does not output a third signal when the fourth signal is outputted by said second vehicle recognizing means.

5. The system as set forth in claim 4, wherein said second vehicle recognizing means outputs the fourth signal when the difference between the present value of said first signal and a previous value thereof obtained a predetermined time prior to the present value substantially equals the value of the secnd signal multiplied by said predetermined time.

6. The system as set forth in claim 2, wherein said stationary object recognizing means includes second vehicle recognizing means for detecting that a second vehicle has moved in front of the running vehicle at a distance less than is normally maintained between vehicles and outputting a fifth signal indicative thereof, and whereby said stationary object recognizing means does not output the third signal when said fifth signal is outputted by said second vehicle recognizing means.

7. A system for automatically maintaining a vehicle speed at a set cruising speed when there are no vehicles within a given distance in front of the vehicle and otherwise controlling the vehicle speed according to the distance from the vehicle to an obstacle in front of the vehicle, comprising:

(a) first means for detecting when the vehicle is moving through a curve and outputting a first signal in such cases;

(b) second means for detecting vehicle speed and outputting a second signal indicative thereof;

(c) third means for detecting the distance from the vehicle to an obstacle in front of the vehicle and outputting a third signal indicative thereof;

(d) fourth means responsive to said first signal for detecting stationary obstacles near the curve on the basis of said third signal and outputting a fourth signal when such obstacles are detected; and

(e) fifth means responsive to said fourth signal for controlling the vehicle speed so as to hold the vehicle speed constant.

8. The system as set forth in claim 7, wherein said third means is a light radar unit and said fourth means detects each of a plurality of reflectors spaced along the side of the curve at regular intervals and outputs the fourth signal when the difference between the values of the present third signal and a previous third signal sampled a predetermined interval of time before the present third signal is substantially equal to said regular interval.

9. The system as set forth in claim 7, wherein said fifth means controls the vehicle speed according to the indications of said second and third signals when said fourth means outputs no fourth signals.

10. A system for automatically maintaining a vehicle speed at a set cruising speed when there are no vehicles within a given distance in front of the vehicle and otherwise controlling the vehicle speed according to the distance from the vehicle to an obstacle in front of the vehicle, comprising:

(a) first means for detecting that the vehicle is moving through a curve and outputting a first signal in such cases;

(b) second means for detecting vehicle speed and outputting a second signal indicative thereof;

(c) third means for detecting the distance from the vehicle to an obstacle within a given range of distance in front of the vehicle and outputting a third signal indicative thereof;

(d) fourth means responsive to said first signal for discriminating whether the obstacle in front of the vehicle is a stationary object located along the side of the curve, a second vehicle in front of the vehicle and moving in the same direction, an obstacle resting on the curve, within an outer limit of said given range of distance on the basis of the indications of said second and third signals, and outputting a fourth signal when the obstacle in front of the vehicle is a stationary object located along the side of the curve; and

(f) fifth means responsive only to said fourth signal for holding the vehicle speed constant.

11. The system as set forth in claim 10, wherein said fourth means recognizes that the obstacle in front of the vehicle is a stationary object disposed along the side of the curve when the difference between the values of the third signals at the present time and at a first perdetermined time prior to the present is substantially equal to a predetermined value.

12. The system as set forth in claim 11, wherein said fourth means recognizes that the obstacle in front of the vehicle is an obstacle resting on the curved road when the difference between values of said third signal at the present time and at a point a second predetermined time prior to the present time is substantially equal to the present value of said second signal times said second predetermined, and the obstacle is not recognized as being a stationary object disposed along the side of the curve.

13. The system as set forth in claim 10, wherein said fourth means recognizes that the obstacle in front of the vehicle is a second vehicle in front of the vehicle and moving in the same direction when the difference between the values of the third signals at the present time and at a second predetermined time prior to the present, said second time being longer than said first predetermined time, is not substantially equal to the present value of said second signal multiplied by said second time.