System for controlling distance to a vehicle traveling ahead based on an adjustable probability distribution

• US 5,710,565 A
• Filed: 04/05/1996
• Issued: 01/20/1998
• Est. Priority Date: 04/06/1995
• Status: Expired due to Term

• Current Assignee: Nippondenso Co., Ltd. (DENSO Corporation)
• Original Assignee: Nippondenso Co., Ltd. (DENSO Corporation)
• Inventors: Nishimura, Takao, Shirai, Noriaki, Hibino, Katsuhiko
• Primary Examiner(s): Sotomayor, John B.
• Application Number:
  US08/626,140
• Time in Patent Office: 655 Days
• Field of Search: 342/70, 342/71, 342/72, 342/114, 342/456, 342/455, 342/461, 340/903, 340/932, 340/435, 340/436, 340/447, 340/465, 340/466, 340/467
• US Class Current: 342/70
• CPC Class Codes: B60K 31/0008 including means for detecting potential obstacles in vehicle path
• CPC Class Codes: B60T 2201/08 Lane monitoring; Lane Keeping Systems
• CPC Class Codes: B60T 2201/081 using distance control
• CPC Class Codes: B60W 2540/18 Steering angle
• CPC Class Codes: B60W 2540/20 Direction indicator values
• 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 2720/106 Longitudinal acceleration
• CPC Class Codes: B60W 30/16 Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
• CPC Class Codes: B62D 1/28 non-mechanical , e.g. following a line or other known markers
• CPC Class Codes: G01S 17/931 of land vehicles
• CPC Class Codes: G05D 1/024 in combination with a laser lasers per se H01S
• CPC Class Codes: G05D 1/0289 with means for avoiding collisions between vehicles vehicle fittings for automatically controlling speed including means for detecting potential obstacles B60K31/0008; avoiding obstacles by action on the steering system B62D; radar, sonar, lidar systems designed for anti-collision purposes G01S13/93, G01S15/93, G01S17/93

Abstract

An intervehicle distance control system for automotive vehicles is provided which includes a laser scanning type distance sensor for scanning a laser beam in a width-wise direction of a system vehicle to determine relative positions and relative angles of objects within a forward detectable zone and determines same lane probabilities that the objects exist in the same lane of a road as the system vehicle using a variable probability distribution based on the relative positions and the relative angles of the objects. A target preceding vehicle is then selected from the objects based on the same lane probabilities for controlling the speed of the system vehicle to maintain a distance to the target preceding vehicle constant.

Claims

1. A system for controlling an intervehicle distance between a system vehicle equipped with the system and a preceding vehicle present ahead of the system vehicle comprising:

speed measuring means for measuring a speed of the system vehicle;

beam scanning means for scanning a beam over a given scanning angle in a width-wise direction of the system vehicle and receiving beams reflected from objects present within a forward detection zone defined by the scanning angle to detect the objects;

distance and angular position determining means for determining distances to and angular positions of the objects in the forward detection zone based on the reflected beams;

relative position and speed determining means for determining relative positions and relative speeds of the objects to the system vehicle based on the distances and the angular positions of the objects determined by said distance and angular position determining means;

curve determining means for determining a degree of a curve in a road on which the system vehicle is traveling;

same lane probability determining means for determining same lane probabilities of the objects being present in the same traffic lane as the system vehicle based on the degree of the curve determined by said curve determining means and the relative positions of the objects determined by said relative position and speed determining means;

target preceding vehicle selecting means for selecting a target preceding vehicle out of the objects in the forward detection zone based on the same lane probabilities determined by said same lane probability determining means; and

intervehicle distance control means for controlling an intervehicle distance between the system vehicle and the target preceding vehicle selected by said target preceding vehicle selecting means, said intervehicle distance means controlling the speed of the system vehicle measured by said speed measuring means to control the intervehicle distance.

2. A system as set forth in claim 1, wherein said curve determining means includes:

steered angle detecting means for detecting a steered angle of the system vehicle at given control cycles;

average steered angle determining means for determining an average steered angle at the given control cycles based on the steered angle detected by said steered angle detecting means, said average steered angle determining means updating the average steered angle based on the average steered angle determined one control cycle earlier and the steered angle detected by said steered detecting means at a current control cycle;

straight travel determining means for determining whether the system vehicle is traveling straight or not based on a variation in the steered angle detected by said steered angle detecting means;

neutral steered angle learning means for learning the steered angles of the system vehicle detected by said steered angle detecting means at given learning cycles when said straight travel determining means determines that the system vehicle is traveling straight to determine a neutral steered angle; and

curve degree determining means for determining the degree of the curve of the road based on a deviation between the neutral steered angle determined by said neutral steered angle learning means and the average steered angle determined by said average steered angle determining means.

