Distance measurement device and vehicle velocity control device for maintaining inter-vehicular distance

• US 5,587,908 A
• Filed: 11/05/1993
• Issued: 12/24/1996
• Est. Priority Date: 12/22/1992
• Status: Expired due to Term

• Current Assignee: Mitsubishi Denki Kabushiki Kaisha (Mitsubishi Electric Corporation)
• Original Assignee: Mitsubishi Denki Kabushiki Kaisha (Mitsubishi Electric Corporation)
• Inventors: Kajiwara, Yasuya
• Primary Examiner(s): Chin, Gary
• Application Number:
  US08/147,320
• Time in Patent Office: 1,145 Days
• Field of Search: 364/426.04, 364/431.07, 364/460, 364/461, 364/561, 364/575, 364/581, 180/169, 180/170, 180/179, 123/352, 342/455, 342/457, 340/901, 340/903
• US Class Current: 701/93
• CPC Class Codes: B60K 31/0008 including means for detecting potential obstacles in vehicle path
• CPC Class Codes: B60W 2050/0011 Proportional Integral Differential [PID] controller
• CPC Class Codes: B60W 2050/0052 Filtering, filters
• CPC Class Codes: B60W 2710/0605 Throttle position
• CPC Class Codes: G01S 11/12 using electromagnetic waves other than radio waves
• CPC Class Codes: G01S 17/46 Indirect determination of position data
• CPC Class Codes: G01S 2013/93185 Controlling the brakes
• CPC Class Codes: G01S 2013/9319 Controlling the accelerator
• CPC Class Codes: G01S 2013/932 using own vehicle data, e.g. ground speed, steering wheel direction
• CPC Class Codes: G01S 2013/9321 Velocity regulation, e.g. cruise control

Abstract

The computer (CPU) of a distance measurement device determines the inter-vehicular distance by applying a software filter (weighing means) upon successive values obtained directly from measurement. A vehicle velocity control device for maintaining the inter-vehicular distance include a distance measurement device for measuring the inter-vehicular distance, and the deviation ΔR of the inter-vehicular distance with respect to the target inter-vehicle distance R_S is determined. The vehicle velocity is controlled on the basis of the deviation ΔR in accordance with the PID (proportion plus integral plus differential) control method, and the gains are varied in accordance with the current value of the inter-vehicular distance.

Claims

1. A distance measurement device comprising:

distance measurement means for measuring a distance to an object and outputting measurement values periodically;

a weighting means operable to adjust each of said measurement values by weighting each of said measurement values with at least one of previously measured value and previously adjusted measurement value to obtain a currently adjusted distance value; and

selecting means for selecting a weighing constant of said weighting means, from a plurality of weighting constants, depending upon a current measurement value output from said distance measurement means;

wherein said weighing means uses said selected weighting constant to adjust the currently measured value to thereby provide said currently adjusted distance value.

2. A distance measurement device as claimed in claim 1, wherein said weighting means calculates a weighted average of said current measurement value and a plurality of previous ones of said measurement values, and wherein a weight assigned to said current measurement value in taking said weighted average of a plurality of said measurement values is set inversely proportional to said weighting constant.

3. A distance measurement device as claimed in claim 2, wherein said weighting constant takes on a greater value as said current measurement value increases.

4. A distance measurement device as claimed in claim 1, wherein said distance measurement means comprises a triangulation type distance measurement device including:

optical means for forming an optical image of said object;

signal processor circuit means, coupled to said optical means, for determining a shift of said optical image; and

calculation means, coupled to said signal processor circuit means, for calculating said distance to said object on the basis of said shift.

5. A vehicle velocity control device for maintaining an inter-vehicular distance comprising:

distance measurement means mounted on a vehicle for measuring a distance to another vehicle and outputting measurement values periodically;

weighting means operable to adjust each of said measurement values by weighting each of said measurement values with at least one of previously measured value and previously adjusted measurement value to obtain a currently adjusted distance value;

selected means for selecting a weighting constant of said weighting means from a plurality of weighting constants depending upon a current measurement value output from said distance measurement means;

wherein said weighting means uses said selected weighting constant to adjust the currently measured value to thereby provide said currently adjusted distance value; and

vehicle velocity control means, coupled to said weighting means, for controlling a vehicle velocity of said vehicle on the basis of said currently adjusted distance value supplied from said weighting means, such that said distance to said another vehicle is maintained at a target inter-vehicle distance.

