Distance control apparatus for vehicle

• US 5,670,953 A
• Filed: 03/10/1995
• Issued: 09/23/1997
• Est. Priority Date: 03/15/1994
• Status: Expired due to Fees

• Current Assignee: Nissan Motor Co., Ltd.
• Original Assignee: Nissan Motor Co., Ltd.
• Inventors: Satoh, Hiroshi, Taniguchi, Ikuhiro
• Primary Examiner(s): Hofsass, Jeffery
• Assistant Examiner(s): TONG, NINA C
• Application Number:
  US08/402,046
• Time in Patent Office: 928 Days
• Field of Search: 340/435, 340/436, 340/903, 340/904, 367/909, 342/70, 342/71, 180/167, 180/168, 180/169, 180/170, 180/271, 180/274, 364/460, 364/461
• US Class Current: 340/903
• CPC Class Codes: B60K 31/0008 including means for detecting potential obstacles in vehicle path
• CPC Class Codes: B60T 2220/02 Driver type; Driving style; Driver adaptive features
• 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 2050/0031 Mathematical model of the vehicle
• CPC Class Codes: B60W 2540/30 Driving style
• CPC Class Codes: B60W 2552/15 Road slope, i.e. the inclination of a road segment in the longitudinal direction
• CPC Class Codes: B60W 2720/106 Longitudinal acceleration
• CPC Class Codes: B60W 40/09 Driving style or behaviour
• CPC Class Codes: F16H 2059/003 Detecting or using driving style of a driver, e.g. for adapting shift schedules
• CPC Class Codes: G01S 17/931 of land vehicles
• CPC Class Codes: Y10S 367/909 Collision avoidance

Abstract

A distance control apparatus for a vehicle detects a vehicle speed and a distance to a preceding vehicle through a vehicle speed sensor and a distance measuring device. The distance control apparatus calculates two deceleration distances by a driver model calculating device and a vehicle model calculating device. The driver model calculating device calculates the deceleration distance on the basis of the vehicle speed and the distance to a preceding vehicle and with reference to a driver'"'"'s control characteristics. The vehicle calculating device calculates the deceleration distance on the basis of the vehicle speed and with reference to physical characteristics of the vehicle. A speed control device of the distance control apparatus executes a deceleration control of the vehicle according to a larger one of the driver model deceleration distance and the vehicle model deceleration distance so as to realize the distance control fitting with a driver'"'"'s feel to a distance while keeping a secure distance derived from vehicle characteristics.

Claims

1. A distance control apparatus for a vehicle comprising:

a self vehicle speed detecting means for detecting a vehicle speed of the vehicle;

a distance measuring means for measuring a distance between the vehicle and a preceding vehicle;

a driver model calculating means for calculating a driver model deceleration distance and a driver model acceleration distance from the vehicle speed and the distance and a driver'"'"'s control characteristics;

a vehicle model calculating means for calculating a vehicle model deceleration distance from the vehicle speed and physical characteristics of the vehicle; and

a control means for executing a deceleration control of the vehicle according to a larger one of the driver model deceleration distance and the vehicle model deceleration distance and for executing an acceleration control of the vehicle according to the driver model acceleration distance;

wherein a driver model deceleration distance is calculated by the following equation;

space="preserve" listing-type="equation">Driver model deceleration distance=A×

vehicle speed+B +relative speed×

relative speed÷

(C×

vehicle speed)

wherein A, B and C are constants, and the relative speed is a value obtained by subtracting the vehicle speed from a vehicle speed of a preceding vehicle and is smaller than 0.

2. A distance control apparatus for a vehicle, comprising:

a self vehicle speed detecting means for detecting a vehicle speed of the vehicle;

a distance measuring means for measuring a distance between the vehicle and a preceding vehicle;

a driver model calculating means for calculating a driver model deceleration distance and a driver model acceleration distance from the vehicle speed and the distance and a driver'"'"'s control characteristics;

a vehicle model calculating means for calculating a vehicle model deceleration distance from the vehicle speed and physical characteristics of the vehicle; and

a control means for executing a deceleration control of the vehicle according to a larger one of the driver model deceleration distance and the vehicle model deceleration distance and for executing an acceleration control of the vehicle according to the driver model acceleration distance;

wherein the driver model acceleration distance is calculated by the following equation;

space="preserve" listing-type="equation">Driver model acceleration distance =A'"'"'×

vehicle speed +B'"'"'

wherein A'"'"' and B'"'"' are constants.

3. A distance control apparatus for a vehicle, comprising:

a self vehicle speed detecting means for detecting a vehicle speed of the vehicle;

a distance measuring means for measuring a distance between the vehicle and a preceding vehicle;

a driver model calculating means for calculating a driver model deceleration distance and a driver model acceleration distance from the vehicle speed and the distance and a driver'"'"'s control characteristics;

a vehicle model calculating means for calculating a vehicle model deceleration distance from the vehicle speed and physical characteristics of the vehicle; and

a control means for executing a deceleration control of the vehicle according to a larger one of the driver model deceleration distance and the vehicle model deceleration distance and for executing an acceleration control of the vehicle according to the driver model acceleration distance;

wherein the vehicle model deceleration distance is calculated by the following equation;

space="preserve" listing-type="equation">Deceleration=F×

vehicle speed

space="preserve" listing-type="equation">Deceleration distance=relative speed×

relative speed ÷

(2×

deceleration)

space="preserve" listing-type="equation">Vehicle model deceleration distance =deceleration distance +G

wherein F and G are constants and the relative speed is a value obtained by subtracting the vehicle speed from a vehicle speed of a preceding vehicle and is smaller than 0.

4. A distance control apparatus for a vehicle, comprising:

a self vehicle speed detecting means for detecting a vehicle speed of the vehicle;

a distance measuring means for measuring a distance between the vehicle and a preceding vehicle;

a driver model calculating means for calculating a driver model deceleration distance by the following equation;

space="preserve" listing-type="equation">Driver model deceleration distance=A×

vehicle speed+B +relative speed×

relative speed+(C×

vehicle speed)

wherein A, B and C are constants, and the relative speed is a value obtained by subtracting the vehicle speed from a vehicle speed of a preceding vehicle and is smaller than 0;

a vehicle model calculating means for calculating a vehicle model deceleration distance by the following equations;

space="preserve" listing-type="equation">Deceleration=F×

vehicle speed Deceleration distance=relative speed×

relative speed ÷

(2×

deceleration)

space="preserve" listing-type="equation">Vehicle model deceleration distance =deceleration distance+G

wherein F and G are constants;

a control means for executing a deceleration control of the vehicle according to a larger one of the driver model deceleration distance and the vehicle model deceleration distance.