Following control apparatus for an automotive vehicle

• US 5,166,881 A
• Filed: 01/15/1991
• Issued: 11/24/1992
• Est. Priority Date: 01/17/1990
• Status: Expired due to Term

• Current Assignee: Mitsubishi Denki Kabushiki Kaisha (Mitsubishi Electric Corporation)
• Original Assignee: Mitsubishi Denki Kabushiki Kaisha (Mitsubishi Electric Corporation)
• Inventors: Akasu, Masahira
• Primary Examiner(s): Chin, Gary
• Application Number:
  US07/641,410
• Time in Patent Office: 679 Days
• Field of Search: 364/426.04, 364/460, 364/461, 180/170, 180/176-179, 123/352, 340/903
• US Class Current: 701/96
• CPC Class Codes: B60K 31/0008 including means for detecting potential obstacles in vehicle path
• CPC Class Codes: B60W 2554/00 Input parameters relating to objects
• CPC Class Codes: B60W 2554/801 Lateral distance
• CPC Class Codes: B60W 2554/804 Relative longitudinal speed
• CPC Class Codes: B60W 2710/105 Output torque
• CPC Class Codes: B60W 2720/106 Longitudinal acceleration
• CPC Class Codes: B60W 30/18027 Drive off, accelerating from standstill
• CPC Class Codes: G01S 17/931 of land vehicles
• CPC Class Codes: G08G 1/166 for active traffic, e.g. moving vehicles, pedestrians, bikes

Abstract

A following control apparatus for an automotive vehicle is disclosed which controls the output of an engine and the brakes of a vehicle so as to maintain a target vehicle separation from a preceding vehicle. A control unit calculates a target drive force for the vehicle and controls the brakes and the throttle valve of the engine so as to achieve the target drive force. In one form of the invention, the target drive force when the vehicle is starting from a standstill is calculated based on the relative speed of the vehicle and the preceding vehicle and the difference between the measured vehicle separation and the target vehicle separation when the measured vehicle separation is at least the target vehicle separation, but is calculated based on the relative speed of the vehicle independently of the vehicle separation when the measured vehicle separation is less than the target vehicle separation. In another form of the invention, the target drive force when the vehicle is starting from a standstill is calculated based on the relative speed of the vehicle and the preceding vehicle and the difference between the measured vehicle separation and the target vehicle separation, with the target drive force being greater when the vehicle speed is less than a predetermined value than when the vehicle speed is greater than the predetermined value.

Claims

1. A following control apparatus for a vehicle comprising:

a separation sensor for measuring the separation between the vehicle and a preceding vehicle;

relative speed measuring means for measuring the relative speed of the vehicle and the preceding vehicle; and

engine control means, responsive to the separation sensor and the relative speed measuring means, for controlling the output of an engine of the vehicle when the vehicle is starting from a standstill based on the relative speed independent of the vehicle separation so as to bring the relative speed toward 0 when the vehicle separation measured by the separation sensor has not reached a predetermined target vehicle separation, and for controlling the output of the engine based on the relative speed and the vehicle separation if the vehicle separation is at least the target vehicle separation.

2. An apparatus as claimed in claim 1 wherein the engine control means comprises:

means for calculating a target drive force by the formula

space="preserve" listing-type="equation">target drive force=K.sub.1 ×

(measured vehicle separation -the target vehicle separation)+K.sub.2 ×

relative speed

when the vehicle separation is at least the target vehicle separation, and for calculating the target drive force according to the formula

space="preserve" listing-type="equation">target drive force=K.sub.3 ×

relative speed

when the vehicle separation has not reached the target vehicle separation, wherein K₁ -K₃ are constants; and

means for controlling a throttle valve of the engine to attain the target drive force.

3. An apparatus as claimed in claim 2 further comprising a brake controller for applying pressure to a brake of the vehicle when the value of the target drive force is negative.