3. A system as set forth in claim 2, wherein said average steered angle determining means carries out a weighted averaging operation on the average steered angle determined one control cycle earlier and the steered angle detected by said steered angle at a current control cycle to update the average steered angle when the speed of the system vehicle measured by said speed measuring means is greater than a given speed, while the steered angle detected at the current control cycle is defined as the average steered angle when the speed of the system vehicle is smaller than the given speed.

4. A system as set forth in claim 3, further comprising steered angle stability determining means for determining whether the steered angle detected by said steered angle detecting means is stable or not, and wherein when the speed of the system vehicle measured by said speed measuring means is greater than the given speed and said steered angle stability determining means determines that the steered angle is stable, said average steered angle determining means adds in the weighted averaging operation a greater weight to the steered angle detected at the current control cycle, and when the speed of the system vehicle is greater than the given speed and said steered angle stability determining means determines that the steered angle is unstable, said average steered angle determining means adds a smaller weight to the steered angle detected at the current control cycle.

5. A system as set forth in claim 4, further comprising steered angle variation determining means for determining whether a variation in the steered angle detected by said steered angle detecting means is greater than a given value or not, and wherein when the speed of the system vehicle measured by said speed measuring means is greater than the given speed, said steered angle stability determining means determines that the steered angle is stable for a given period of time after said steered angle variation determining means determines that the variation in the steered angle is greater than the given value, while said steered angle stability determining means determines that the steered angle is unstable during a time out of the given period of time.

6. A system as set forth in claim 5, wherein further comprising variation check steered angle determining means for determining a variation check steered angle that is a given parameter for determining the variation in the steered angle detected by said steered angle detecting means, sad variation check steered angle determining means updating the variation check steered angle at the control cycles by carrying out a weighted averaging operation on the variation check steered angle one control cycle earlier and the variation check steered angle at a current control cycle, and wherein said steered angle variation determining means determines that the variation in the steered angle detected by said steered angle detecting means is greater than the given value when a difference between the variation check steered angle and the steered angle detected by said steered angle detecting means is greater than a given value.

7. A system as set forth in claim 6, wherein when the speed of the system vehicle measured by said speed measuring means is greater than the given speed and said steered angle stability determining means determines that the steered angle is stable, said variation check steered angle determining means adds in the weighted averaging operation a smaller weight to the steered angle detected at the current control cycle, when the speed of the system vehicle is greater than the given speed and said steered angle stability determining means determines that the steered angle is unstable, said variation check steered angle determining means adds a greater weight to the steered angle detected at the current control cycle, and when the speed of the system vehicle is smaller than the given speed, said variation check steered angle determining means adds an intermediate weight between the greater weight and the smaller weight to the steered angle detected at the current control cycle.

8. A system as set forth in claim 6, further comprising learning allowing means for allowing said neutral steered angle leaning means to learn the steered angles of the system vehicle detected by said steered angle detecting means to determine the neutral steered angle a give period of time after said steered angle variation determining means determines that the variation in the steered angle detected by said steered angle detecting means is greater than the given value when the speed of the system vehicle measured by said speed measuring means is greater than a preselected speed and the difference between the variation check steered angle determined by said variation check steered angle determining means and the steered angle detected by said steered angle detecting means is smaller than the given value.

9. A system as set forth in claim 2, wherein said neutral steered angle learning means determines a neutral position leaning angle to determine the neutral steered angle based on the steered angle detected by said steered angle detecting means when said straight travel determining means determines that the system vehicle is traveling straight, and updates the neutral position learning angle at the control cycles by carrying out a weighted averaging operation on the neutral position leaning angle determined one control cycle earlier and the steered angle detected at a current control cycle, and wherein a weight added to the neutral position learning angle in the weighted averaging operation is increased every control cycle.

10. A system as set forth in claim 9, wherein the degree to which the weight added to the neutral position learning angle is increased every control cycle is increased according to an increase in the speed of the system vehicle measured by sad speed measuring means.

