Apparatus and method for performing automatic control over velocity of automotive vehicle

• US 6,161,073 A
• Filed: 03/30/1999
• Issued: 12/12/2000
• Est. Priority Date: 03/30/1998
• Status: Expired due to Fees

• Current Assignee: Nissan Motor Co., Ltd.
• Original Assignee: Nissan Motor Co., Ltd.
• Inventors: Tange, Satoshi, Egawa, Kenichi
• Primary Examiner(s): Cuchlinski, Jr., William A.
• Assistant Examiner(s): Hernandez, Olga
• Application Number:
  US09/280,566
• Time in Patent Office: 623 Days
• Field of Search: 701/96, 701/110, 701/70, 701/79, 180/170, 342/455, 342/458, 340/435
• US Class Current: 701/96
• CPC Class Codes: B60K 31/0008 including means for detecting potential obstacles in vehicle path
• CPC Class Codes: B60W 2720/106 Longitudinal acceleration
• CPC Class Codes: B60W 2754/30 Longitudinal distance
• CPC Class Codes: G08G 1/16 Anti-collision systems road vehicle drive control systems for predicting or avoiding probable or impending collision otherwise than by control of a particular sub-unit B60W30/08
• CPC Class Codes: G08G 1/166 for active traffic, e.g. moving vehicles, pedestrians, bikes

Abstract

In apparatus and method for performing an automatic vehicular velocity control for an automotive vehicle, a vehicular running control such that the vehicle follows up a preceding vehicle running ahead of the vehicle maintaining an inter-vehicle distance to the preceding vehicle at a predetermined inter-vehicle distance and that a vehicular velocity variation rate is maintained at a set target vehicular velocity variation rate is effected and, when the detected vehicular velocity becomes equal to or lower than a set vehicular velocity above which the vehicular velocity control by the vehicular running controller is effected, the vehicular running control effected as described above is released and a rate of variation with time in a vehicular target acceleration/deceleration set when the control is released is moderated. In addition, an alarm unit is, provided for informing a vehicular driver of the release of control over the vehicular velocity.

Claims

1. A method applicable to an automotive vehicle, comprising:

detecting an inter-vehicle distance from the vehicle to another vehicle which is running at a detected inter-vehicle distance with respect to the vehicle;

detecting a vehicular velocity of the vehicle;

setting a target vehicular velocity variation rate so that the detected inter-vehicle distance coincides with a target inter-vehicle distance;

effecting a vehicular velocity control such that the vehicle follows up the another vehicle maintaining the inter-vehicle distance to the another vehicle at the target inter-vehicle distance;

effecting the vehicular velocity control such that a vehicular velocity variation rate is maintained at the set target vehicular velocity variation rate;

releasing the vehicular running control effected by a vehicular running controller; and

moderating a rate of variation with time in the vehicular velocity variation rate set when releasing the vehicular velocity control, when the detected vehicular velocity becomes lower than a set vehicular velocity above which the vehicular velocity control is effected.

2. A control apparatus for an automotive vehicle, comprising:

actual inter-vehicle distance detecting means for detecting a distance from the vehicle relative to another vehicle which is running ahead in the travel path or the vehicle;

actual vehicular velocity detecting means for detecting a vehicle velocity of the vehicle;

target inter-vehicle setting means for setting a target inter-vehicle distance;

target time rate of change setting means for setting a target time rate of change in vehicle velocity;

time rate of change controlling means for controlling an actual rate of-change in vehicle velocity in such a manner that the vehicle is driven with the target time rate of change in velocity while maintaining the target inter-vehicle distance;

determining means for determining when the actual vehicle velocity falls below a set vehicular velocity and generating a signal;

rate of change decreasing means, responsive to the signal, for decreasing the target time rate of change to take a smaller amount than that of the target time rate of change the vehicle has experienced before said determination.

