System and method for controlling inter-vehicle distance to preceding vehicle for automotive vehicle equipped with the system and method

• US 6,188,950 B1
• Filed: 10/27/1998
• Issued: 02/13/2001
• Est. Priority Date: 10/27/1997
• Status: Expired due to Term

• Current Assignee: Nissan Motor Co., Ltd.
• Original Assignee: Nissan Motor Co., Ltd.
• Inventors: Tsutsumi, Junji, Higashimata, Akira
• Primary Examiner(s): LOUIS JACQUES, JACQUES H
• Application Number:
  US09/179,417
• Time in Patent Office: 840 Days
• Field of Search: 701/93, 701/96, 701/300, 701/301, 701/95, 342/70, 342/71, 342/72, 342/47, 342/454, 342/455, 342/458, 342/456, 342/104, 342/106, 342/107, 342/109, 342/114, 342/118, 340/901, 340/903, 340/943, 340/435, 340/436, 180/168, 180/169, 180/170, 180/171, 180/179, 700/302, 700/304, 702/165, 318/587
• US Class Current: 701/96
• CPC Class Codes: B60K 31/0008 including means for detecting potential obstacles in vehicle path
• CPC Class Codes: B60W 2552/15 Road slope, i.e. the inclination of a road segment in the longitudinal direction
• CPC Class Codes: B60W 2710/105 Output torque
• CPC Class Codes: B60W 2720/106 Longitudinal acceleration
• CPC Class Codes: G08G 1/166 for active traffic, e.g. moving vehicles, pedestrians, bikes

Abstract

In system and method for an automotive vehicle equipped with the system and defined as a system vehicle, a target value of a driving-and-braking force applied to the system vehicle to make a detected value of a system vehicle velocity coincident with a target value of the velocity of the system vehicle is determined, a prime mover of the system vehicle and a transmission thereof in accordance with the target value of the driving-and-braking force is determined, a maximum deceleration force according to the target value of the velocity of the system vehicle and a shift position of the transmission of the system vehicle is estimated, a relative velocity of the system vehicle to the preceding vehicle on the basis of the detected value of the inter-vehicle distance is determined, and the shift position of the transmission is determined on the basis of the target value of the driving-and-braking force, the estimated maximum deceleration force, and the relative velocity.

Claims

1. A system for an automotive vehicle equipped with the system and defined as a system vehicle, comprising:

a first detector for detecting an inter-vehicle distance from the system vehicle to a preceding vehicle traveling ahead of the system vehicle;

a second detector for detecting a velocity of the system vehicle;

an inter-vehicle distance controller for calculating a target value of the velocity of the system vehicle to make a detected value of the inter-vehicle distance coincident with the target value of the inter-vehicle distance;

a system vehicle velocity controller for calculating a target value of a driving-and-braking force applied to the system vehicle to make a detected value of the system vehicle velocity coincident with the target value of the velocity of the system vehicle;

a drive controller for drivingly controlling a prime mover of the system vehicle and a transmission thereof in accordance with the target value of the driving-and-braking force;

a maximum deceleration force estimator for estimating a maximum deceleration force according to the target value of the velocity of the system vehicle and a shift position of the transmission of the system vehicle;

a relative velocity calculator for calculating a relative velocity of the system vehicle to the preceding vehicle on the basis of the detected value of the inter-vehicle distance; and

a shift position determinator for determining the shift position of the transmission on the basis of the target value of the driving-and-braking force, the estimated maximum deceleration force, and the relative velocity.

2. A system for an automotive vehicle equipped with the system and defined as a system vehicle as claimed in claim 1, wherein the shift position determinator comprises a deceleration force margin calculator for calculating a deceleration force margin on the basis of the target value of the driving-and-braking force and the estimated maximum deceleration force and wherein the shift position determinator determines the shift position of the transmission of the system vehicle on the basis of the calculated deceleration force margin and the calculated relative velocity of the system vehicle to the preceding vehicle.

3. A system for an automotive vehicle equipped with the system and defined as a system vehicle as claimed in claim 2, wherein the shift position determinator determines a down-shift from a higher speed range to a lower speed range when the deceleration force margin is equal to or below a first threshold value and the relative velocity of the system vehicle to the preceding vehicle is equal to or below zero so as to approach to the preceding vehicle.

