Automatic braking system with proximity detection to a preceding vehicle

• US 5,278,764 A
• Filed: 01/28/1991
• Issued: 01/11/1994
• Est. Priority Date: 01/29/1990
• Status: Expired due to Term

• Current Assignee: Nissan Motor Co., Ltd.
• Original Assignee: Nissan Motor Co., Ltd.
• Inventors: Kurami, Kunihiko, Iizuka, Haruhiko
• Primary Examiner(s): Trans, Vincent N.
• Application Number:
  US07/646,543
• Time in Patent Office: 1,079 Days
• Field of Search: 364/424.01, 364/426.01, 364/426.04, 364/460, 364/461, 364/424.05, 180/167-171, 340/903, 340/904, 303/100, 303/101
• US Class Current: 701/301
• CPC Class Codes: B60T 13/662 characterised by specified functions of the control system components
• CPC Class Codes: B60T 7/22 initiated by contact of vehicle, e.g. bumper, with an external object, e.g. another vehicle , or by means of contactless obstacle detectors mounted on the vehicle

Abstract

An automatic braking system for a vehicle is provided. This system includes generally a speed sensor for monitoring speed of the vehicle and a distance sensor for monitoring a distance between the vehicle and the preceding vehicle. The system determines a marginal time required for the vehicle to collide with the preceding vehicle based on speed relative to the preceding vehicle and the distance to the preceding vehicle to automatically actuate a brake when the marginal time is shorter than a preselected marginal time.

Claims

1. A braking system for a vehicle comprising:

first means for monitoring vehicle speed of a system vehicle incorporating said braking system to provide a signal indicative thereof;

second means for monitoring a distance between the system vehicle and a preceding vehicle to provide a signal indicative thereof;

third means for monitoring speed relative to the preceding vehicle to provide a signal indicative thereof;

fourth means responsive to the signals from said first, second, and third means for providing a preselected braking control parameter indicative of proximity to the preceding vehicle to determine close proximity to the preceding vehicle and for providing a control signal indicative of the close proximity;

fifth means including a brake unit responsive to said control signal from said fourth means for reducing vehicle speed of the system vehicle;

sixth means for learning a driver'"'"'s braking command characteristics based on the preselected braking control parameter determined by said fourth means when a braking operation is effected by the driver; and

seventh means for storing the driver'"'"'s braking command characteristics;

said fourth means comparing the preselected braking control parameter with the driver'"'"'s braking command characteristics stored in said seventh means to determine the close proximity to the preceding vehicle and to provide said control signal to said fifth means for reducing the speed of the system vehicle.

2. A system as set forth in claim 1, wherein said preselected braking control parameter is a marginal time required for the system vehicle to collide with the preceding vehicle.

3. A system as set forth in claim 2, wherein the driver'"'"'s braking command characteristics are defined by a preselected marginal time, said sixth means providing the preselected marginal time based on a minimum value of the marginal time determined by said fourth means when the braking operation is effected by the driver, said fourth means comparing the marginal time determined when said brake unit is not operated with the preselected marginal time to determine the close proximity to the preceding vehicle.

4. A system as set forth in claim 3, wherein the preselected marginal time is updated to said minimum value of the marginal time when said minimum value of the marginal time is smaller than a preselected value.

5. A system as set forth in claim 3, wherein said fourth means further provides a braking distance of the system vehicle based on the vehicle speed monitored by said first means and the distance to the preceding vehicle monitored by said second means, said fourth means further determining a stopping distance of the system vehicle based on the braking distance and a free distance dependent upon driving characteristics of the driver, said fourth means being responsive to the signal indicative of the distance to the preceding vehicle monitored by said second means to provide the control signal to said fifth means when the distance to the preceding vehicle is shorter than the stopping distance.

6. A system as set forth in claim 5, wherein said fourth means provides the control signal to said fifth means to actuate the brake unit when the marginal time is greater than the preselected marginal time and the distance to the preceding vehicle monitored by said second means is shorter than the stopping distance.

7. A system as set forth in claim 6, further comprising a seat belt actuator for tightening a fastened seat belt when the marginal time determined by said fourth means is greater than the preselected marginal time and the distance to the preceding vehicle monitored by said second means is shorter than the stopping distance.

