Running control apparatus for vehicles and alarm apparatus for vehicles

• US 5,629,669 A
• Filed: 05/25/1995
• Issued: 05/13/1997
• Est. Priority Date: 05/21/1993
• Status: Expired due to Term

• Current Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Original Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Inventors: Shigematsu, Takashi, Hattori, Yoshikazu, Mizukoshi, Masashi, Asano, Katsuhiro
• Primary Examiner(s): Mullen, Thomas
• Assistant Examiner(s): Pope, Daryl C.
• Application Number:
  US08/450,583
• Time in Patent Office: 719 Days
• Field of Search: 340/436, 340/435, 340/903, 340/460, 340/461, 358/103, 358/105
• US Class Current: 340/436
• CPC Class Codes: B60K 31/0008 including means for detecting potential obstacles in vehicle path
• 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
• CPC Class Codes: B60W 2050/0057 Frequency analysis, spectral techniques or transforms
• CPC Class Codes: B60W 2050/143 Alarm means
• CPC Class Codes: B60W 2520/105 Longitudinal acceleration
• CPC Class Codes: B60W 2554/801 Lateral distance
• CPC Class Codes: B60W 2720/106 Longitudinal acceleration
• CPC Class Codes: F16H 2061/0081 Fuzzy logic
• CPC Class Codes: G01S 13/93 for anti-collision purposes
• CPC Class Codes: G01S 17/931 of land vehicles

Abstract

A driver regards a relative acceleration of a subject vehicle with respect to an object such as a preceding vehicle, an obstacle and the like as one having highest priority, and performs control such that deceleration is immediately started even if a relative velocity is small if the relative acceleration is large. Taking note of this point, the relative acceleration between the subject vehicle and the object is detected, and it is judged whether or not the subject vehicle and the object relatively approach each other at a relative acceleration not less than a predetermined value. A vehicle velocity is controlled such that the relative acceleration is not more than a predetermined target relative acceleration (for which a direction for approach is positive) when the subject vehicle and the object relatively approach each other at a relative acceleration not less than the predetermined value. Thus, the start of deceleration felt by the driver is adequate.

Claims

1. A running control apparatus for vehicles, comprising:

relative acceleration detecting means for detecting a relative acceleration between a subject vehicle and an object;

judging means for judging whether the subject vehicle and the object relatively approach each other at the relative acceleration detected by the relative acceleration detecting means not less than a predetermined value of relative acceleration; and

control means for controlling the subject vehicle velocity such that the relative acceleration for which a direction to make a relative approach of the subject vehicle and the object positive is not more than a predetermined target value of relative acceleration when the judging means judges that the subject vehicle and the object relatively approach each other at the relative acceleration not less than the predetermined value of relative acceleration, wherein said relative acceleration detecting means includes a radar means for obtaining at least one of the distance and the relative speed therebetween, and the relative acceleration is obtained by differentiating the obtained one of the distance and the relative speed thereof.

2. The running control apparatus for vehicles according to claim 1, wherein said control means controls a relative velocity after it controls the relative acceleration to be not more than the predetermined target value of relative acceleration.

3. The running control apparatus for vehicles according to claim 1, wherein said control means controls a distance between the subject vehicle and the object after it controls the relative acceleration to be not more than the predetermined target value of relative acceleration.

4. The running control apparatus for vehicles according to claim 1, further comprising:

distance detecting means for detecting a distance between a subject vehicle and an object;

relative velocity detecting means for detecting a relative velocity between the subject vehicle and the object; and

deceleration means for decelerating the subject vehicle when;

the relative acceleration detected by the relative acceleration detecting means between the subject vehicle and the object is less than a predetermined value of relative acceleration, the distance detected by the distance detecting means between the subject vehicle and the object is less than a first predetermined value of distance and not less than a second predetermined value of distance which is smaller than the first predetermined value of distance, and the subject vehicle and the object relatively approach each other at the relative velocity detected by the relative velocity detecting means not less than a predetermined value of relative velocity; and

when the relative acceleration detected by the relative acceleration detecting means between the subject vehicle and the object is less than the predetermined value of relative acceleration, and the distance detected by the distance detecting means between the subject vehicle and the object is less than a third predetermined value of distance and not less than said second predetermined value of distance, said third predetermined value of distance is smaller than said first predetermined value of distance and larger than said second predetermined value of distance.