4. A system for an automotive vehicle equipped with the system and defined as a system vehicle as claimed in claim 3, wherein the shift position determinator determines a up-shift from the lower speed range to the higher speed range when the deceleration force margin is equal to or above a second threshold value or when the relative velocity of the system vehicle to the preceding vehicle is above zero so as to become far away from the preceding vehicle.

5. A system for an automotive vehicle equipped with the system and defined as a system vehicle as claimed in claim 3, wherein the shift position determinator modifies the first threshold value according to the relative velocity of the system vehicle to the preceding vehicle.

6. A system for an automotive vehicle equipped with the system and defined as a system vehicle as claimed in claim 5, wherein the shift position determinator enlarges the first threshold value as the relative velocity of the system vehicle to the preceding vehicle indicates such a value as approaching of the system vehicle to the preceding vehicle.

7. A system for an automotive vehicle equipped with the system and defined as a system vehicle as claimed in claim 3, which further comprises a third detector for detecting whether another vehicle is interrupted in the inter-vehicle distance between the system vehicle and the preceding vehicle and wherein, when the third detector detects that the other vehicle is interrupted in the inter-vehicle distance between the system vehicle and the preceding vehicle, the shift position determinator modifies the first threshold value according to a new inter-vehicle distance between the system vehicle and the other vehicle interrupted in the inter-vehicle distance between the system vehicle and the preceding vehicle.

8. A system for an automotive vehicle equipped with the system vehicle and defined as a system vehicle as claimed in claim 7, wherein the shift position determinator enlarges the first threshold value as the new inter-vehicle distance of the system vehicle to the other vehicle interrupted in the inter-vehicle distance between the system vehicle and the preceding vehicle becomes short.

9. A system for an automotive vehicle equipped with the system and defined as a system vehicle as claimed in claim 3, wherein the shift position determinator returns the modified first threshold value to its original value when the down-shift of the transmission is completed with a down-shift condition satisfied after the shift position determinator modifies the first threshold value.

10. A system for an automotive vehicle equipped with the system and defined as a system vehicle as claimed in claim 3, wherein the inter-vehicle distance controller includes a deviation calculator for calculating a deviation between the detected value of the inter-vehicle distance and the target value of the inter-vehicle distance, wherein the shift position determinator includes:

a deviation determinator for determining whether the calculated deviation is equal to or below a predetermined deviation value; and

a timer for measuring a time duration during which the deviation which is equal to or below the predetermined deviation value is continued, and wherein the shift position determinator returns the modified first threshold value to its original value when the time duration measured by the timer indicates a predetermined period of time.

11. A system for an automotive vehicle equipped with the system and defined as a system vehicle as claimed in claim 3, wherein the system velocity controller includes a deviation calculator for calculating a deviation between the detected value of the velocity of the system vehicle and the target value of the velocity of the system vehicle, wherein the shift position determinator includes:

a deviation determinator for determining whether the calculated deviation is equal to or below a predetermined deviation value; and

a timer for measuring a time duration during which the deviation which is equal to or below the predetermined deviation value is continued, and wherein the shift position determinator returns the modified first threshold value to its original value when the time duration measured by the timer indicates a predetermined period of time.

12. A system for an automotive vehicle equipped with the system and defined as a system vehicle as claimed in claim 1, which further comprises:

a road surface gradient estimator for estimating a gradient of a road surface on which the system vehicle is running together with the preceding vehicle;

a gradient determinator for determining whether the gradient of the road surface is equal to or negatively above a predetermined gradient value; and

an up-shift inhibitor for inhibiting an up-shift of the transmission from a lower speed range to a higher speed range when the gradient determinator determines that the gradient of the road surface is equal to or negatively above the predetermined gradient value.

13. A system for an automotive vehicle equipped with the system and defined as a system vehicle as claimed in claim 12, wherein the system vehicle velocity controller further includes a disturbance compensator for estimating a disturbance applied to the system vehicle during a run of the system vehicle and compensating the driving-and-braking force of the system vehicle according to an estimated value of the disturbance and wherein the road gradient estimator estimates the road surface gradient on the basis of the estimated value of the disturbance.