4. An apparatus as claimed in claim 3 wherein the pressure is given by the formula

5. A following control apparatus for a vehicle comprising:

a speed sensor for measuring the speed of the vehicle;

a separation sensor for measuring the separation between the vehicle and a preceding vehicle;

relative speed measuring means for measuring the relative speed of the vehicle and the preceding vehicle; and

engine control means responsive to the speed sensor, the separation sensor, and the relative speed measuring means for controlling the output of an engine of the vehicle based on the relative speed and the vehicle separation, the engine output being greater when the vehicle is starting from a standstill and the vehicle speed is less than a predetermined speed than when the vehicle speed is greater than the predetermined speed.

6. A following control apparatus for a vehicle comprising:

a separation sensor for measuring the separation between the vehicle and a preceding vehicle;

relative speed measuring means for measuring the relative speed of the vehicle and the preceding vehicle;

means for setting a target vehicle separation, the target vehicle separation being equal to the vehicle separation measured by the separation sensor when the vehicle is starting from a standstill and the measured vehicle separation is less than a predetermined separation, and being equal to the predetermined separation when the measured vehicle separation is at least the predetermined separation; and

means for controlling the output of an engine of the vehicle based on the relative speed and the difference between the measured vehicle separation and the target vehicle separation.

7. A following control method for a vehicle comprising:

measuring the separation between the vehicle and a preceding vehicle;

measuring the relative speed of the vehicle and the preceding vehicle; and

at the time when the vehicle is starting from a standstill, controlling the output of an engine of the vehicle based on the vehicle separation and the relative speed so as to bring the vehicle separation towards a predetemined target vehicle separation if the vehicle separation is at least the target vehicle separation, and controlling the output of the engine based on the relative speed independently of the vehicle separation so as to bring the relative speed toward 0 if the vehicle separation is less than the target vehicle separation.

8. A method as claimed in claim 7 wherein the step of controlling the output of the engine comprises:

calculating a target drive force according to the formula

space="preserve" listing-type="equation">target drive force=K.sub.1 ×

(measured vehicle separation -the target vehicle separation)+K.sub.2 ×

relative speed

when the vehicle separation is at least the target vehicle separation and calculating the target drive force according to the formula

space="preserve" listing-type="equation">target drive force=K.sub.3 ×

relative speed

when the vehicle separation is less than the target vehicle separation wherein K₁ -K₃ are constants; and

controlling a throttle valve of the engine to attain the target drive force.

9. A method as claimed in claim 8 further comprising applying pressure to a brake of the vehicle when the value of the target drive force is negative.

10. A method as claimed in claim 9 wherein the pressure is given by the formula

11. A following control method for a vehicle comprising:

measuring the separation between the vehicle and a preceding vehicle;

measuring the relative speed of the vehicle and the preceding vehicle; and

controlling the output of an engine of the vehicle based on the vehicle separation and the relative speed so as to bring the vehicle separation towards a predetermined target vehicle separation, the engine output being greater when the vehicle speed has yet to reach a predetermined speed after the vehicle has started from a standstill than when the vehicle speed has reached the predetermined speed.

12. A method as claimed in claim 11 wherein the step of controlling the engine output comprises:

calculating a target drive force by the formula

space="preserve" listing-type="equation">target drive force=K.sub.1 ×

(measured separation -a target vehicle separation)+K.sub.2 ×

relative speed

wherein K₁ and K₂ are constants; and

controlling a throttle valve of the engine to attain the target drive force.

13. A following control method for a vehicle comprising:

measuring the separation between the vehicle and a preceding vehicle;

measuring the relative speed of the vehicle and the preceding vehicle;

setting a target vehicle separation, the target vehicle separation being equal to the measured vehicle separation when the measured vehicle separation is less than a predetermined separation at the time of starting of the vehicle from a standstill, and being equal to the predetermined separation if the measured vehicle separation is at least the predetermined separation; and

controlling the output of an engine of the vehicle based on the relative speed and the difference between the measured vehicle separation and the target vehicle separation.