Cruise controller for vehicles

• US 5,594,645 A
• Filed: 05/18/1994
• Issued: 01/14/1997
• Est. Priority Date: 05/19/1993
• Status: Expired due to Term

• Current Assignee: Mazda Motor Corporation
• Original Assignee: Mazda Motor Corporation
• Inventors: Shimizu, Kenji, Inada, Takahiro, Nishimura, Eiji, Ando, Satoru, Okuda, Tsunehisa, Hirasawa, Tamio, Okuda, Kazuyoshi, Izumi, Tomoji
• Primary Examiner(s): Chin, Gary
• Application Number:
  US08/245,702
• Time in Patent Office: 972 Days
• Field of Search: 364/426.04, 364/431.07, 364/460, 364/461, 364/426.02, 180/167-170, 180/176-179, 123/350, 123/352, 342/454, 342/455, 340/903, 340/904
• US Class Current: 701/96
• CPC Class Codes: B60K 31/0008 including means for detecting potential obstacles in vehicle path
• CPC Class Codes: B60W 2540/12 Brake pedal position
• CPC Class Codes: B60W 2552/15 Road slope, i.e. the inclination of a road segment in the longitudinal direction
• CPC Class Codes: B60W 2552/20 Road profile, i.e. the change in elevation or curvature of a plurality of continuous road segments
• CPC Class Codes: B60W 2552/30 Road curve radius
• CPC Class Codes: B60W 2552/40 Coefficient of friction
• CPC Class Codes: B60W 2555/20 Ambient conditions, e.g. wind or rain
• CPC Class Codes: B60W 2720/106 Longitudinal acceleration
• CPC Class Codes: B60W 2754/30 Longitudinal distance
• CPC Class Codes: B60W 30/16 Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
• CPC Class Codes: B60W 30/18145 Cornering
• CPC Class Codes: G01S 13/931 of land vehicles
• 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
• CPC Class Codes: G01S 2013/9325 for inter-vehicle distance regulation, e.g. navigating in platoons
• CPC Class Codes: G01S 2013/93271 in the front of the vehicles

Abstract

In a vehicle which sets a target vehicle-interval distance, and can execute auto-cruise control for controlling the vehicle speed so as to maintain the target vehicle-interval distance, when the auto-cruise control is not executed, a vehicle-interval distance to be set by a driver is detected together with the vehicle speed at that time. A plurality of sets of the vehicle speed and vehicle-interval distance data are accumulated, and the relationship between the vehicle speed and the vehicle-interval distance is calculated. Upon execution of the auto-cruise control, a vehicle-interval distance corresponding to the vehicle speed at that time is obtained from the calculated relationship, and the obtained vehicle-interval distance is set to be the target vehicle-interval distance.

Claims

1. A cruise control apparatus, comprising:

a vehicle-interval distance detection means for detecting a vehicle-interval distance between an own vehicle and a vehicle ahead;

auto-cruise means for controlling a vehicle speed to maintain the vehicle-interval distance to the vehicle ahead to be a target vehicle-interval distance;

a mode setting means for setting said auto-cruise means to one of an active mode and an inactive mode;

accumulation means for collecting and accumulating a plurality of vehicle-interval distance data detected by said vehicle-interval distance detection means while said auto-cruise means is set to the inactive mode, said vehicle-interval distance varying according to a driver'"'"'s driving operations; and

distance-setting means for setting the target vehicle-interval distance while said auto-cruise means is set to the active mode on the basis of the plurality of vehicle-interval distance data accumulated by said accumulation means.

2. The apparatus according to claim 1, further comprising:

vehicle speed detection means for detecting a vehicle speed of the own vehicle, and

wherein said accumulation means collects and accumulates a plurality of pairs of vehicle speed data detected by said vehicle speed detection means and vehicle-interval distance data detected by said vehicle-interval distance detection means while said auto-cruise means is set to the inactive mode, said vehicle speed data and said vehicle-interval distance data of respective pairs being in association with each other, and

said distance-setting means sets the target vehicle-interval distance while said auto-cruise means is set to the active mode on the basis of a plurality of vehicle-interval distance data collected and accumulated by said accumulation means, said plurality of vehicle-interval distance data corresponding to a plurality of vehicle speed data detected by said vehicle speed detection means.

3. The apparatus according to claim 1, further comprising:

acceleration/deceleration detection means for detecting an acceleration/deceleration of the vehicle, and

wherein said accumulation means collects and accumulates a plurality of pairs of acceleration/deceleration data detected by said acceleration/deceleration detection means and vehicle-interval distance data detected by said vehicle-interval distance detection means while said auto cruise means is set to the inactive mode, said acceleration/deceleration data and said vehicle-interval distance data of respective pairs being in association with each other and

said distance-setting means sets the predetermined target vehicle-interval distance while said auto-cruise means is set to the active mode on the basis of a plurality of vehicle-interval distance data collected and accumulated by said accumulation means, said plurality of vehicle-distance interval data corresponding to a plurality of acceleration/deceleration data detected by said acceleration/deceleration detection means.