8. A system as set forth in claim 6, further comprising an alarm responsive to the signal indicative of the marginal time greater than the preselected marginal time and the signal indicating the distance to the preceding vehicle is shorter than the stopping distance, to output an alarm signal to inform the driver of close proximity to the preceding vehicle.

9. A system as set forth in claim 8, wherein said fourth means provides the control signal to said fifth means for actuating said brake unit when said brake unit is not operated by the driver within a preselected period of time following output of the alarm signal.

10. A system as set forth in claim 5, further comprising a road condition sensor for sensing a condition of a road surface and for providing a road condition signal indicative of wet or dry road conditions, said fourth means being responsive to the road condition signal indicative of a dry road condition to determine a first stopping distance and being responsive to the road condition signal indicative of a wet road condition to determine a second stopping distance longer than the first stopping distance.

11. A system as set forth in claim 10, wherein said fourth means is responsive to the road condition signal indicative of the dry road condition from said road condition sensor to determine the first stopping distance based on the braking distance L₁, which is obtained according to a relation of L₁ =A_D ×

V² where V is vehicle speed monitored by said first means and A_D is a constant and responsive to the signal indicative of the first wet road condition from said road condition sensor to determine the second stopping distance L₂, longer than the first stopping distance which is obtained according to a relation of L₂ =A_W ×

V² where V is vehicle speed monitored by said first means and A_W is a constant greater than A_D.

12. A system as set forth in claim 10, wherein said road condition sensor is a wiper.

13. A system as set forth in claim 5, wherein said fourth means determines the braking distance L according to a relation of L=A×

V² where V is vehicle speed monitored by said first means and A is a constant.

14. A system as set forth in claim 13, wherein the constant A is defined by a minimum value which is obtained according to a relation of A=L/V² during braking operation carried out by the driver.

15. A system as set forth in claim 3, further comprising an alarm responsive to the signal indicative of the marginal time shorter than the preselected marginal time to output an alarm signal to inform the driver of close proximity to the preceding vehicle.

16. A system as set forth in claim 15, wherein the sixth means actuates the brake when the brake is not operated by the driver within a preselected period of time after the alarm signal is output.

17. A system as set forth in claim 3, further comprising a seat belt actuator for tightening a fastened seat belt when the marginal time determined by said fourth means is shorter than the preselected marginal time.

18. A system as set forth in claim 3, wherein said fourth means determines the marginal time T based on a minimum value obtained by a relation of T=L/(V-V_F) where L is the distance to the preceding vehicle and (V-V_F) is the relative speed monitored by said third means during braking operation.

19. A system as set forth in claim 3, wherein said fourth means further determines a stopping distance of the vehicle based on a minimum value of the distance between the system vehicle and the preceding vehicle monitored by said second means with respect to the vehicle speed monitored by said first means during braking operation, said fourth means being responsive to the signal indicative of the distance to the preceding vehicle monitored by said second means shorter than the stopping distance to provide the control signal for actuating the brake unit.

20. A system as set forth in claim 19, wherein said seventh means includes a memory for memorizing the minimum values of the distance between the system vehicle and the preceding vehicle monitored by said second means with respect to the vehicle speed monitored by said first means during the braking operation for determining the stopping distance with respect to the vehicle speed.

21. A system as set forth in claim 20, wherein said sixth means determines a minimum value of the marginal time during braking to be updated as the preselected marginal time.

22. A system as set forth in claim 21, wherein said seventh means includes a memory for memorizing the minimum values of the marginal time as the preselected marginal times associated with individual drivers, the system further comprising a selector for selecting the preselected marginal time for a particular driver.

23. A system as set forth in claim 22, wherein the preselected marginal time selected by the selector is multiplied by a value more than 1.0 to be updated as a new preselected marginal time.

24. A system as set forth in claim 20, wherein the minimum values of the distance between the system vehicle and the preceding vehicle are stored in the memory as the stopping distances associated with individual drivers, the system further comprising a selector for selecting the minimum value corresponding to a particular driver as the stopping distance.

25. A system as set forth in claim 24, wherein the stopping distance selected by the selector is multiplied by a value more than 1.0 to be updated as a new stopping distance.

