Method for spacing control for a motor vehicle

• US 5,969,640 A
• Filed: 05/20/1997
• Issued: 10/19/1999
• Est. Priority Date: 06/20/1996
• Status: Expired due to Term

• Current Assignee: Volkswagen AG
• Original Assignee: Volkswagen AG
• Inventors: Bergholz, Ralf, Weisser, Hubert, Timm, Klaus
• Primary Examiner(s): Hofsass, Jeffery A.
• Assistant Examiner(s): TRIEU, VAN THANH
• Application Number:
  US08/859,634
• Time in Patent Office: 882 Days
• Field of Search: 340/903, 340/904, 340/906, 340/901, 340/435, 340/436, 180/169, 180/170, 180/179, 701/96, 701/97, 701/98, 348/149
• 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: B60W 10/04 including control of propulsion units
• CPC Class Codes: B60W 10/18 including control of braking systems
• CPC Class Codes: B60W 2050/0057 Frequency analysis, spectral techniques or transforms
• CPC Class Codes: B60W 2520/10 Longitudinal speed
• CPC Class Codes: B60W 2540/20 Direction indicator values
• CPC Class Codes: B60W 2540/30 Driving style
• CPC Class Codes: B60W 2552/40 Coefficient of friction
• CPC Class Codes: B60W 2554/00 Input parameters relating to objects
• CPC Class Codes: B60W 2554/802 Longitudinal distance
• 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: B60W 30/18145 Cornering
• CPC Class Codes: B60W 30/1819 Propulsion control with control means using analogue circuits, relays or mechanical links
• CPC Class Codes: B60W 40/09 Driving style or behaviour

Abstract

The specification discloses a method for spacing control for a motor vehicle, in which the current driving speed of the motor vehicle and the current spacing of the vehicle from an object in front of the vehicle are determined by sensor devices, and a spacing-dependent required acceleration is produced from the detected variables. For this purpose, a speed-dependent required acceleration is determined from a desired speed which is manually predetermined by the vehicle driver, and is compared with the spacing-dependent required acceleration. A manipulated variable for the driving engine and/or the braking system of the motor vehicle is then generated as a function of the required acceleration.

Claims

1. A method for spacing control for a motor vehicle comprising the steps of:

determining current vehicle speed of the motor vehicle and current spacing from an object in front of the motor vehicle by sensor devices;

determining a spacing-dependent required acceleration to maintain a required spacing to the object;

comparing a spacing-dependent required acceleration and a speed-dependent required acceleration determined from at least a predetermined desired speed; and

generating a manipulated variable for controlling a driving engine and/or a braking system as a function of a required acceleration value.

2. A method according to claim 1 wherein the spacing-dependent required acceleration and the speed-dependent required acceleration are compared as a function of a driving situation.

3. A method according to claim 1 including the steps of:

supplying a first controller with the current vehicle speed as an input variable;

generating in the first controller a required spacing from the object in front of the motor vehicle;

comparing the current spacing from the object in front of the motor vehicle with the required spacing to determine a spacing ratio;

supplying the spacing ratio and a difference between the current speed of the motor vehicle and a speed of the object in front of the motor vehicle to a second controller; and

determining the spacing dependent required acceleration in the second controller.

4. A method according to claim 1 including the steps of:

supplying the current vehicle speed and a difference between the desired speed and the current vehicle speed to a third controller; and

determining the speed-dependent required acceleration in the third controller.

5. A method according to claim 1 including the steps of:

supplying the required acceleration value to a fourth controller and to a fifth controller;

generating a manipulated variable for a vehicle driving engine in the fourth controller; and

generating a manipulated variable for a vehicle braking system in the fifth controller.

6. A method according to claim 1 including the step of:

supplying a first controller with a road friction coefficient and/or a variable for a prevailing visibility condition as a further input variable.

7. A method according to claim 1 including the steps of:

comparing the required spacing with a driving situation-related required spacing; and

comparing the current spacing from the object with a selected one of the required spacing and the driving situation-related required spacing.

8. A method according to claim 1 including the step of:

adapting the required spacing to a driving characteristic of an individual driver.

9. A method according to claim 1 including the step of:

adapting a first controller and/or a second controller in a manner specific to an individual driver.

10. A method according to claim 1 including the step of:

supplying the current vehicle speed to a second controller as a further input variable.

11. A method according to claim 1 including the step of:

modifying a manually predetermined desired speed value as a function of a curve-dependent required speed.

12. A method according to claim 11 including the step of:

generating the curve-dependent required speed as a function of the current driving speed.

13. A method according to claim 1 including the steps of:

supplying a sixth controller with a detected transverse slip and with a current road friction coefficient; and

determining in the sixth controller a curve-dependent required speed.

14. A method according to claim 13 including the step of:

generating the curve-dependent required speed as a function of the current vehicle speed.

15. A method according to claim 1 including the steps of:

generating a virtual desired speed as a function of predefined driving conditions; and

modifying the predetermined desired speed as a function of the virtual desired speed.

16. A method according to claim 1 including the steps of:

supplying a seventh controller with the current vehicle speed and with a detected actuating time of a device indicating an overtaking procedure of the motor vehicle; and

generating in the seventh controller an acceleration factor by which the required acceleration value is modified to produce the manipulated variable.

17. A method according to claim 1 including the step of:

supplying the fourth controller with the required acceleration, the current vehicle speed, and the difference between the required acceleration and the present acceleration of the motor vehicle in order to produce the manipulated variable.

