Automatically driven motor vehicle

• US 5,934,399 A
• Filed: 10/29/1996
• Issued: 08/10/1999
• Est. Priority Date: 10/31/1995
• Status: Expired due to Fees

• Current Assignee: Honda Giken Kogyo Kabushiki Kaisha (Honda Motor Company)
• Original Assignee: Honda Giken Kogyo Kabushiki Kaisha (Honda Motor Company)
• Inventors: Maruyama, Kazuyuki, Iiboshi, Akira
• Primary Examiner(s): Swann, J J
• Assistant Examiner(s): VANAMAN, FRANK BENNETT
• Application Number:
  US08/741,392
• Time in Patent Office: 1,015 Days
• Field of Search: 130/167, 130/168, 130/169, 701/23, 701/70, 701/96
• US Class Current: 180/169
• 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 2540/12 Brake pedal position
• CPC Class Codes: B60W 2554/801 Lateral distance
• CPC Class Codes: B60W 2720/106 Longitudinal acceleration

Abstract

An automatically driven motor vehicle is controlled to automatically follow a front motor vehicle while controlling an intervehicular distance up to the front motor vehicle. A speed of the motor vehicle and an intervehicular distance up to the front motor vehicle are recognized, and acceleration/deceleration correcting data for the motor vehicle to adjust the recognized intervehicular distance depending on the recognized speed of the motor vehicle are generated. The acceleration/deceleration correcting data are generated based on a first correlation determined between the speed of the motor vehicle and the intervehicular distance such that the intervehicular distance increases as the speed of the motor vehicle increases when the speed of the following motor vehicle is greater than a predetermined speed. The acceleration/deceleration correcting data are generated based on a second correlation determined between the speed of the following motor vehicle and the intervehicular distance such that the intervehicular distance increases at a rate smaller than the first correlation as the speed of the following motor vehicle increases when the speed of the following motor vehicle is smaller than the predetermined speed. Acceleration and deceleration of the motor vehicle are controlled depending on the acceleration/deceleration correcting data.

Claims

1. An automatically driven following motor vehicle for automatically following a front motor vehicle while controlling an intervehicular distance up to the front motor vehicle, comprising:

first means for recognizing a speed of the following motor vehicle;

second means for recognizing an intervehicular distance up to the front motor vehicle;

third means for generating acceleration/deceleration correcting data for the following motor vehicle adjust the recognized intervehicular distance depending on the recognized speed of the following motor vehicle, said third means comprising means for generating said acceleration/deceleration correcting data based on a first correlation determined between the speed of the following motor vehicle and the intervehicular distance such that said intervehicular distance increases as the speed of the following motor vehicle increases when said speed of the following motor vehicle is greater than a predetermined speed, and generating said acceleration/deceleration correcting data based on a second correlation determined between the speed of the following motor vehicle and the intervehicular distance such that said intervehicular distance increases at a rate smaller than said first correlation as the speed of the following motor vehicle increases when said speed of the following motor vehicle is smaller than said predetermined speed; and

control means for controlling acceleration and deceleration of the following motor vehicle depending on said acceleration/deceleration correcting data.

2. An automatically driven motor vehicle according to claim 1, wherein said third means comprises:

means for generating command data for the intervehicular distance between the following motor vehicle and the front motor vehicle from the speed of the following motor vehicle according to said first correlation or said second correlation depending on the magnitude of the speed of the following motor vehicle; and

means for generating said acceleration/deceleration correcting data depending on a deviation between said recognized intervehicular distance and said command data for the intervehicular distance.

3. An automatically driven motor vehicle according to claim 1, wherein said first correlation comprises a proportional relationship in which said intervehicular distance is proportional to said speed of the following motor vehicle, and said second correlation comprises a relationship expressed by a linear equation which has a proportionality coefficient smaller than said first correlation and in which the intervehicular distance when the speed of the following motor vehicle is nil has a predetermined positive value.

4. An automatically driven motor vehicle according to claim 1, wherein said first correlation comprises a proportional relationship in which said intervehicular distance is proportional to said speed of the following motor vehicle, and said second correlation comprises a relationship expressed by a quadratic equation in which the intervehicular distance when the speed of the following motor vehicle is nil has a predetermined positive value.

5. An automatically driven motor vehicle according to claim 1, wherein said first correlation comprises a proportional relationship in which said intervehicular distance is proportional to said speed of the following motor vehicle, and said second correlation comprises a relationship expressed by an exponential equation in which the intervehicular distance when the speed of the following motor vehicle is nil has a predetermined positive value.

