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Active vehicle deceleration in an adaptive cruise control system

  • US 6,009,368 A
  • Filed: 03/21/1997
  • Issued: 12/28/1999
  • Est. Priority Date: 03/21/1997
  • Status: Expired due to Fees
First Claim
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1. A method of controlling the deceleration of a succeeding vehicle closing on a decelerating preceding vehicle, the vehicles having respective vehicle velocities and being separated by inter-vehicle spacing, the method comprising the steps:

  • providing the deceleration of the preceding vehicle;

    determining a first deceleration for the succeeding vehicle which converges the velocity of the succeeding vehicle toward the velocity of the preceding vehicle;

    projecting which of the preceding and succeeding vehicles will first attain zero velocity in accordance with the deceleration of the preceding vehicle and the first deceleration for the succeeding vehicle;

    in the case of the succeeding vehicle being the one of the vehicles projected to first attain zero velocity, decelerating the succeeding vehicle in accordance with the first deceleration; and

    ,in the case of the preceding vehicle being the one of the vehicles projected to first attain zero velocity, determining a second deceleration for the succeeding vehicle which diverges the velocity of the succeeding vehicle away from the velocity of the preceding vehicle, and decelerating the succeeding vehicle in accordance with the second deceleration.

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