4. The apparatus according to claim 1, further comprising:

road environment detection means for detecting a road environment around the vehicle, and

wherein said accumulation means collects and accumulates a plurality of pairs of road environment data detected by said road environment detection means and vehicle-interval distance data detected by said vehicle-interval distance detection means while said auto-cruise means is set to the inactive mode, said road environment data and said vehicle-interval distance data of respective pairs being in association with each other, and

said distance-setting means sets the target vehicle-interval distance while said auto-cruise means is set to the active mode on the basis of a plurality of vehicle-interval distance data collected and accumulated by said accumulation means, said plurality of vehicle-interval distance data corresponding to a plurality of road environment data detected by said road environment detection means.

5. The apparatus according to claim 1, further comprising:

acceleration/deceleration detection means for detecting a speed and an acceleration/deceleration of the vehicle, and

wherein said accumulation means collects and accumulates a plurality of sets of acceleration/deceleration data detected by said acceleration/deceleration detection means, vehicle speed data detected by said acceleration/deceleration detection means, and vehicle-interval distance data detected by said vehicle-interval distance detection means while said auto-cruise means is set to the inactive mode, said acceleration/deceleration data, said vehicle speed data detected by said acceleration/deceleration detection means and said vehicle-interval distance data of respective sets being in association with each other and

said distance-setting means sets the target vehicle-interval distance while said auto-cruise means is set to the active mode on the basis of a plurality of vehicle-interval distance data accumulated by said accumulation means, said plurality of vehicle-interval distance data corresponding to a plurality of acceleration/deceleration data detected by said acceleration/deceleration detection means.

6. The apparatus according to claim 5, wherein said accumulation means accumulates the vehicle speed, acceleration/deceleration, and vehicle-interval distance date when the vehicle travels along a corner.

7. The apparatus according to claim 1, further comprising speed detection means for detecting a vehicle speed of the own vehicle, and

wherein said accumulation means includes:

means for calculating a function representing a relationship between the detected vehicle-interval distance and said vehicle speed, and

storage means for storing data representing the function, and

said distance-setting means sets the target vehicle-interval distance corresponding to a vehicle speed detected by the speed detection means on the basis of the function data stored in the storage means.

8. The apparatus according to claim 7, wherein the function is calculated by a method of least squares.

9. The apparatus according to claim 7, further comprising:

means for detecting a road environment, and

wherein said accumulation means corrects the function in accordance with the detected road environment.

10. The apparatus according to claim 2, wherein said accumulation means collects vehicle-interval distance data when the vehicle-interval distance is substantially stable.

11. A cruise control apparatus, comprising:

vehicle-interval distance detection means for detecting a vehicle-interval distance between an own vehicle and a vehicle ahead;

auto-cruise means for controlling a vehicle speed to maintain the vehicle-interval distance to the vehicle ahead to be a target vehicle-interval distance;

a mode setting means for setting said auto-cruise means to one of an active mode and an inactive mode;

an accumulation means including a first accumulation means, a second accumulation means and a third accumulation means,

said first accumulation means for accumulating vehicle-interval distance data detected when said auto-cruise means is set to the inactive mode,

said second accumulation means for accumulating vehicle-interval distance data detected when a driver operates an operation switch for enabling said auto-cruise means, and

said third accumulation means for accumulating vehicle-interval distance data detected when the driver adjusts the vehicle-interval distance between the own vehicle and the vehicle ahead while said auto-cruise means is set to the active mode;

generation means for generating reference vehicle-interval distance data on the basis of a plurality of vehicle-interval distance data accumulated by said accumulation means; and

distance-setting means for setting the target vehicle-interval distance while said auto-cruise means is set to the active mode on the basis of the reference vehicle-interval distance data generated by said generation means.

12. The apparatus according to claim 11, wherein said mode-setting means comprises a mode-setting switch which is operated by the driver to set said auto-cruise means to the active mode, and said accumulation means collects and accumulates the vehicle-interval distance detected upon operation of said operation switch.

13. The apparatus according to claim 12, wherein said accumulation means accumulates the plurality of vehicle-interval distance data detected when the operation switch is released after a continuous depression thereof.

14. The apparatus according to claim 11, further comprising speed detection means for detecting a vehicle speed of the own vehicle, and

wherein said accumulation means includes:

means for calculating a function representing a relationship between the detected vehicle-interval distance and said vehicle speed, and

storage means for storing data representing the function, and

said distance-setting means sets the target vehicle-interval distance corresponding to a vehicle speed detected by the speed detection means on the basis of the function data stored in the storage means.

15. The apparatus according to claim 11, wherein said generation means generates the reference vehicle-interval distance data based on a latest one of the plurality of vehicle-interval distance data.

16. The apparatus according to claim 11, wherein said generation means generates the reference vehicle-interval distance data by multiplying vehicle-interval distance data accumulated by said accumulation means with weighing coefficients, and averaging multiplication products.