Apparatus and method for automatically controlling vehicular velocity

• US 6,249,738 B1
• Filed: 05/27/1999
• Issued: 06/19/2001
• Est. Priority Date: 05/27/1998
• Status: Expired due to Term

• Current Assignee: Nissan Motor Co., Ltd.
• Original Assignee: Nissan Motor Co., Ltd.
• Inventors: Hashizume, Takenori, Iwamoto, Hideo, Higashimata, Akira
• Primary Examiner(s): Cuchlinski, Jr., William A.
• Assistant Examiner(s): Donnelly, Arthur D.
• Application Number:
  US09/320,575
• Time in Patent Office: 754 Days
• Field of Search: 701/96, 701/91, 701/301, 701/300, 180/169, 340/904, 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: B60T 7/12 for automatic initiation; for initiation not subject to will of driver or passenger limiting speed of vehicles other than rail vehicles B60K31/00
• CPC Class Codes: B60W 2050/0031 Mathematical model of the vehicle
• CPC Class Codes: B60W 2050/143 Alarm means
• CPC Class Codes: B60W 2710/105 Output torque
• 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 controlling a vehicular velocity for an automotive vehicle, when a controller carries out a preceding vehicle follow-up control to follow up a preceding vehicle which is traveling ahead of the vehicle and is decelerated and a vehicular velocity of the vehicle becomes reduced and has crossed a set lower limit value of the vehicular velocity in a vehicular velocity controllable range, the controller releases the preceding vehicle follow-up control but continues a braking operation through a vehicular brake system using a function generator (Pbrk*=f(t)MPa) to prevent a sudden G drop from occurring.

Claims

1. A vehicular velocity controlling apparatus for an automotive vehicle, comprising:

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

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

an inter-vehicle distance controller, the inter-vehicle distance controller calculating a target value of the vehicular velocity, the target value of the vehicular velocity being calculated to make the detected value of the inter-vehicle distance equal to a target value of the inter-vehicle distance;

a vehicular velocity servo controller, the vehicular velocity servo controller being responsive to the target value of the vehicular velocity from the inter-vehicle distance controller, calculating a target value of a vehicular force to be exerted by the vehicle to vary the vehicular velocity according to the target value of the vehicular velocity, and distributing the target value of the vehicular force exerted by the vehicle into a vehicular driving force for a vehicular drive system and a vehicular braking force for a vehicular brake system;

a comparator, the comparator comparing the detected value of the vehicular velocity with a set lower limit value of the vehicular velocity in a vehicular velocity controllable range;

a control release command generator, the control release command generator being responsive to a result of a comparison by the comparator indicating that the detected value of the vehicular velocity, which is made equal to the target value of the vehicular velocity according to the result of vehicular force by means of the vehicular servo controller, is lower than the set lower limit value and generating and outputting a release command to release a calculation of the target value of the vehicular velocity by the inter-vehicle distance controller and to release the calculation of the target value of the vehicular force by the vehicular velocity servo controller; and

a function generator, the function generator being responsive to the result of the comparison by the comparator and generating and outputting a predetermined function to the vehicular brake system to only continue a control of the vehicular braking force through the vehicular brake system.

2. A vehicular velocity controlling apparatus for an automotive vehicle as claimed in claim 1, wherein, the comparator is responsive to a preceding vehicle follow-up control for the vehicle to follow up the another vehicle at the target value of the inter-vehicle distance through the vehicular brake system.

3. A vehicular velocity controlling apparatus for an automotive vehicle as claimed in claim 1, wherein, when the result of the comparison by the comparator indicates that the target value of the vehicular velocity which is made equal to the detected value thereof becomes reduced and has crossed the set lower limit value V_L of the vehicular velocity, the control release comm and generator and the function generator respond.

4. A vehicular velocity controlling apparatus for an automotive vehicle as claimed in claim 1, wherein the control release command generator includes:

a first constant generator, the first constant generator being responsive to the result of the comparison by the comparator and generating and outputting the target value of the vehicular velocity indicating zero to the vehicular velocity servo controller; and

a second constant generator, the second constant generator being responsive to the result of the comparison by the comparator and generating and outputting the target value of the vehicular force indicating zero to an actuator of the vehicular velocity servo controller connected to the vehicular drive system.

11. A vehicular velocity controlling apparatus for an automotive vehicle as claimed in claim 1, further comprising an alarm unit, the alarm unit being responsive to an activation of the function generator and producing an alarm to inform a vehicular occupant of a continuation of the braking force control by the function generator through the vehicular brake system.

12. A vehicular velocity controlling apparatus for an automotive vehicle as claimed in claim 4, wherein the vehicular drive system includes a throttle valve of a vehicular engine, the actuator comprises an electric motor, and the second constant generator generates and outputs a target value of an opening angle of the throttle valve indicating zero (θ

*=0) to the actuator to release the control of the opening angle of the throttle valve.

