System and method for automatically controlling a vehicle speed to a desired cruising speed

• US 4,835,696 A
• Filed: 05/29/1987
• Issued: 05/30/1989
• Est. Priority Date: 08/28/1986
• Status: Expired due to Term

• Current Assignee: Jidosha Denki Kogyo Kabushiki Kaisha No 1760 Higashimatano-Cho Totsuka-Ku Yokohamam-City Kanagawa-Prefecture Japan, Nissan Motor Company Limited 2 Takara-Cho Kanagawa-Ku Yokohama-Shi Kanagawa-Ken Japan
• Original Assignee: Jidosha Denki Kogyo Kabushiki Kaisha, Nissan Motor Co., Ltd.
• Inventors: Sekiguchi, Satoru, Yamaguchi, Yuuichi, Suzuki, Kouichi, Konishi, Kiyoshi, Hori, Eisaku, Iwaoka, Toshio
• Primary Examiner(s): Chin, Gary
• Application Number:
  US07/055,516
• Time in Patent Office: 732 Days
• Field of Search: 364/426.04, 364/431.07, 180/176, 180/179, 180/170, 123/352
• US Class Current: 701/93
• CPC Class Codes: B60K 31/107 the memory being digital
• CPC Class Codes: B60W 2720/106 Longitudinal acceleration

Abstract

A system and method for automatically controlling a vehicle speed to a desired cruising speed in which a transfer point at which control of the vehicle speed is transferred from that carried out by returning the vehicle speed to the cruising speed set through an operation of a set switch at a controllable acceleration in the vehicle speed to that carried out by controlling the vehicle speed so that the vehicle speed coincides with the set cruising speed is determined on the basis of a sum of an acceleration value multiplied by a constant and speed difference from the actual vehicle speed to set cruising speed. Consequently, an overshooting of the vehicle speed does not occur when the vehicle speed is returned toward and finally settles at the set cruising speed.

Claims

1. A system for automatically controlling a vehicle speed to a desired cruise speed, comprising:

(a) first means, including a vehicular engine driving force adjusting mechanism, for adjusting the engine driving force so as to adjust the vehicle speed in response to an input signal thereof;

(b) second means for operatively generating and outputting a set command to set a current vehicle speed as the desired cruise speed at which a vehicle is desired to cruise;

(c) third means for detecting a current vehicle speed;

(d) fourth means for generating and outputting a first signal to the first means in response to the set command from the second means so that the current vehicle speed detected by the third means is controlled through the first means in an auto-cruise control mode to coincide with the set cruise speed set by the second means;

(e) fifth means for detecting a state in which the current vehicle speed is forcibly reduced and the control of the vehicle speed in the auto-cruise mode by fourth means is interrupted;

(f) sixth means for operatively generating and outputting a reset command to return the current vehicle speed to the set cruise speed after the state is detected by the fifth means;

(g) seventh means for generating and outputting a second signal to the first means in response to the reset command from the sixth means so that the current speed detected by the third means is controlled through the first means in a constant acceleration control mode to return to the original set cruise speed;

(h) eighth means for determining whether a condition is satisfied such that the automatic cruise control carried out in accordance with the constant acceleration mode by the seventh means reaches a transfer point at which the automatic cruise control by the seventh means, in accordance with the constant acceleration mode, is transferred to the automatic cruise control by the fourth means in accordance with the auto-cruise mode, on the basis of a speed difference between the current vehicle speed and the set cruise speed and a value corresponding to a rate of change in the vehicle speed during the return of the vehicle speed to the set cruise speed in the constant acceleration mode by the seventh means; and

(i) ninth means for transferring the automatic cruise control from control by the seventh means to control by the fourth means when the eighth means determines that said condition is satisfied.

2. The system according to claim 1, wherein the eighth means comprises:

(a) tenth means for calculating a sum (K·

α

+ε

) of the speed difference (ε

), and the rate of change (α

) of the running speed multiplied by a constant (K) used in the running speed control carried out by the fourth means; and

(b) eleventh means for determining whether the sum calculated by the tenth means becomes equal to zero the zero point of the sum being defined as the transfer point wherein the ninth means transfers the running speed control, when the eleventh means determines that the sum calculated by the tenth means becomes equal to zero.

3. The system according to claim 1, wherein the eighth means comprises:

(a) tenth means for calculating a sum (Kre·

α

+ε

) of the speed difference (ε

), and the rate of change (α

) in the running speed used in the running speed control carried out by the fourth means multiplied by a predetermined number (Kres) which is smaller than a constant (K) used in the running speed control carried out by the fourth means;

(b) eleventh means for determining whether the sum calculated by the tenth means becomes equal to zero, wherein the seventh means comprises a twelfth means for generating and outputting a third signal to the first means in response to the reset command from the sixth means so that the running speed is controlled to return to the set cruising speed using the sum (Kre·

α

+ε

) calculated by the tenth means, when the eleventh means determines that the sum calculated by the tenth means becomes equal to zero.

4. The system according to claim 3, wherein the ninth means transfers automatic cruise control from control by the twelfth means to control by the fourth means when a predetermined time has passed.

5. The system according to claim 3, wherein the predetermined number (Kres) is varied in increments of another predetermined number (m) and wherein the ninth means transfers automatic cruise control from control by the twelfth means to that by the second means when the varied predetermined number (Kres) becomes equal to the constant (K).

6. The system according to claim 5, wherein the predetermined number (Kres) is incremented by the other predetermined number (m) whenever a predetermined time has passed.