18. A method according to claim 1 including the step of:

supplying a fourth controller with the current road friction coefficient.

19. A method according to claim 1 including the step of:

supplying a fifth controller with the required acceleration, the current vehicle speed and the difference between the required acceleration and a detected current acceleration of the motor vehicle in order to form a manipulated variable for the braking system.

20. A method according to claim 19 including the step of:

supplying the fifth controller with a current road friction coefficient.

21. An arrangement for controlling spacing of a motor vehicle from an object in front of the motor vehicle comprising a plurality of interlinked fuzzy controllers responsive to signals representing current speed of the motor vehicle, current spacing of the motor vehicle from an object in front of the motor vehicle, a required spacing of the motor vehicle from an object in front of the motor vehicle, a desired speed of the motor vehicle, and the speed of the object in front of the motor vehicle, to produce an output signal for controlling a driving engine and/or a braking system for the motor vehicle so as to produce a required acceleration of the motor vehicle to maintain the required spacing from the object in front of the motor vehicle.

22. An arrangement according to claim 21, wherein the fuzzy controllers are capable of being adapted in membership functions and rules.

23. An arrangement according to claim 21 wherein the speed control means comprises a means providing a virtual desired speed as a function of preassigned driving conditions, and the predetermined desired speed is varied as a function of the virtual desired speed in an operator.

24. An arrangement according to claim 21 wherein the vehicle driving and braking control means comprises a seventh controller to which the instantaneous road speed and a sensed actuation time of a means for indicating an overtaking process of the motor vehicle are supplied, and the seventh controller supplies an acceleration factor to an operator that alters the required acceleration as a function of the acceleration factor.

28. An arrangement according to claim 23 wherein the first controller receives signals representing a coefficient of road friction and/or a quantity representing prevailing visibility conditions as input signals.

29. An arrangement according to claim 23 wherein the first controller and the second controller in the spacing control means are arranged to respond to specific driver requirements.

30. An arrangement according to claim 23 wherein the second controller of the spacing control means receives a signal representing the instantaneous vehicle speed.

25. An arrangement for controlling the spacing of a motor vehicle from an object in front of the motor vehicle comprising:

speed sensor means for sensing instantaneous road speed of the motor vehicle;

spacing sensor means for sensing an instantaneous spacing of the motor vehicle from an object located in front of the motor vehicle;

spacing control means receiving signals supplied from the speed sensor means and the spacing sensor means and receiving a signal representing a predetermined desired speed and providing a spacing-dependent required acceleration based upon the received signals;

speed control means receiving signals representing a manually selected desired speed and the instantaneous road speed of the vehicle and providing a speed-dependent required acceleration;

an operator responsive to a spacing-dependent required acceleration and a speed-dependent required acceleration to provide an output signal representing a required acceleration; and

vehicle driving and braking control means for controlling a vehicle engine and/or a vehicle brake system as a function of the required acceleration.

26. An arrangement according to claim 25 wherein the operator interrelates the spacing-dependent required acceleration and the speed-dependent required acceleration in terms of a vehicle driving condition.

27. An arrangement according to claim 25 wherein the spacing control means comprises:

at least one first controller to which at least the instantaneous road speed is applied as an input quantity and which produces a required spacing from the object in front of the motor vehicle;

an operator relating the sensed instantaneous spacing from the object located in front of the motor vehicle to the required spacing in order to determine a difference value; and

a second controller to which at least the difference value and a predetermined relative speed between the motor vehicle and the object located in front of the motor vehicle are supplied and which determines a required acceleration as a function of the spacing.

31. An arrangement according to claim 25 wherein the speed control means includes at least a third controller to which at least the instantaneous road speed and a quantity relating a predetermined desired road speed to the instantaneous road speed are supplied and which determines a required acceleration as a function of the road speed values.

32. An arrangement according to claim 25 wherein the vehicle driving and braking control means comprises at least a fourth controller to provide control signals for the vehicle engine and a fifth controller to provide control signals for the vehicle brake system in response to signals representing required acceleration.

33. An arrangement according to claim 32 wherein the fourth controller also receives signals representing the instantaneous road speed and the difference between the required acceleration and the actual acceleration of the motor vehicle.

34. An arrangement according to claim 32 wherein the fourth controller also receives signals representing the prevailing coefficient of road friction.

35. An arrangement according to claim 32 wherein the fifth controller also receives signals representing the instantaneous road speed and the difference between the required acceleration and a sensed actual acceleration of the motor vehicle.

36. An arrangement according to claim 32 wherein the fifth controller also receives signals representing the prevailing coefficient of road friction.

37. An arrangement according to claim 25 wherein the spacing control means comprises an operator for determining the required spacing from a required spacing dependent on a function of a driving situation and from the instantaneous spacing from the object located in front of the motor vehicle based on a value of the required spacing as generated in the operator for determining the required spacing.

38. An arrangement according to claim 25 wherein the predetermined desired speed is a variable dependent upon a curve-dependent required speed.

39. An arrangement according to claim 38 wherein the speed control means includes a sixth controller to which at least a determined cross slip and a prevailing coefficient of road friction are supplied and which produces a curve-dependent required acceleration value.

40. An arrangement according to claim 38 wherein the speed control means includes a controller which produces a curve-dependent speed value from the instantaneous vehicle speed and the curve-dependent required speed.

41. An arrangement according to claim 25 wherein each of the controllers is a fuzzy controller.

42. An arrangement according to claim 41 wherein the fuzzy controllers are capable of being adapted in membership functions and rules.