5. The running control apparatus for vehicles according to claim 4, further comprising an additional deceleration means for decelerating the subject vehicle at a deceleration not less than a predetermined value of deceleration when the distance between the subject vehicle and the object is less than the first predetermined value of distance, and the subject vehicle and the object relatively approach each other at an acceleration not less than the predetermined value of acceleration, and the distance between the subject vehicle and the object is less than the second predetermined value of distance.

6. The running control apparatus for vehicles according to claim 5, wherein said additional deceleration means, when the distance between the subject vehicle and the object is less than the first predetermined value of distance, and the subject vehicle and the object relatively approach each other at the relative acceleration not less than the predetermined value of acceleration, performs:

pressure addition of a brake pressure when the relative acceleration is not less than a predetermined sufficiently small positive value of relative acceleration G₀ and the relative velocity is not less than a predetermined sufficiently small positive value of relative velocity V₀, and when the distance between the subject vehicle and the object is less than a safe distance between vehicles HW₀ ;

pressure reduction of the brake pressure when the relative acceleration is smaller than said positive value of relative acceleration G₀, the relative velocity is smaller than said positive value of relative velocity V₀, the distance between the subject vehicle and the object is not less than the safe distance between vehicles HW₀, the relative velocity is smaller than a predetermined value of relative velocity Vm which is smaller than said positive value of relative velocity V₀, and the subject vehicle and a preceding vehicle move further apart; and

maintaining of brake pressure when the relative acceleration is smaller than said positive value of relative acceleration G₀, the relative velocity is smaller than said positive value of relative velocity V₀, the distance between the subject vehicle and the object is not less than the safe distance between vehicles HW₀, and the relative velocity is not less than said predetermined value of relative velocity Vm.

7. The running control apparatus for vehicles according to claim 4, wherein said first predetermined value of distance and said second predetermined value of distance are determined such that they become large as the subject vehicle velocity increases.

8. The running control apparatus for vehicles according to claim 4, wherein when said first predetermined value of distance is HW1, and a proportional constant K is a value within a range of 0.05<

K<

0.2, then the third predetermined value of distance HW2 is determined to satisfy the following equation;

space="preserve" listing-type="equation">HW1-HW2=K·

HW1.

9.

9. The running control apparatus for vehicles according to claim 4, further comprising:

judging means for judging whether deceleration by braking operation is performed; and

alarm means for generating an alarm when it is judged that the subject vehicle and the object relatively approach each other at the relative acceleration detected by the relative acceleration detecting means not less than a predetermined value of acceleration, the distance detected by the distance detecting means between the subject vehicle and the object is not more than a predetermined value of distance, and the deceleration by the braking operation of the subject vehicle is not performed.

10. The alarm apparatus for vehicles according to claim 9, wherein the predetermined value of distance in relation to the distance between the subject vehicle and the object is determined such that it becomes large as a subject vehicle velocity increases.

11. The running control apparatus for vehicles according to claim 4, further comprising:

judging means for judging whether deceleration by engine braking is performed; and

alarm means for generating an alarm when it is judged that the relative acceleration detected by the relative acceleration detecting means between the subject vehicle and the object is less than a predetermined value of relative acceleration, the distance detected by the distance detecting means between the subject vehicle and the object is not more than a first predetermined value of distance, the subject vehicle and the object relatively approach each other at the relative velocity detected by the relative velocity detecting means not less than a predetermined value of velocity, and the judging means judges that deceleration of the subject vehicle by engine braking is not performed, and when it is judged that the relative acceleration detected by the relative acceleration detecting means between the subject vehicle and the object is less than the predetermined value of relative acceleration, the distance detected by the distance detecting means between the subject vehicle and the object is not more than a second predetermined value of distance, which is smaller than said first predetermined value of distance, and the judging means judges that deceleration of the subject vehicle by engine braking is not performed.

12. The alarm apparatus for vehicles according to claim 11, wherein said first predetermined value of relative distance and said second predetermined value of relative distance are determined such that they become large as a subject vehicle velocity increases.

13. The running control apparatus according to claim 1, wherein said control means comprises a neural network.

14. The running control apparatus for vehicles according to claim 1, wherein said radar means comprises a radar range finder.