11. A system as set forth in claim 2, wherein said curve degree determining means determines the degree of the curve of the road based on a deviation between the neutral steered angle determined by said neutral steered angle learning means and the average steered angle determined by said average steered angle determining means when a first condition where the speed of the system vehicle measured by said speed measuring means is greater than a predetermined speed and a given number of the learning cycles expire is encountered, and wherein the deviation between the neutral steered angle and the average steered angle is decreased when a second condition different from the first condition is encountered.

12. A system as set forth in claim 1, wherein said same lane probability determining means includes:

a same lane probability distribution map representing a probability that an object present ahead of the system vehicle exist in the same traffic lane on a straight road as that in which the system vehicle is traveling based on a relative position of the object to the system vehicle;

relative position converting means for converting the relative positions of the objects determined by said relative position and speed determining means into relative positions of the objects to the system vehicle if the objects exit on the straight road based on the degree of the curve determined by said curve determining means; and

instantaneous same lane probability determining means for determining instantaneous probabilities that the objects detected by said beam scanning means exist in the same traffic lane as the system vehicle by look-up using said same lane probability distribution map based on the relative positions converted by said relative position converting means,

and wherein said same lane probability determining means determines the same lane probabilities of the objects based on the instantaneous probabilities.

13. A system as set forth in claim 12, wherein said same lane probability determining means updates the same lane probabilities of the objects at the control cycles using a weighted averaging operation on the same lane probabilities determined one control cycle earlier and the instantaneous same lane probabilities, respectively.

14. A system as set forth in claim 13, wherein when the instantaneous same lane probabilities are greater than a given value, a weight added to the instantaneous same lane probabilities in the weighted averaging operation is increased.

15. A system as set forth in claim 13, wherein when one of the objects detected by said beam scanning means is a stationary object, said same lane probability determining means provides a given upper limit to the same lane probability of the one of the objects.

16. A system vehicle as set forth in claim 12, wherein said same lane probability distribution map indicates a lower probability distribution lowered by a given probability and a higher probability distribution higher than the given probability, the lower probability distribution spreading in a forward direction from the system vehicle and indicating a probability which is decreased in a lateral direction perpendicular to a traveling direction of the system vehicle, the higher probability distribution narrowing in the forward direction and being converged at a given distance away from the system vehicle.

17. A system as set forth in claim 16, wherein the lower probability distribution is defined by first and second curved boundary lines extending in the forward direction from the system vehicle.

18. A system as set forth in claim 16, wherein said lower probability distribution is defined by first and second curved boundary lines spreading in the forward direction from the system vehicle in proportion to the square of a distance away from the system vehicle in the forward direction.

19. A system as set forth in claim 16, wherein said higher probability distribution is defined by first and second curved lines expanding in the lateral direction.

20. A system as set forth in claim 16, wherein the higher probability distribution is defined by first and second straight lines intersecting at the given distance away from the system vehicle.

21. A system as set forth in claim 1, wherein said relative position and speed determining means determines whether the objects detected by said beam scanning means are moving object or stationary objects based on the relative speeds of the objects and the speed of the system vehicle,

and wherein said target preceding vehicle selecting means includes:

target moving preceding vehicle selecting means for selecting from among the same lane probabilities greater than a first probability the greatest one as a reference probability, selecting from among the moving objects showing the same lane probabilities within a given range over the reference probability and the moving objects showing the same lane probabilities greater than a second probability one of the smallest distance between itself and the system vehicle as a target moving preceding vehicle, and determining that there is no target moving preceding vehicle if the reference probability is not selected;

target stationary preceding vehicle selecting means for selecting from among the stationary objects showing the same lane probabilities greater than a third probability one of the smallest distance between itself and the system vehicle as a target stationary preceding vehicle and determining that there is no target stationary preceding vehicle if there is no stationary objects showing the same lane probabilities greater than the third probability; and

target preceding vehicle determining means for determining as the target preceding vehicle either of the target moving preceding vehicle and the target stationary preceding vehicle which has the smaller of the distances to the system vehicle, if either of the target moving preceding vehicle and the target stationary preceding vehicle is selected, the selected one being determined as the target preceding vehicle, if both the target moving preceding vehicle and the target stationary preceding vehicle are not selected, the target preceding vehicle determining means determining that there is no target preceding vehicle.

22. A system as set forth in claim 21, wherein the first probability is changed according to the degree of the curve determined by said curve determining means.