6. An automatically driven following motor vehicle for automatically following a front motor vehicle while controlling an intervehicular distance up to the front motor vehicle, comprising:

first means for recognizing present running states of the following motor vehicle which include at least a speed and an acceleration thereof;

second means for recognizing present running states of the front motor vehicle which include at least a position of the front motor vehicle with respect to the following motor vehicle, a speed of the front motor vehicle, and an acceleration of the front motor vehicle;

third means for determining a predicted intervehicular distance between the following motor vehicle and the front motor vehicle after a predetermined time based on the present running states of the following motor vehicle and the present running states of the front motor vehicle;

fourth means for generating acceleration/deceleration correcting data for the following motor vehicle to adjust the predicted intervehicular distance depending on the speed of the following motor vehicle, said fourth means comprising means for generating said acceleration/deceleration correcting data based on a first correlation determined between the speed of the following motor vehicle and the intervehicular distance such that said intervehicular distance increases as the speed of the following motor vehicle increases when said speed of the following motor vehicle is greater than a predetermined speed, and generating said acceleration/deceleration correcting data based on a second correlation determined between the speed of the following motor vehicle and the intervehicular distance such that said intervehicular distance increases at a rate smaller than said first correlation as the speed of the following motor vehicle increases when said speed of the following motor vehicle is smaller than said predetermined speed; and

control means for controlling acceleration and deceleration of the following motor vehicle depending on said acceleration/deceleration correcting data.

7. An automatically driven motor vehicle according to claim 6, wherein said fourth means comprises:

means for generating command data for the intervehicular distance between the following motor vehicle and the front motor vehicle from the speed of the following motor vehicle according to said first correlation or said second correlation depending on the magnitude of the speed of the following motor vehicle; and

means for generating said acceleration/deceleration correcting data depending on a deviation between said predicted intervehicular distance and said command data for the intervehicular distance.

8. An automatically driven motor vehicle according to claim 6, wherein said first correlation comprises a proportional relationship in which said intervehicular distance is proportional to said speed of the following motor vehicle, and said second correlation comprises a relationship expressed by a linear equation which has a proportionality coefficient smaller than said first correlation and in which the intervehicular distance when the speed of the following motor vehicle is nil has a predetermined positive value.

9. An automatically driven motor vehicle according to claim 6, wherein said first correlation comprises a proportional relationship in which said intervehicular distance is proportional to said speed of the following motor vehicle, and said second correlation comprises a relationship expressed by a quadratic equation in which the intervehicular distance when the speed of the following motor vehicle is nil has a predetermined positive value.

10. An automatically driven motor vehicle according to claim 6, wherein said first correlation comprises a proportional relationship in which said intervehicular distance is proportional to said speed of the following motor vehicle, and said second correlation comprises a relationship expressed by an exponential equation in which the intervehicular distance when the speed of the following motor vehicle is nil has a predetermined positive value.

11. An automatically driven motor vehicle according to claim 6, further comprising:

intervehicular communication means for transmitting and receiving information indicative of said present running states between at least the following motor vehicle and the front motor vehicle; and

said second means comprising means for recognizing said present running states based on the information received by said intervehicular communication means.

12. An automatically driven following motor vehicle for automatically following a front motor vehicle while controlling an intervehicular distance up to the front motor vehicle, comprising:

first means for recognizing a speed of the following motor vehicle;

second means for recognizing an intervehicular distance up to the front motor vehicle;

third means for generating acceleration/deceleration correcting data for the following motor vehicle to adjust the recognized intervehicular distance depending on the recognized speed of the following motor vehicle said third means comprising means for generating said acceleration/deceleration correcting data based on a first correlation determined between the speed of the following motor vehicle and the intervehicular distance such that said intervehicular distance increases as the speed of the following motor vehicle increases when said speed of the following motor vehicle is greater than a predetermined speed, and generating said acceleration/deceleration correcting data based on a second correlation determined between the speed of the following motor vehicle and the intervehicular distance such that said intervehicular distance increases at a rate smaller than said first correlation as the speed of the following motor vehicle increases when said speed of the following motor vehicle is smaller than said predetermined speed;

control means for controlling acceleration and deceleration of the following motor vehicle depending on said acceleration/deceleration correcting data;

fourth means for recognizing a speed of the front motor vehicle;

fifth means for generating second acceleration/deceleration correcting data of the following motor vehicle depending on a difference between the speed of the front motor vehicle and the speed of the following motor vehicle; and

said control means comprising means for controlling the acceleration and deceleration of the following motor vehicle depending on said acceleration/deceleration correcting data and said second acceleration/deceleration correcting data.

13. An automatically driven motor vehicle according to claim 12, further comprising:

intervehicular communication means for transmitting and receiving information indicative of positions where the following motor vehicle and the front motor vehicle run and speeds of the following motor vehicle and the front motor vehicle between the following motor vehicle and the front motor vehicle; and

each of said second means and said fourth means comprising means for recognizing said intervehicular distance and the speed of the front motor vehicle, respectively, based on the information received by said intervehicular communication means.

