Apparatus and method for automatically controlling vehicular velocity

• US 6,175,799 B1
• Filed: 05/03/1999
• Issued: 01/16/2001
• Est. Priority Date: 05/01/1998
• Status: Active Grant

• Current Assignee: Nissan Motor Co., Ltd.
• Original Assignee: Nissan Motor Co., Ltd.
• Inventors: Tsutsumi, Junji, Iwamoto, Hideo, Higashimata, Akira
• Primary Examiner(s): Cuchlinski, Jr., William A.
• Assistant Examiner(s): Hernandez, Olga
• Application Number:
  US09/303,626
• Time in Patent Office: 624 Days
• Field of Search: 701/96, 701/301, 701/300, 701/93, 340/904, 340/903, 342/70
• US Class Current: 701/96
• CPC Class Codes: B60K 31/0008 including means for detecting potential obstacles in vehicle path
• CPC Class Codes: B60W 2050/0031 Mathematical model of the vehicle
• CPC Class Codes: B60W 2520/125 Lateral acceleration
• CPC Class Codes: B60W 2520/14 Yaw
• CPC Class Codes: B60W 2540/18 Steering angle
• 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

Abstract

In apparatus and method for controlling a vehicular velocity for an automotive vehicle, a vehicular velocity and an inter-vehicle distance from the vehicle to another vehicle which is running ahead of the vehicle are detected, a lateral acceleration imposed on a vehicle body of the vehicle which is generally developed when the vehicle is running on a curved road is detected, a target value of the vehicular velocity of the vehicle according to which a detected value of the inter-vehicle distance is made equal to value of a target inter-vehicle distance is calculated, a correction is made on the calculated value of the target vehicular velocity according to a detected value (magnitude) of the lateral acceleration (lateral G), the vehicular velocity of the vehicle is controlled in such a manner that the detected value of the vehicular velocity is made equal to the corrected target vehicular velocity.

Claims

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

a vehicular velocity detector detecting a vehicular velocity;

an inter-vehicle distance detector detecting an inter-vehicle distance from the vehicle to another vehicle which is running ahead of the vehicle;

a target vehicular velocity calculator calculating a target value of the vehicular velocity according to which a detected value of the inter-vehicle distance is made coincident with a target value of the inter-vehicle distance;

a vehicular velocity controller, the vehicular velocity controller being responsive to the calculated target value of the vehicular velocity and generating and outputting an actuation command to control the vehicular velocity in such a manner that the detected value of the vehicular velocity is made coincident with the calculated target value of the vehicular velocity;

a vehicular velocity variation actuator, the vehicular velocity variation actuator being responsive to the actuation command from the vehicular velocity controller, actuating the vehicle to vary the vehicular velocity so that the detected value of the vehicular velocity is made coincident with the calculated target value of the vehicular velocity;

a lateral acceleration detector detecting a lateral acceleration imposed on a vehicle body; and

a target vehicular velocity corrector, the target vehicular velocity corrector being responsive to a detected value of the lateral acceleration and correcting the calculated target value of the vehicular velocity according to the detected value of the lateral acceleration.

2. A control apparatus for an automotive vehicle as claimed in claim 1, wherein the target vehicular velocity corrector corrects the calculated target value of the vehicular velocity with a correction variable which becomes large as the detected value of the lateral acceleration becomes large.

3. A control apparatus for an automotive vehicle as claimed in claim 2, wherein the target vehicular velocity limiter includes:

a vehicular velocity correction variable calculator calculating a correction variable of the vehicular velocity Comn_Sub as follows;

Comn_Sub=(correction coefficient)*LMT(+), wherein the correction coefficient is determined according to the detected value of the lateral acceleration and LMT(+) denotes a predetermined limitation value on a vehicular acceleration; and

a lateral acceleration range determinator determining into one of which ranges of magnitude the detected value of the lateral acceleration falls and wherein the correction coefficient is determined according to a result of determination by the lateral acceleration range determinator.

4. A control apparatus for an automotive vehicle as claimed in claim 3, wherein when the detected value of the lateral acceleration falls in one of the ranges which is between 0.1 G and 0.3 G, the correction coefficient is proportional to the detected value of the lateral acceleration.

5. A control apparatus for an automotive vehicle as claimed in claim 4, wherein when the detected value of the lateral acceleration falls in one of the ranges which is above 0.3 G, the correction coefficient is preset to be constant value.

6. A control apparatus for an automotive vehicle as claimed in claim 5, wherein the constant value of the correction coefficient is 2.

7. A control apparatus for an automotive vehicle as claimed in claim 4, wherein when the detected value of the lateral acceleration falls in one of the ranges which is below 0.1 G, the correction coefficient is zeroed.