23. A system as set forth in claim 1, wherein said intervehicle distance control means includes:

target intervehicle distance determining means for determining a target intervehicle distance to the target preceding vehicle based on an input from a system operator;

target change rate of speed determining means for determining a target change rate of the speed of the system vehicle based on the relative speed of the target preceding vehicle and a difference between the distance to the target preceding vehicle determined by said distance and angular position determining means and the target intervehicle distance;

target vehicle speed determining means for determining a target vehicle speed and updating the target vehicle speed at given control cycles based on the target vehicle speed determined one control cycle earlier and the target change rate determined by said target change rate; and

speed control means for controlling the speed of the system vehicle to agree with the target vehicle speed.

24. A system as set forth in claim 23, wherein said target intervehicle distance determining means determines a target intervehicle distance time which includes a variable and a given initial value, the variable being changed based on an input from a system operator, the target intervehicle distance being determined by multiplying the target intervehicle distance time by the speed of the system vehicle measured by said speed measuring means.

25. A system as set forth in claim 24, wherein the target intervehicle distance is defined within a range from given upper to lower limit.

26. A system as set forth in claim 23, wherein said target vehicle speed determining means increases a response rate of the target vehicle speed is increased when the relative speed of the target preceding vehicle determined by said relative position and speed determining means is changed from an acceleration to a deceleration and vice versa.

27. A system as set forth in claim 23, wherein when a system operator does not accelerate or decelerate the system vehicle, said target vehicle speed determining means limits the target vehicle speed within a range including the speed of the system vehicle measured by said speed measuring means below a set vehicle speed set under cruise control performed when intervehicle distance control by said intervehicle distance control means is not performed.

28. A system as set forth in claim 23, wherein when said target preceding vehicle selecting means determines that there is no target preceding vehicle and when the speed of the system vehicle measured by said speed measuring means is greater than the target vehicle speed, said target vehicle speed determining means sets the target vehicle speed to the speed of the system vehicle and then updates the target vehicle speed based on the target vehicle speed determined one control cycle earlier and the target change rate determined by said target change rate, when said target preceding vehicle selecting means determines that there is no target preceding vehicle and when the speed of the system vehicle measured by said speed measuring means is smaller than the target vehicle speed, said target vehicle speed determining means determining the target vehicle speed based on an initial value indicating the target vehicle speed and updating the target vehicle speed based on the target vehicle speed determined one control cycle earlier and the target change rate determined by said target change rate, and wherein the target vehicle speed is limited within a range below a set vehicle speed set under cruise control performed when intervehicle distance control by said intervehicle distance control means is not performed.

29. A system as set forth in claim 9, wherein said relative position and speed determining means determines whether the objects detected by said beam scanning means are moving object or stationary objects based on the relative speeds of the objects and the speed of the system vehicle, and further comprising stationary object locus monitoring means for monitoring loci of one of the stationary objects determined by said relative position and speed determining means relative to the system vehicle at given time intervals, and wherein said curve degree determining means determines the degree of the curve based on the loci monitored by said stationary object locus monitoring means, and further comprising cumulating means for cumulating a difference between the neutral position learning angle and the steered angle detected by said steered angle detecting means at the control cycles to determine a cumulative value when the degree of the curve is more than a given value and correcting means for correcting the neutral position learning angle by subtracting a given value from the neutral position learning angle when an absolute value of the cumulative value exceeds a given value and when the cumulative value is positive, said correcting means adding the given value to the neutral position learning angle when the absolute value of the cumulative value exceeds the given value and when the cumulative value is negative.

30. A system as set forth in claim 1, wherein said relative position and speed determining means determines whether the objects detected by said beam scanning means are moving objects, stationary objects, or obstacles on a side of the road based on the relative speeds of the objects and the speed of the system vehicle, and wherein said same lane probability determining means monitors a relative position of one of the obstacles to the system vehicle or one of the moving objects or the stationary objects to determine whether a lane exists on either side of the system vehicle or not, a result of the determination being used to modify the same lane probabilities.

31. A system as set forth in claim 1, wherein when a turn indicator of the system vehicle is turn on, said same lane probability determining means shifts the center of the determination of the target preceding vehicle to a direction indicated by the turn indicator according to the speed of the system vehicle.

32. A system as set forth in claim 31, wherein said same lane probability determining means decreases the same lane probability of the target preceding vehicle when the turn indicator is turned on.

33. A system as set forth in claim 1, wherein when a turn indicator of the system vehicle is turned on, said same lane probability determining means shifts the center of the determination of the target preceding vehicle to a direction indicated by the turn indicator according to the speed of the system vehicle by correcting at least one of the degree of the curve determined by said curve determining means and components of the relative positions of the objects in a lateral direction of the system vehicle so as to decrease the same lane probabilities of the objects in the direction indicated by the turn indicator according to the speed of the system vehicle.

