Drive control system for automotive vehicle

• US 5,678,650 A
• Filed: 06/30/1994
• Issued: 10/21/1997
• Est. Priority Date: 06/30/1993
• Status: Expired due to Fees

• Current Assignee: Mazda Motor Corporation
• Original Assignee: Mazda Motor Corporation
• Inventors: Ishihara, Toshihiro, Inada, Takahiro, Okuda, Tsunehisa
• Primary Examiner(s): BOEHLER, ANNE MARIE M
• Application Number:
  US08/268,917
• Time in Patent Office: 1,209 Days
• Field of Search: 180/167, 180/169, 180/170, 180/271, 364/426.01, 364/426.04, 364/424.01, 364/460
• US Class Current: 180/169
• CPC Class Codes: B60K 31/0008 including means for detecting potential obstacles in vehicle path
• CPC Class Codes: B60T 8/175 Brake regulation specially adapted to prevent excessive wheel spin during vehicle acceleration, e.g. for traction control safety devices for propulsion unit control responsive to, or preventing, skidding of wheels B60K28/16
• CPC Class Codes: B60W 2520/125 Lateral acceleration
• CPC Class Codes: B60W 2520/14 Yaw
• CPC Class Codes: B60W 2554/00 Input parameters relating to objects
• CPC Class Codes: B60W 2554/802 Longitudinal distance
• CPC Class Codes: B60W 2554/804 Relative longitudinal speed
• CPC Class Codes: F16H 59/44 dependent on machine speed of the machine, e.g. the vehicle
• CPC Class Codes: F16H 59/50 Inputs being a function of the status of the machine, e.g. position of doors or safety belts
• CPC Class Codes: F16H 59/56 dependent on signals from the main clutch
• CPC Class Codes: F16H 59/58 dependent on signals from the steering
• CPC Class Codes: F16H 59/60 Inputs being a function of ambient conditions
• CPC Class Codes: G01S 17/931 of land vehicles

Abstract

A vehicle drive control system performs a speed control, in which the vehicle is controlled to travel at a desired cruising speed, and a distance control, in which the vehicle is controlled to keep a safe distance from a vehicle ahead of the vehicle with the drive control. The system is equipped with a feature in which a speed of the preceding vehicle is estimated when a range finder, which monitors a distance from the preceding vehicle, loses sight of the preceding vehicle during the distance control so as to establish a target cruising speed which the subject vehicle ought to attain according to the estimated speed of the preceding vehicle.

Claims

1. A drive control system for a subject vehicle for performing a speed control for controlling the subject vehicle so that the subject vehicle travels at a desired cruising speed and a distance control for controlling the subject vehicle so that the subject vehicle travels at a desired safe distance from a preceding object vehicle, said drive control system comprising:

(a) a range finder which detects a distance between the subject vehicle and a preceding object vehicle running ahead and within sight of the range finder, and

(b) control means for estimating an estimated speed of said preceding object vehicle after said range finder loses sight of the preceding object vehicle during said distance control corresponding to at least one actual driving condition of said preceding object vehicle before said range finder loses sight of said preceding object vehicle and a target cruising speed which the subject vehicle ought to attain according to the estimated speed of said preceding object vehicle, and controlling the subject vehicle so that it travels at said target cruising speed by causing said drive control system to perform said speed control.

2. A drive control system as defined in claim 1, wherein said control means establishes said target cruising speed to be a lower one of a speed of said subject vehicle and said estimated speed of said preceding object vehicle.

3. A drive control system as defined in claim 1, wherein said control means establishes, as said target cruising speed, (1) a middle speed between a speed of said subject vehicle and said estimated speed of said preceding object vehicle until a predetermined time has passed after losing sight of the preceding object vehicle, and (2) said estimated speed of said preceding object vehicle after said predetermined time has passed after losing sight of the preceding object vehicle.

4. A drive control system as defined in claim 1, wherein said control means estimates said estimated speed by subtracting a relative speed between said subject vehicle and said preceding object vehicle, before said range finder loses sight of the preceding object vehicle, from a speed of said subject vehicle.

5. A drive control system as defined in claim 4, wherein said control means estimates said estimated speed by subtracting a plurality of preceding relative speeds between the vehicles before said range finder loses sight of the preceding object vehicle from a speed of said subject vehicle in an extrapolating method.

6. A drive control system as defined in claim 4, wherein said control means substitutes a last relative speed between the vehicles right before said range finder loses sight of the preceding object vehicle for said speed of said preceding object vehicle.

7. A drive control system as defined in claim 1, wherein said distance control is performed differently according to a plurality of danger levels of relative speeds between said subject vehicle and said preceding object vehicle vehicles by controlling, in combination, an opening of an engine throttle, application of a brake and shifting of an automatic transmission.

8. A drive control system as defined in claim 7, wherein said danger levels are categorized into (1) an extreme danger zone for relative speeds at which the vehicles lessen rapidly said distance therebetween, a danger zone for relative speeds at which the vehicles lessen slowly said distance therebetween, and a low danger zone for relative vehicle speeds at which the vehicles increase said distance therebetween.

9. A drive control system as defined in claim 1, wherein said range finder comprises a laser radar range finder having a predetermined angle of sight.

10. A drive control system for a subject vehicle for performing a speed control for controlling the subject vehicle so that the subject vehicle travels at a desired cruising speed and a distance control for controlling the subject vehicle so that the subject vehicle travels at a desired safe distance from a preceding object vehicle, said drive control system comprising:

(a) a range finder which detects a distance between the subject vehicle and the preceding object vehicle running ahead and within sight of the range finder; and

(b) a control system for (1) detecting an actual relative speed between said subject vehicle and said preceding object vehicle, before said range finder loses sight of said preceding object vehicle, (2) establishing a target cruising speed which the subject vehicle ought to attain based on said relative speed when said range finder loses sight of the preceding object vehicle during said distance control, and (3) controlling the subject vehicle so that it travels at said target cruising speed by causing said drive control system to perform said speed control.

11. A drive control system as defined in claim 10, wherein said control system detects a difference between a speed of said subject vehicle and said relative speed for said target cruising speed.

12. A drive control system as defined in claim 10, wherein said control system establishes said target cruising speed based on a plurality of preceding relative speeds between said subject vehicle and said preceding object vehicle before said range finder loses sight of said preceding object vehicle.

13. A drive control system as defined in claim 10, wherein said control system substitutes a latest relative speed between said subject vehicle and said preceding object vehicle immediately before said range finder loses sight of said preceding object vehicle for a speed of said preceding object vehicle.

14. A drive control system as defined in claim 10, wherein said drive control system performs said distance control differently according to a plurality of danger levels of relative speed between said subject vehicle and said preceding object vehicle by controlling, in combination, an engine throttle opening, application of a brake and a shift of an automatic transmission.

15. A drive control system as defined in claim 14, wherein said control system categorizes said danger levels into extreme danger speeds, at which a distance between said subject vehicle and said preceding object vehicle decreases rapidly, danger speeds, at which a distance between said subject vehicle and said preceding object vehicle decreases slowly, and low danger speeds, at which a distance between said subject vehicle and said preceding object vehicle increases.

16. A drive control system as defined in claim 10, wherein said range finder comprises a laser radar range finder having a predetermined angle of sight.