7. A system for controlling a vehicle speed to a desired cruise speed, comprising:

(a) first means for actuating a throttle valve of a vehicle'"'"'s engine to displace an angular position of the throttle valve so as to adjust the vehicle speed in response to a signal inputted thereto;

(b) second means for detecting a current vehicle speed;

(c) a set switch for operatively generating a cruising speed command signal;

(d) third means for storing the vehicle speed detected by the second means in response to the cruising speed command signal from the set switch;

(e) fourth means for generating and outputting a control signal, in accordance with a first constant, to the first means to control the vehicle speed so that the vehicle runs at the stored vehicle speed;

(f) fifth means for operatively releasing the vehicle speed control by the fourth means;

(g) a reset switch for operatively generating and outputting a return command signal after the vehicle speed control by the fourth means is released by the fifth means;

(h) sixth means for calculating a sum of a speed difference between the stored vehicle speed and the current vehicle speed, and an acceleration value during the return of the vehicle to the stored vehicle speed multiplied by a second constant, and for determining whether the sum is positive or negative in response to the return command signal from the reset switch; and

(i) seventh means for transferring the vehicle speed control to the fourth means when the sixth means determines that the calculated sum is positive.

8. The system according to claim 7, wherein the second constant is made equal to the first constant at a predetermined time after the reset switch outputs the return command signal to the sixth means.

9. The system according to claim 7, wherein the second constant by which the acceleration value is multiplied is the first constant used for the vehicle speed control by the fourth means.

10. The system according to claim 7, wherein the second constant by which the acceleration value is multiplied is varied with respect to time until it coincides with the first constant used for the vehicle speed control by the fourth means.

11. The system according to claim 7, wherein the system switches the vehicle speed control to control by the fourth means when the sixth means determines that the calculated sum is negative.

12. A method for controlling a vehicle speed, comprising the steps of:

(a) generating and outputting a set command to set the vehicle speed to a cruising speed;

(b) detecting the actual vehicle speed;

(c) generating and outputting a first control signal to a first means for adjusting the vehicle speed according to an angular position of the first means in response to the set command signal outputted in the step (a) so that the actual vehicle speed detected in the step (b) is controlled so as to coincide with the set cruising speed;

(d) detecting a state in which the vehicle speed is forcibly reduced and the control of vehicle speed carried out in the step (c) is interrupted;

(e) generating and outputting a reset command to return the actual vehicle speed to the set cruising speed after the detection in the step (d);

(f) generating and outputting a second signal to the first means in response to the reset command outputted in the step (e) so that the actual vehicle speed is controlled so as to return to the set cruising speed;

(h) determining a transfer point at which the vehicle speed control is transferred to that carried out in the step (c), on the basis of a speed difference between the actual vehicle speed detected in the step (b) and the set cruising speed set in the step (a), and a value corresponding to a rate of change in the actual vehicle speed; and

(i) transferring the vehicle speed control from that carried out in the step (e) to that carried out in the step (c) when the transfer point determined in the step (h) is reached.

13. A system for a vehicle, comprising:

(a) a vehicle speed sensor for detecting an actual vehicle speed;

(b) a set switch through which a command signal to command a cruise speed control is produced when the set switch is once turned on and then turned off;

(c) vehicle speed storage means for storing the actual vehicle speed detected by the vehicle speed sensor in response to the command signal produced from the set switch;

(d) actuating means for actuating an engine driving force adjusting mechanism to adjust an operating variable of the engine driving force adjusting mechanism, thus changing the vehicle speed;

(e) cruise speed controlling means responsive to the command signal produced from the set switch for outputting a control command signal to the actuating means to command the cruise speed control to the actuating means so that the actual vehicle speed becomes equal to the stored vehicle speed;

(f) a resume switch through which another command signal to command a return of the vehicle speed to the stored vehicle speed is produced when the resume switch is operated, the other command signal being effective after the operation of the system by the cruise speed controlling means is released and the actual vehicle speed is reduced;

(g) constant acceleration controlling means rsponsive to the other command signal produced from the resume switch for producing another control command signal to the actuating means to command a constant acceleration control to the actuating means so that the vehicle speed is increased toward the stored vehicle speed stored in the vehicle speed storage means;

(h) determining means responsive to the other command produced from the resume switch for determining whether the actual vehicle speed reaches a point at which the control of the vehicle speed is transferred from the constant acceleration control by the constant acceleration controlling means to the cruise speed control by the cruise speed controlling means so that the vehicle speed is smoothly returned to the stored vehicle speed without overshooting; and

(i) switching means responsive to the determination by the determining means that the actual vehicle speed reaches the point for switching the vehicle speed control from the constant acceleration control to the cruise speed control.

14. A system as set forth in claim 13, wherein the point is defined as a point where a sum of the constant acceleration derived from the constant acceleration controlling means and multiplied by a constant and a speed difference between the actual vehicle speed and the stored vehicle speed becomes zero.

15. A system as set forth in claim 14, wherein the cruise speed controlling means executes the cruise speed control via the actuating means using the control command signal on the basis of the following control equation:

K·

alpha+epsilon, wherein alpha denotes a change in the rate of the vehicle speed used in the cruise speed control, K denotes a constant used in the cruise speed control, and epsilon denotes a speed difference between the actual vehicle speed and the stored vehicle speed and wherein the cruise speed controlling means controls the vehicle speed so as to make the equation of (K·

alpha+epsilon) zero.

16. A system as set forth in claim 15, wherein the constant used to determine whether the actual vehicle speed reaches the point is made equal to the constant K used in the cruise speed control after the actual vehicle speed reaches the point and then a predetermined period of time has passed.

17. A system as set forth in claim 15, wherein the constant used in the constant acceleration controlling means is changed until it coincides with the constant K used in the cruise speed controlling means.