6. A vehicle velocity control device for maintaining an inter-vehicular distance, comprising:

distance measurement means mounted on a vehicle for measuring a distance to another vehicle and outputting measurement values at a predetermined sampling period;

a weighting means operable to adjust each of said measurement values by weighting each of said measurement values and a previously adjusted measurement value to obtain a currently adjusted distance value;

selecting means for selecting a weighting constant of said weighting means from a plurality of weighting constants depending upon a current measurement value output from said distance measurement means;

wherein said weighting means uses said selected weighting constant to adjust the currently measured value to thereby provide said currently adjusted distance value;

deviation detection means, coupled to said distance measurement means, for calculating a deviation of said currently adjusted distance value from a target inter-vehicle distance;

calculation means, coupled to said deviation detection means, for calculating a parameter corresponding to said deviation; and

vehicle velocity control means, coupled to said calculation means, for controlling a vehicle velocity of said vehicle on the basis of said parameter, such that said distance to said another vehicle is maintained at said target inter-vehicle distance.

7. A vehicle velocity control device as claimed in claim 6, wherein said parameter calculated by said calculation means is a sum of:

(a) a component obtained by multiplying said deviation by a proportional gain;

(b) a component obtained by multiplying an integral of said deviation with respect to time by an integral gain; and

(c) a component corresponding to a factor obtained by multiplying a differential quotient of said deviation with respect to time by a differential gain.

9. A vehicle velocity control device as claimed in claim 7, wherein said calculation means comprises:

a second weighting means operable to weight successive values of said parameter by multiplying a differential quotient of said deviation with respect to time by a differential gain.

10. A vehicle velocity control device as claimed in claim 9, wherein said second weighting means calculates a weighted average of a plurality of said successive values of said parameter, and wherein a weight assigned to a current value of said parameter in taking said weighted average of a plurality of said successive values of said parameter is inversely proportional to said weighting constant.

11. A vehicle velocity control device as claimed in claim 10, wherein said weighting constant varies as said current measurement value output from said distance measurement means changes.

12. A vehicle velocity control device as claimed in claim 11, wherein said weighting constant increases as said current measurement value output from said distance measurement means increases.

13. A vehicle velocity control device as claimed in claim 9, wherein said weighting constant is not less than four times said sampling period.

14. A vehicle velocity control device as claimed in claim 7, wherein:

said proportional gain, said integral gain and said differential gain are varied in correspondence with said current measurement value of said distance measurement means; and

when said current value of said differential exceeds a predetermined level, said proportional gain, said integral gain and said differential gain corresponding to an immediately preceding measurement value of said distance measurement means is used in calculating said components.

8. A vehicle velocity control device as claimed in claim 8, wherein:

said calculation means decreases at least one of said proportional gain and said differential gain when said current measurement value output from said distance measurement means increases, and increases at least one of said proportional gain and said differential gain when said current measurement value output from said distance measurement means decreases.

15. A vehicle velocity control device for maintaining an inter-vehicular distance, comprising:

distance measurement means mounted on a vehicle for measuring a distance to another vehicle and outputting measurement values at a predetermined sampling period;

calculation means, coupled to said distance measurement means, for calculating a differential of said measurement values with respect to time;

weighting means operable to weight successive values of said differential of said measurement values with respect to time, said weighting means calculating a weighted average of a plurality of said successive values of said differential, wherein a weight assigned to a current value of said differential in taking said weighted average of a plurality of said successive values of said differential is inversely proportional to a weighting constant; and

vehicle velocity control means, coupled to said distance measurement means and said weighting means, for controlling a vehicle velocity of said vehicle on the basis of said measurement values in accordance with proportional plus integral plus differential control, such that said distance to said another vehicle is maintained at said target inter-vehicle distance;

wherein a differential control value of said proportional plus intergral plus differential control is obtained by multiplying an output of said weighting means by a differential gain.

16. A vehicle velocity control device as claimed in claim 15, wherein said weighting constant varies as said current measurement value output from said distance measurement means changes.

17. A vehicle velocity control device as claimed in claim 16, wherein said weighting constant increases as current measurement value output from said distance measurement means increases.

18. A vehicle velocity control device as claimed in claim 15, wherein said weighting constant is not less than four times said sampling period.

19. A vehicle velocity control device as claimed in claim 15, wherein:

control gains of said proportional plus integral plus differential control are varied in correspondence with current measurement value of said distance measurement means; and

when a current value of said differential exceeds a predetermined level, aid control gains corresponding to an immediately preceding measurement value of distance measurement means are used in said proportional plus integral plus differential control.