Adaptive cruise control
First Claim
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1. An automatic speed control method in which a commanded following speed of a source vehicle is set in accord with a predetermined function relating desired following speeds to desired following distances between the source vehicle and preceding targets sensed by a target sensor having a maximum range, comprising the steps of:
- sensing a preceding target;
sensing an actual following distance between the source vehicle and the sensed preceding target;
generating a desired following speed with which to follow the sensed preceding target;
determining a desired following distance by applying the desired following speed to the predetermined function;
determining a desired source vehicle speed to move the actual following distance toward the determined desired following distance;
generating a maximum following distance as a predetermined function of the target sensor maximum range;
determining a maximum source vehicle speed by applying the maximum following distance to the predetermined function; and
limiting the desired source vehicle speed in accord with the determined maximum source vehicle speed.
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Abstract
Adaptive cruise control speed limiting consistent with sensor and system limitations ensures an adaptive cruise control source vehicle operates in adaptively controllable speed ranges including speed ranges corresponding to following distances within the sensor range and excluding speed ranges at which preceding targets are not reliably distinguishable by the sensing system.
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Citations
9 Claims
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1. An automatic speed control method in which a commanded following speed of a source vehicle is set in accord with a predetermined function relating desired following speeds to desired following distances between the source vehicle and preceding targets sensed by a target sensor having a maximum range, comprising the steps of:
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sensing a preceding target; sensing an actual following distance between the source vehicle and the sensed preceding target; generating a desired following speed with which to follow the sensed preceding target; determining a desired following distance by applying the desired following speed to the predetermined function; determining a desired source vehicle speed to move the actual following distance toward the determined desired following distance; generating a maximum following distance as a predetermined function of the target sensor maximum range; determining a maximum source vehicle speed by applying the maximum following distance to the predetermined function; and limiting the desired source vehicle speed in accord with the determined maximum source vehicle speed. - View Dependent Claims (2, 3, 4, 5, 6)
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7. An automotive vehicle speed control method in which the speed of a source vehicle is modulated in response to a detected preceding target in direction to maintain a desirable following distance between the source vehicle and the target, comprising the steps of:
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setting a driving style signal to a level indicative of a preferred driving style; sensing source vehicle speed; generating a relative speed value indicative of a relative speed between the source vehicle and the target;
sensing an actual following distance between the source vehicle and the detected preceding target;determining a desired following distance as a predetermined function of the source vehicle speed, the relative speed value, and the level of the driving style signal; determining a desired source vehicle speed value to adjust the actual following distance toward the desired following distance; providing a sensor range value indicative of a maximum range of an obstacle sensor; generating a following distance limit a fixed offset within the sensor range value; determining a source vehicle speed limit as corresponding to the following distance limit, a relative speed of zero, and the driving style signal in accord with the predetermined function; and limiting the desired speed value to the source vehicle speed limit. - View Dependent Claims (8, 9)
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Specification