3. An apparatus for an automotive vehicle, comprising:

an inter-vehicle distance detector for detecting an inter-vehicle distance from the vehicle to another vehicle which is running at a detected inter-vehicle distance with respect to the vehicle;

a vehicular velocity detector for detecting a vehicular velocity of the vehicle;

a target vehicle velocity variation rate setter for setting a target vehicular velocity variation rate so that the detected inter-vehicle distance coincides with a target inter-vehicle distance;

a vehicular running controller for effecting a vehicular velocity control such that the vehicle follows up the another vehicle maintaining the inter-vehicle distance to the another vehicle at the target inter-vehicle distance and that a vehicular velocity variation rate is maintained at the set target vehicular velocity variation rate; and

a vehicular running control releaser for releasing the vehicular running control effected by the vehicular running controller and for moderating a rate of variation with time in the vehicular velocity variation rate set when releasing the vehicular velocity control, when the detected vehicular velocity becomes lower than a set vehicular velocity above which the vehicular velocity control by the vehicular running controller in effected.

4. An apparatus for an automotive vehicle as claimed in claim 3, wherein the vehicular running control releaser includes a recovery setter for retaining the target vehicular velocity variation rate set at an instantaneous time when the detected vehicular velocity is decreased and becomes below the set vehicular velocity for a set hold duration in time and, upon an end of the set hold duration in time, for recovering the target vehicular velocity variation rate to zero at a relatively moderate rate of variation with time.

5. An apparatus for an automotive vehicle as claimed in claim 3, further comprising an alarm unit which issues an alarm when the vehicular running control releaser releases the vehicular running control.

6. An apparatus for an automotive vehicle as claimed in claim 5, wherein the vehicular running control releaser includes a recovery setter for retaining the target vehicle velocity variation rate for a set hold duration in time set at an instantaneous time when the detected vehicular velocity is below the set vehicular velocity and, upon an end of the set hold duration in time, for recovering the target vehicular velocity variation rate to zero at a relatively moderate rate and wherein the set hold duration in time is set to a duration in time which is sufficient for the alarm unit to issue the alarm.

7. An apparatus for an automotive vehicle as claimed in claim 5, wherein the vehicular running control releaser includes a recovery setter for retaining the target vehicle velocity variation rate for a set hold duration in time set at an instantaneous time when the detected vehicular velocity is below the set vehicular velocity and wherein the set hold duration in time is set so that an alarm duration in time for which the alarm unit issues the alarm is coincident with a duration in time from a time at which the retaining of the target vehicular velocity variation rate by the recovery setter is started to a time at which the release of the vehicular running control is ended at the recovery of the target vehicular velocity variation rate to zero.

8. An apparatus for an automotive vehicle as claimed in claim 5, wherein the vehicular running control releaser includes a recovery setter for retaining the target vehicle velocity variation rate for a set hold duration in time set at an instantaneous time when the detected vehicular velocity is below the set vehicular velocity and wherein the set hold time duration is set to a variation rate value which corresponds to a duration in time which is sufficient for the alarm unit to issue the alarm.

9. An apparatus for an automotive vehicle as claimed in claim 5, wherein the alarm unit comprises a buzzer which issues a buzzer sound as the alarm.

10. An apparatus for an automotive vehicle as claimed in claim 5, wherein the vehicular running controller comprises a target inter-vehicle distance calculator for calculating the present target inter-vehicle distance D*(n) using the following equation:

D*(n)=V(n)×

To +Do, wherein V(n) denotes the present vehicular velocity, To denotes an inter-vehicle duration in time for which the vehicle has reached to a position Lo meters behind the present other vehicle, and Do denotes the inter-vehicle distance to the other vehicle when the vehicular velocity is zero.