34. A system as set forth in claim 1, wherein said same lane probability determining means increases the same lane probabilities of the objects if the relative speeds of the objects represent that the objects are approaching the system vehicle.

35. A system as set forth in claim 1, wherein said relative position and speed determining means further determines widths of the objects, and wherein when the widths of the objects are smaller than a given value, said same lane probability determining means increases the same lane probabilities of the objects.

36. A system as set forth in claim 13, wherein when the relative speeds of the objects in a lateral direction of the system vehicle is increased, said same lane probability determining means decreases a weight added to the instantaneous same lane probabilities in the weighted averaging operation.

37. A system as set forth in claim 1, further comprising a navigation system using a GPS (Global Positioning System), and wherein when said target preceding vehicle selecting means determines that the curve exists in a forward direction based on data provided by the navigation system, the objects located at a given distance away from the system vehicle are not selected as the target preceding vehicle.

38. A system as set forth in claim 23, wherein the initial value of the target intervehicle distance time is determined based on an intervehicle distance to the target preceding object selected by said target preceding vehicle selecting means when said intervehicle distance control means is not in operation.

39. A system as set forth in claim 23, wherein said target intervehicle distance determining means increases the target intervehicle distance to the target preceding vehicle for a given period of time after the target preceding vehicle is selected.

40. A system as set forth in claim 23, wherein when the number of objects detected by said beam scanning means is greater than a given value, said target intervehicle distance determining means decreases the target intervehicle distance to the target preceding vehicle.

41. A system as set forth in claim 23, wherein said speed control means performs cruise control, and wherein when a system operator increases a set speed in the cruise control, the target change rate of speed determining means sets the target change rate of the speed of the system vehicle to a first acceleration value, when the system operator decreases the set speed in the cruise control, the target change rate of speed determining means setting the target change rate of the speed of the system vehicle to a given deceleration value, when the target preceding vehicle is not selected by said target preceding vehicle selecting means and when the system operator does not change the set speed in the cruise control, the target change rate of speed determining means setting the target change rate of the speed of the system vehicle to a second acceleration value smaller than the first acceleration value, within a given period of time after the system driver increases the set speed in the cruise control, the target change rate of speed determining means setting the target change rate of the speed of the system vehicle to the first acceleration value.

42. A system as set forth in claim 41, wherein when the target change rate of the speed of the system vehicle is smaller than the second acceleration value, the target change rate of speed determining means increases the target change rate of the speed to the second acceleration value gradually.

43. A system as set forth in claim 23, wherein when the target preceding vehicle is not selected by said target preceding vehicle selecting means and when a turn indicator of the system vehicle is turned on to indicate a direction from a passing lane to a traveling lane, said target change rate of speed determining means decreases the target change rate of the speed.

44. A system as set forth in claim 23, wherein when the target preceding vehicle is not selected by said target preceding vehicle selecting means and when a turn indicator of the system vehicle is turned on to indicate a direction from a traveling lane to a passing lane, said target change rate of speed determining means increases the target change rate of the speed.

45. A system as set forth in claim 23, wherein said target change rate of speed determining means determines whether the system vehicle is traveling on a downhill road or not, and wherein when the system vehicle is determined as being traveling on the downhill road, said target change rate of speed determining means decreases the target change rate of the speed.

46. A system as set forth in claim 23, wherein said target change rate of speed determining means decreases the target change rate of the speed as the same lane probability of the target preceding vehicle is lowered.

47. A system as set forth in claim 23, wherein said target change rate of speed determining means decreases an absolute value of the target change rate of the speed when the target intervehicle distance determined by said target intervehicle distance determining means is greater than a given distance.

48. A system as set forth in claim 23, wherein said speed control means prohibits the speed of the system vehicle from increasing until the intervehicle distance to the target preceding vehicle exceeds the target intervehicle distance determined by said target intervehicle distance determining means by a given distance.

49. A system as set forth in claim 1, further comprising weather condition detecting means for detecting a given weather condition degrading an operation of said beam scanning means, intervehicle distance control prohibiting means for prohibiting an operation of said intervehicle distance control means when the given weather condition is detected, and alarm means for issuing an alarm when the operation of said intervehicle distance control means is prohibited.

50. A system as set forth in claim 1, further comprising control operation informing means for informing a system operator that said intervehicle distance control means is in operation.