14. An automatically driven following motor vehicle for automatically following a front motor vehicle while controlling an intervehicular distance up to the front motor vehicle, comprising:

first means for recognizing present running states of the following motor vehicle which include at least a speed and an acceleration thereof;

second means for recognizing present running states of the front motor vehicle which include at least a position of the front motor vehicle with respect to the following motor vehicle, a speed of the front motor vehicle, and an acceleration of the front motor vehicle;

third means for determining a predicted intervehicular distance between the following motor vehicle and the front motor vehicle after a predetermined time based on the present running states of the following motor vehicle and the present running states of the front motor vehicle;

fourth means for generating acceleration/deceleration correcting data for the following motor vehicle to adjust the predicted intervehicular distance depending on the speed of the following motor vehicle, said fourth means comprising for generating said acceleration/deceleration correcting data based on a first correlation determined between the speed of the following motor vehicle and the intervehicular distance such that said intervehicular distance increases as the speed of the following motor vehicle increases when said speed of the following motor vehicle is greater than a predetermined speed, and generating said acceleration/deceleration correcting data based on a second correlation determined between the speed of the following motor vehicle and the intervehicular distance such that said intervehicular distance increases at a rate smaller than said first correlation as the speed of the following motor vehicle increases when said speed of the following motor vehicle is smaller than said predetermined speed;

control means for controlling acceleration and deceleration of the following motor vehicle depending on said acceleration/deceleration correcting data;

fifth means for determining a predicted intervehicular speed difference between the following motor vehicle and the front motor vehicle after a predetermined time based on the present running states of the following motor vehicle and the present running states of the front motor vehicle;

sixth means for generating second acceleration/deceleration correcting data of the following motor vehicle depending on said predicted intervehicular speed difference; and

said control means comprising means for controlling the acceleration and deceleration of the following motor vehicle depending on said acceleration/deceleration correcting data and said second acceleration/deceleration correcting data.

15. An automatically driven following motor vehicle for automatically following a front motor vehicle while controlling an intervehicular distance up to the front motor vehicle, comprising:

a first circuit for recognizing a speed of the following motor vehicle;

a second circuit for recognizing an intervehicular distance up to the front motor vehicle;

a third circuit for generating acceleration/deceleration correcting data for the following motor vehicle to adjust the recognized intervehicular distance depending on the recognized speed of the following motor vehicle, said third circuit comprising a circuit for generating said acceleration/deceleration correcting data based on a first correlation determined between the speed of the following motor vehicle and the intervehicular distance such that said intervehicular distance increases as the speed of the following motor vehicle increases when said speed of the following motor vehicle is greater than a predetermined speed, and generating said acceleration/deceleration correcting data based on a second correlation determined between the speed of the following motor vehicle and the intervehicular distance such that said intervehicular distance increases at a rate smaller than said first correlation as the speed of the following motor vehicle increases when said speed of the following motor vehicle is smaller than said predetermined speed; and

control circuit for controlling acceleration and deceleration of the following motor vehicle depending on said acceleration/deceleration correcting data.

16. An automatically driven motor vehicle according to claim 15, wherein said third circuit comprises:

a circuit for generating command data for the intervehicular distance between the following motor vehicle and the front motor vehicle from the speed of the following motor vehicle according to said first correlation or said second correlation depending on the magnitude of the speed of the following motor vehicle; and

a circuit for generating said acceleration/deceleration correcting data depending on a deviation between said recognized intervehicular distance and said command data for the intervehicular distance.

17. An automatically driven motor vehicle according to claim 15, wherein said first correlation comprises a proportional relationship in which said intervehicular distance is proportional to said speed of the following motor vehicle, and said second correlation comprises a relationship expressed by a linear equation which has a proportionality coefficient smaller than said first correlation and in which the intervehicular distance when the speed of the following motor vehicle is nil has a predetermined positive value.

18. An automatically driven motor vehicle according to claim 15, wherein said first correlation comprises a proportional relationship in which said intervehicular distance is proportional to said speed of the following motor vehicle, and said second correlation comprises a relationship expressed by a quadratic equation in which the intervehicular distance when the speed of the following motor vehicle is nil has a predetermined positive value.

19. An automatically driven motor vehicle according to claim 15, wherein said first correlation comprises a proportional relationship in which said intervehicular distance is proportional to said speed of the following motor vehicle, and said second correlation comprises a relationship expressed by an exponential equation in which the intervehicular distance when the speed of the following motor vehicle is nil has a predetermined positive value.