14. A system for an automotive vehicle equipped with the system and defined as a system vehicle as claimed in claim 13, wherein the shift position determinator comprises a deceleration force margin calculator for calculating a deceleration force margin on the basis of the target value of the driving-and-braking force and the estimated deceleration force and wherein the shift position determinator determines the shift position of the transmission of the system vehicle on the basis of the calculated deceleration force margin and the calculated relative velocity of the system vehicle to the preceding vehicle.

15. A system for an automotive vehicle equipped with the system and defined as a system vehicle as claimed in claim 14, wherein the transmission of the system vehicle is an automatic transmission and wherein the shift position determinator includes:

a present shift position determinator for determining whether a present shift position of the automatic transmission is placed at a fourth speed range or at a third speed range;

a first deceleration force margin determinator for determining whether the deceleration force margin is equal to or negatively above a first threshold value (SG1) when the present shift position determinator determines that the present shift position of the automatic transmission is placed at the fourth speed range;

a second deceleration force determinator for determining whether the deceleration force margin is equal to or positively above a second threshold value (SG2) when the present shift position determinator determines that the present shift position of the automatic transmission is placed at the third speed range;

a first relative velocity determinator for determining whether the relative velocity of the system vehicle to the preceding vehicle is equal to or negatively below zero when the first deceleration force margin determinator determines that the deceleration force margin is equal to or negatively below the first threshold value (SG1); and

a second relative velocity determinator for determining whether the relative velocity of the system vehicle to the preceding vehicle is above zero when the second deceleration force margin determinator determines that the deceleration force margin is equal to or positively above the second threshold value (SG2) and wherein the road surface gradient estimator includes an estimated disturbance determinator for determining whether the estimate value of the disturbance is equal to or above a third threshold value (SG3) when the second relative velocity determinator determines that the relative velocity of the system vehicle to the preceding vehicle is above zero with the deceleration force margin being equal to or positively above the second threshold value (SG2).

16. A system for an automotive vehicle equipped with the system and defined as a system vehicle as claimed in claim 15, wherein the up-shift inhibitor inhibits the up-shift of the automatic transmission from the third speed range to the fourth speed range when the estimated value of the disturbance is equal to or negatively above the third threshold value (SG3).

17. A system for an automotive vehicle equipped with the system and defined as a system vehicle as claimed in claim 16, wherein the first threshold value (SG1) is smaller than the second threshold value (SG2) (SG1<

SG2) so that a hysteresis is provided for the threshold values to determine a shift of the present shift position from the fourth speed range to the third speed range and vice versa.

18. A system for an automotive vehicle equipped with the system and defined as a system vehicle as claimed in claim 17, wherein the up-shift inhibitor inhibits the up-shift from the third speed range to the fourth speed range when the second deceleration force margin determinator determines that the deceleration force margin is negatively below the second threshold value (SG2).

19. A system for an automotive vehicle equipped with the system and defined as a system vehicle as claimed in claim 18, wherein the up-shift inhibitor inhibits the up-shift of the automatic transmission from the third speed range to the fourth speed range when the second deceleration force margin determinator determines that the deceleration force is equal to or positively above the second threshold value (SG2) and the second relative velocity determinator determines that the relative velocity is equal to or negatively below zero.

20. A method for an automotive vehicle equipped with the method and defined as a system vehicle, the method comprising the steps of:

detecting an inter-vehicle distance from the system vehicle to a preceding vehicle traveling ahead of the system vehicle;

detecting a velocity of the system vehicle;

calculating a target value of the velocity of the system vehicle to make a detected value of the inter-vehicle distance coincident with the target value of the inter-vehicle distance;

calculating a target value of a driving-and-braking force applied to the system vehicle to make a detected value of the system vehicle velocity coincident with the target value of the velocity of the system vehicle;

drivingly controlling a prime mover of the system vehicle and a transmission thereof in accordance with the target value of the driving-and-braking force;

estimating a maximum deceleration force according to the target value of the velocity of the system vehicle and a shift position of the transmission of the system vehicle;

calculating a relative velocity of the system vehicle to the preceding vehicle on the basis of the detected value of the inter-vehicle distance; and

determining the shift position of the transmission on the basis of the target value of the driving-and-braking force, the estimated maximum deceleration force, and the relative velocity.