Vehicle longitudinal spacing controller

• US 5,777,451 A
• Filed: 09/25/1996
• Issued: 07/07/1998
• Est. Priority Date: 03/08/1996
• Status: Expired due to Fees

• Current Assignee: Nissan Diesel Motor Co., Ltd. (Isuzu Motors Limited)
• Original Assignee: Nissan Diesel Motor Co., Ltd. (Isuzu Motors Limited)
• Inventors: Kobayashi, Masanori, Kawabe, Taketoshi
• Primary Examiner(s): IP, SHIK LUEN PAUL
• Application Number:
  US08/719,676
• Time in Patent Office: 650 Days
• Field of Search: 318/139, 318/587, 318/560-630, 180/167-170, 364/424.02, 364/426, 901/1, 395/80-99, 356/5.09, 356/28.5, 455/33.1, 455/33.4, 104/27, 104/295
• US Class Current: 318/587
• CPC Class Codes: B60W 2050/0011 Proportional Integral Differential [PID] controller
• CPC Class Codes: B60W 2552/15 Road slope, i.e. the inclination of a road segment in the longitudinal direction
• CPC Class Codes: B60W 2556/50 of positioning data, e.g. GPS [Global Positioning System] data
• CPC Class Codes: B60W 30/165 Automatically following the path of a preceding lead vehicle, e.g. "electronic tow-bar"
• CPC Class Codes: B61L 2205/04 Satellite based navigation systems, e.g. global positioning system [GPS]
• CPC Class Codes: B61L 23/34 for indicating the distance between vehicles or trains by the transmission of signals therebetween
• CPC Class Codes: G01S 19/14 specially adapted for specific applications
• CPC Class Codes: G01S 2013/9325 for inter-vehicle distance regulation, e.g. navigating in platoons
• CPC Class Codes: G01S 2205/002 for traffic control, mobile tracking, guidance, surveillance or anti-collision
• CPC Class Codes: G01S 5/0072 Transmission between mobile stations, e.g. anti-collision systems
• CPC Class Codes: G05D 1/0261 using magnetic plots
• CPC Class Codes: G05D 1/0278 using satellite positioning signals, e.g. GPS
• CPC Class Codes: G05D 1/0293 Convoy travelling
• CPC Class Codes: G08G 1/166 for active traffic, e.g. moving vehicles, pedestrians, bikes
• CPC Class Codes: G08G 1/22 Platooning, i.e. convoy of communicating vehicles

Abstract

A frontmost vehicle and a plurality of following vehicles are driven together in a line as a group. A virtual cell is set for each vehicle, allowing a predetermined distance in front of and behind the vehicle, and a virtual cell front end position of the frontmost vehicle is indicated from outside. A value obtained by adding the length of the virtual cell to the virtual cell front end position is transmitted to the following vehicle as the virtual cell front end position of the following vehicle. A relative position in the virtual cell of each vehicle is detected, and by controlling this relative position to a preset target position, the inter-vehicle distance is reduced and the generation of dilatational waves between the vehicles is prevented.

Claims

1. A vehicle longitudinal spacing controller for controlling a travel of a group of vehicles traveling in a line, each of said vehicles having a travel speed varying mechanism for varying a travel speed of said vehicle, said controller comprising:

means for setting a virtual cell for each vehicle allowing a predetermined distance in front of and behind said vehicle,

first transmitting means for transmitting a signal indicative of a virtual cell front end position of a frontmost vehicle in the group to said frontmost vehicle,

means for calculating a virtual cell front end position of a (i+1)th vehicle from said frontmost vehicle, from a virtual cell front end position and a virtual cell of a ith vehicle, where i ranges from 1 to the total number of vehicles in said group,

second transmitting means for transmitting a signal indicative of the virtual cell front end position of said (i+1)th vehicle to said (i+1)th vehicle,

means for setting a target position of each vehicle in said virtual cell,

means for detecting a real position of each vehicle in said virtual cell, and

means for controlling said travel speed varying mechanism such that said real position coincides with said target position of each vehicle.

2. A vehicle longitudinal spacing controller as defined in claim 1, wherein each vehicle is provided with said virtual cell setting means, said target position setting means, said real position detecting means and said control means, each vehicle except the last vehicle in the group is provided with said calculating means and said second transmitting means, and said first transmitting means is provided independently of the group.

3. A vehicle longitudinal spacing controller as defined in claim 1, wherein said controller further comprises magnetic nails emitting magnetic pulses disposed at equidistant intervals on a road on which the group is traveling, and said position detecting means comprises a magnetic sensor for detecting said magnetic pulses and a pulse counter for integrating said pulses.

4. A vehicle longitudinal spacing controller as defined in claim 1, wherein said position detecting means comprises a GPS receiver.

5. A vehicle longitudinal spacing controller as defined in claim 1, wherein said first transmitting means comprises a base station for specifying the virtual cell front end position of said frontmost vehicle with time and a transmitting device for transmitting said virtual cell front end position to said frontmost vehicle.

6. A vehicle longitudinal spacing controller as defined in claim 1, wherein said controller further comprises means for detecting a vehicle speed of each vehicle, and said virtual cell setting means sets said virtual cell to a larger value the larger said vehicle speed.

7. A vehicle longitudinal spacing controller as defined in claim 1, wherein said controller further comprises means for detecting a weight of each vehicle, and said virtual cell setting means sets said virtual cell to a larger value the larger said weight.

8. A vehicle longitudinal spacing controller as defined in claim 1, wherein said controller further comprises means for detecting a frictional coefficient between the tires of said vehicles and a road surface on which said vehicles are traveling, and said virtual cell setting means sets said virtual cell to a larger value the smaller said frictional coefficient.

9. A vehicle longitudinal spacing controller as defined in claim 1, wherein said controller further comprises means for detecting a rainfall, and said virtual cell setting means sets said virtual cell to a larger value when the rainfall is detected.

10. A vehicle longitudinal spacing controller as defined in claim 1, wherein said controller further comprises means for detecting a throttle opening of an engine driving each vehicle, means for detecting a travel speed of each vehicle, and means for determining whether or not each vehicle is traveling on a descending slope based on the throttle opening and travel speed of each vehicle, and said virtual cell setting means sets said virtual cell to a larger value when said vehicle is traveling on a descending slope.

11. A vehicle longitudinal spacing controller as defined in claim 1, wherein said controller further comprises means for detecting a gradient of a road surface on which said vehicles are traveling, and said virtual cell setting means sets said virtual cell based on said road surface gradient.

12. A vehicle longitudinal spacing controller as defined in claim 1, further comprising means for arbitrarily varying said virtual cell of each vehicle.

13. A vehicle longitudinal spacing controller as defined in claim 1, wherein said controller further comprises means for calculating a standard deviation of difference between said real position and said target position of each vehicle, and said virtual cell setting means sets said virtual cell to a larger value the larger said standard deviation.