11. An apparatus for an automotive vehicle as claimed in claim 10, wherein the vehicular running controller further comprises a first determinator for determining whether the presently detected inter-vehicle distance D(n) is equal to or below the present target inter-vehicle distance D*(n) and a target acceleration/deceleration calculator for calculating a target acceleration/deceleration G_FB * using the following equation:

G_FB *=K_A ×

(V*-V(n) )+L_A, wherein K_A and L_A denote constants and V* denotes a target vehicular velocity determined on the basis of the detected inter-vehicle distance and the vehicular velocity when D(n)>

D*(n) and using the following equation;

G_FB *=K×

(D(n)-D*(n))-L_B, wherein K_B and L_B denote constants when D(n)≦

D*(n).

12. An apparatus for an automotive vehicle as claimed in claim 11, wherein the vehicular running controller further comprises a second determinator for determining whether the present vehicular velocity V(n) is below the set vehicular velocity and a control release flag (FD(n)) status determinator for determining a present status of a control release flag (FD(n)) on the basis of a result of determination by the second determinator.

13. An apparatus for an automotive vehicle as claimed in claim 12, wherein when the present status of the control release flag (FD(n)) is determined to be at a "1", the vehicular running control releaser outputs an alarm output SA to the alarm unit to issue the alarm.

14. An apparatus for an automotive vehicle as claimed in claim 13, wherein the vehicular running control releaser comprises:

a third determinator for determining whether a previous status of the control release flag (FD(n)) is at a "0" or "1";

a first setter for setting the calculated target acceleration/deceleration G_FB * to a control release purpose target acceleration/deceleration G_OF * when the present status of the control release flag FD(n) is at a "1" and the previous status of the control release flag (FD(n-1)) is at a "0"; and

a timer for counting the set hold duration in time, the timer being set to zero (T=0) and being incremented by one when the present status of the control release flag FD(n) is at a "1" and the previous status of the control release flag (FD(n-1)) is at a "0", wherein the vehicular running controller sets the control release purpose target acceleration/deceleration G_OF * to a target acceleration/deceleration G* and outputs a target braking pressure P_B * in accordance with the target acceleration/deceleration G* and which further comprises a vehicular braking controller for receiving the target braking pressure P_B * from the vehicular running controller and for activating a braking pressure of a braking system so as to be coincident with the target braking pressure.

15. An apparatus for an automotive vehicle as claimed in claim 14, wherein the vehicular running control releaser comprises:

a fourth determinator for determining whether a count value (T) of the timer is incremented and has reached to a predetermined count value (T_SET) which corresponds to the set hold duration in time;

a fifth determinator for determining the control release purpose target acceleration/deceleration G_OF * as follows;

G_OF *=G_OF *+Δ

G_CL, wherein Δ

G_CL denotes a set value of the variation rate of the control release purpose target acceleration/deceleration when T is equal to or above T_SET ;

a sixth determinator for determining whether G_OF *≧

0; and

a resetter for resetting FD(n) to "0", FD(n-1) to "0"; and

SA to a "0" when G_OF *≧

0.

16. An apparatus for an automotive vehicle as claimed in claim 15, wherein the set hold duration in time is fixed to a predetermined value (T_SET).

17. An apparatus for an automotive vehicle as claimed in claim 15, wherein a duration in time for which the alarm unit issues the alarm is dependent upon a magnitude of the target acceleration/deceleration G_Fb * when the present vehicular velocity V(n) is equal to or below the set vehicular velocity.

18. An apparatus for an automotive vehicle as claimed in claim 15, wherein the vehicular velocity control releaser further comprises a hold duration in time calculator for calculating the set hold duration in time using the following equation:

T_SET =T_OP -G_OF */Δ

G_CL, wherein T_OF denotes an alarm duration in time required to inform a vehicular driver of the control release of the vehicular running controller by the vehicular velocity control releaser.

19. An apparatus for an automotive vehicle as claimed in claim 15, wherein the increment rate of Δ

GCL of the control release purpose target acceleration/deceleration G_OF * is derived as follows;

Δ

G_OL =G_OF */(T_OP -T_SET), wherein T_OP denotes T_OP denotes an alarm duration in time required to inform a vehicular driver of the control release of the vehicular running controller by the vehicular velocity control releaser.