5. A vehicular velocity controlling apparatus for an automotive vehicle, comprising:

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

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

an inter-vehicle distance controller, the inter-vehicle distance controller calculating a target value of the vehicular velocity, the target value of the vehicular velocity being calculated to make the detected value of the inter-vehicle distance equal to a target value of the inter-vehicle distance;

a vehicular velocity servo controller, the vehicular velocity servo controller being responsive to the target value of the vehicular velocity from the inter-vehicle distance controller, calculating a target value of a vehicular force to be exerted by the vehicle to vary the vehicular velocity according to the target value of the vehicular velocity, and distributing the target value of the vehicular force exerted by the vehicle into a vehicular driving force for a vehicular drive system and a vehicular braking force for a vehicular brake system;

a comparator, the comparator comparing the detected value of the vehicular velocity with a set lower limit value of the vehicular velocity in a vehicular velocity controllable range;

a control release command generator, the control release command generator being responsive to a result of a comparison by the comparator and generating and outputting a release command to release a calculation of the target value of the vehicular velocity by the inter-vehicle distance controller and to release the calculation of the target value of the vehicular force by the vehicular velocity servo controller; and

a function generator, the function generator being responsive to the result of the comparison by the comparator and generating and outputting a predetermined function to the vehicular brake system to only continue a control of the vehicular braking force through the vehicular brake system;

wherein

the function generator includes;

a determinator determining whether a target value of a braking liquid pressure, at a time point when the result of the comparison by the comparator indicates that the vehicular velocity becomes reduce and has crossed the set lower limit value V_L of the vehicular velocity, is greater than a predetermined braking liquid value; and

a braking liquid pressure command generator, the braking liquid pressure command generator being responsive to the result of the determination by the determinator and generating and outputting the target value of the braking liquid pressure as a braking liquid pressure command value Pbrk to a braking pressure servo calculating block of the vehicular velocity servo controller, the target value of the braking liquid pressure being the predetermined function dependent upon the result of the determination by the determinator.

6. A vehicular velocity controlling apparatus for an automotive vehicle as claimed in claim 5, wherein when the determinator determines that the target value of the braking liquid pressure is greater than the predetermined braking liquid pressure value, the braking liquid pressure command generator generates and outputs the target value of the braking liquid pressure at the time point when the result of the comparison by the comparator indicates that the vehicular velocity becomes reduced and has crossed the set lower limit value V_L of the vehicular velocity to the braking pressure servo calculating block and reduces the target value of the braking liquid pressure by a predetermined gradient to be approached to the predetermined braking liquid pressure value.

7. A vehicular velocity controlling apparatus for an automotive vehicle as claimed in claim 5, wherein, when the target value of the braking liquid pressure at the time point when the result of the comparison by the comparator indicates that the vehicular velocity is not greater than the predetermined braking liquid pressure, the braking liquid pressure command generator generates and outputs the target value of the braking liquid pressure to the braking liquid pressure servo calculating block to maintain the braking liquid pressure of the vehicular brake system at the time point when the result of the comparison by the comparator indicates that the vehicular velocity becomes reduced and has crossed the set lower limit value V_L of the vehicular velocity.

8. A vehicular velocity controlling apparatus for an automotive vehicle as claimed in claim 6, wherein the predetermined gradient is approximately −

0.25 MPa/S, wherein S denotes second.

9. A vehicular velocity controlling apparatus for an automotive vehicle as claimed in claim 6, wherein the predetermined braking liquid pressure value is approximately 1 MPa.

10. A vehicular velocity controlling apparatus for an automotive vehicle as claimed in claim 7, further comprising:

a driving operation detector detecting a driving operation of the vehicle by a vehicular occupant; and

another control release command generator, the other control release command generator being responsive to a result of a detection by the driving operation detector and generating and outputting another control release command to the function generator to halt the output of the target value of the braking liquid pressure by the braking liquid pressure command generator of the function generator.

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

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

detecting a vehicular velocity of the vehicle;

calculating a target value of the vehicular velocity, the target value of the vehicular velocity being calculated to make the detected value of the inter-vehicle distance equal to a target value of the inter-vehicle distance;

calculating a target value of a vehicular force to be exerted by the vehicle to vary the vehicular velocity according to the target value of the vehicular velocity;

distributing the target value of the vehicular force exerted by the vehicle into a vehicular driving force for a vehicular drive system and a vehicular braking force for a vehicular brake system;

comparing the detected value of the vehicular velocity with a set lower limit value of the vehicular velocity in a vehicular velocity controllable range;

outputting a release command to release a calculation of the target value of the vehicular velocity and to release the calculation of the target value of the vehicular force in response to a result of the comparing indicating that the detected value of the vehicular velocity, which is made equal to the target value of the vehicular velocity as a result of the distributing the target value of the vehicular force exerted by the vehicle, is lower than the set lower limit value; and

outputting a predetermined function to the vehicular brake system to only continue a control of the vehicular braking force through the vehicular brake system.