8. A control apparatus for an automotive vehicle as claimed in claim 6, wherein the target vehicular velocity corrector derives the correction coefficient according to the detected value of the lateral acceleration and corrects the calculated target value of the vehicular velocity as follows:

Vsp_Comh=min{Vsp_Comh (prior to one control period)−

Comn_Sub+LMT(+), Ac Vcomo}, wherein Vsp_Comh denotes the corrected target value of the vehicular velocity, Ac_Vcomo is expressed as follows;

Ac_Vcomo=min{Vsp_Como, Acc_Como}, wherein Vsp_Como denotes a set vehicular velocity upper limit value and Acc_Como denotes the calculated target value of the vehicular velocity by the target vehicular velocity calculator, when Vsp_Comh (prior to one control period)<

Ac_Vcomo.

9. A control apparatus for an automotive vehicle as claimed in claim 8, wherein when Vsp_Comh (prior to one control period)=Ac_Vcomo, Vsp_Comh=Vsp_Comh (prior to one control period)−

Comn_Sub.

10. A control apparatus for an automotive vehicle as claimed in claim 8, wherein when Vsp_Comh (prior to one control period)>

Ac_Vcomo, Vsp_Comh=max{Vsp_Comh (prior to one control period)−

Comn_Sub−

LMT(−

), Ac_Vcomo}, wherein LMT(−

) denotes a predetermined limitation value on a vehicular deceleration.

11. A control apparatus for an automotive vehicle as claimed in claim 10, wherein LMT(−

) is 0.046 Km/h.

12. A control apparatus for an automotive vehicle as claimed in claim 8, wherein LMT(+) is 0.021 Km/h.

13. A control apparatus for an automotive vehicle as claimed in claim 1, further comprising a determinator determining whether the another vehicle has disappeared from a detection zone of the inter-vehicle distance detector from the detected value of the inter-vehicle distance by the inter-vehicle distance detector and wherein the target vehicular velocity corrector still continues the correction of the calculated value of the vehicular velocity when the determinator determines that the another vehicle has disappeared from the detection zone of the inter-vehicle distance detector.

14. A control apparatus for an automotive vehicle as claimed in claim 1, further comprising a determinator determining whether the another vehicle is present within a detection zone of the inter-vehicle distance detector and wherein the target vehicular velocity corrector corrects the calculated target value of the vehicular velocity with a correction variable which is changed according to a result of determination by the determinator.

15. A control apparatus for an automotive vehicle as claimed in claim 4, wherein the target vehicular velocity corrector corrects the calculated target value of the vehicular velocity with the correction variable which is larger in a case where the determinator determines that the another vehicle is present within the detection zone than that in a case where the determinator determines that the another vehicle is absent from the detection zone.

16. A control apparatus for an automotive vehicle as claimed in claim 1, wherein the vehicular velocity variation actuator includes a throttle valve position actuator to open and close a throttle valve of a vehicular engine and a brake system to control a braking force applied to the vehicle.

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

vehicular velocity detecting means for detecting a vehicular velocity;

inter-vehicle distance detecting means for detecting an inter-vehicle distance from the vehicle to another vehicle which is running ahead of the vehicle;

lateral acceleration detecting means for detecting a lateral acceleration imposed on a vehicle body;

vehicular velocity variation actuating means for actuating the vehicle to vary the vehicular velocity; and

controlling means for calculating a target value of the inter-vehicle distance on the basis of detected values of the vehicular velocity and of the inter-vehicle distance, for calculating a target value of the vehicular velocity according to which the detected value of the inter-vehicle distance is made coincident with the target value of the inter-vehicle distance, for correcting the calculated target value of the vehicular velocity according to a detected value of the lateral acceleration, and for generating and outputting an actuation command to the vehicular velocity variation actuating means to vary the vehicular velocity in accordance with the corrected target value of the vehicular velocity.

18. A method for controlling a vehicular velocity for an automotive vehicle, comprising:

detecting a vehicular velocity;

detecting an inter-vehicle distance from the vehicle to another vehicle which is running ahead of the vehicle;

detecting a lateral acceleration imposed on a vehicle body of the vehicle;

calculating a target vehicular velocity of the vehicle according to which a detected value of the inter-vehicle distance is made coincident with a target value of the inter-vehicle distance;

correcting the calculated target value of the vehicular velocity according to a detected value of the lateral acceleration;

controlling the vehicular velocity of the vehicle in such a manner that the detected value of the vehicular velocity is made coincident with the corrected target value of the vehicular velocity;

generating an actuation command, the actuation command being responded to the corrected target value of the vehicular velocity; and

actuating the vehicle to vary the vehicular velocity to make the detected value of the vehicular velocity coincident with the corrected target value of the vehicular velocity.