26. A system as set forth in claim 1, wherein said fourth means is responsive to anti-collision action during an automatic braking operation to provide a control signal to said fifth means for releasing said brake unit.

27. A system as set forth in claim 26, wherein the anti-collision action is an acceleration operation effected by the driver, a steering operation over a preselected angle effected by the driver, or a turn indicator operation effected by the driver.

28. A system as set forth in claim 1, further comprising an alarm, and means for actuating said alarm when the system vehicle approaches the preceding vehicle within a distance obtained by multiplying a stopping distance by a preselected constant.

29. A system as set forth in claim 1, wherein said fourth means controls the brake unit with a preselected reduction ratio of vehicle speed with respect to the vehicle speed monitored by said first means.

30. A system as set forth in claim 1, further comprising a seat belt sensor for monitoring whether or not vehicle occupants fasten seat belts and for providing a seatbelt signal indicative thereof, said fourth means being responsive to the seatbelt signal from said seat belt sensor to provide the control signal to said fifth means for actuating the brake unit with a preselected reduction ratio when a vehicle occupant'"'"'s seat belt is unfastened.

31. A system as set forth in claim 1, further comprising condition determining means for determining a condition wherein the driver intentionally brings the vehicle to a close proximity to the preceding vehicle, and

said fourth means including means for deactivating said fifth means when the condition determining means determines that the vehicle operator has intentionally driven the vehicle to a close proximity with the preceding vehicle.

32. A braking system for a vehicle comprising:

intervehicle distance detecting means for detecting an intervehicle distance to a preceding vehicle and for generating an intervehicle distance signal;

vehicle speed detecting means for detecting vehicle speed of a system vehicle incorporating said braking system and for generating a vehicle speed signal;

means receiving said intervehicle distance signal and said vehicle speed signal for activating an automatic braking unit responsive to said intervehicle distance detecting means and said vehicle speed detecting means;

driver learning means for learning a driver'"'"'s driving characteristics;

means for detecting a condition wherein a driver intentionally brings the system vehicle close to the preceding vehicle and for generating a condition signal indicative thereof; and

receiving means receiving said condition signal and responsive to said driver learning means for inactivating said automatic braking unit when the driver intentionally brings the system vehicle close to the preceding vehicle,

said receiving means inactivating said automatic braking unit at a timing corresponding to the driver'"'"'s driving characteristic learned by said driver learning means.

33. A system for a vehicle comprising:

intervehicle distance detecting means for detecting an intervehicle distance to a preceding vehicle and for generating an intervehicle distance signal;

vehicle speed detecting means for detecting vehicle speed of a system vehicle incorporating said braking system and for generating a vehicle speed signal;

means receiving said intervehicle distance signal and said vehicle speed signal for activating an automatic braking unit responsive to said intervehicle distance detecting means and aid vehicle speed detecting means;

means for detecting a condition wherein a driver intentionally brings the system vehicle close to the preceding vehicle and for generating a condition signal indicative thereof; and

means receiving said condition signal for inactivating said automatic braking unit when the driver intentionally brings the system vehicle close to the preceding vehicle, wherein said means detecting the condition wherein the driver intentionally brings the system vehicle close to the preceding vehicle operates to detect said condition within a preselected period of time following activation of an alarm.

34. A system for a vehicle comprising:

intervehicle distance detecting means for detecting an intervehicle distance to a preceding vehicle and for generating an intervehicle distance signal;

vehicle speed detecting means for detecting vehicle speed of a system vehicle incorporating said braking system and for generating a vehicle speed signal;

means receiving said intervehicle distance signal and said vehicle speed signal for activating an automatic braking unit responsive to said intervehicle distance detecting means and said vehicle speed detecting means;

means for detecting a condition wherein a driver intentionally brings the system vehicle close to the preceding vehicle and for generating a condition signal indicative thereof; and

means receiving said condition signal for inactivating said automatic braking unit when the driver intentionally brings the system vehicle close to the preceding vehicle, wherein said means detecting the condition wherein the driver intentionally brings the system vehicle close to the preceding vehicle operates for determining whether or not an intervehicle distance to the preceding vehicle after actuating an alarm is smaller than a preselected value.