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

• US 6,256,573 B1
• Filed: 10/21/1998
• Issued: 07/03/2001
• Est. Priority Date: 10/23/1997
• Status: Expired due to Term

• Current Assignee: Nissan Motor Co., Ltd.
• Original Assignee: Nissan Motor Co., Ltd.
• Inventors: Higashimata, Akira
• Primary Examiner(s): LOUIS JACQUES, JACQUES H
• Application Number:
  US09/176,219
• Time in Patent Office: 986 Days
• Field of Search: 701/96, 701/93, 701/300, 701/301, 701/302, 180/179, 180/171, 180/168, 180/169, 180/170, 180/167, 318/587, 340/903, 340/901, 340/943, 340/435, 340/436, 340/902, 340/904, 123/352, 123/350, 342/454, 342/455, 342/47, 342/70, 342/71, 342/458, 342/72, 342/61, 342/69, 342/73, 342/456, 342/457
• US Class Current: 701/96
• CPC Class Codes: B60K 31/0008 including means for detecting potential obstacles in vehicle path
• CPC Class Codes: B60W 2050/0012 Feedforward or open loop systems
• CPC Class Codes: B60W 2050/0022 Gains, weighting coefficients or weighting functions
• CPC Class Codes: B60W 2050/0031 Mathematical model of the vehicle
• CPC Class Codes: B60W 2050/0042 Transfer function lag; delays
• CPC Class Codes: B60W 2754/30 Longitudinal distance
• 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, an inter-vehicle distance from the system vehicle to a preceding vehicle traveling ahead of the system vehicle is detected, a velocity of the system vehicle is detected, a determination is made whether the system vehicle is running to follow up the preceding vehicle at a target value of the inter-vehicle distance, a control system for performing a feedback control of the detected value of the inter-vehicle distance to the target value thereof is provided, a target value of the velocity of the system vehicle is outputted, a control gain of the feedback control system being modified according to the detected value of the inter-vehicle distance and a result of a determination whether the system vehicle is running to follow up the preceding vehicle at a target value of the inter-vehicle distance and a braking force and a driving force of the system vehicle are controlled so as to make a detected value of the system vehicle velocity coincident with the target value of the velocity of the system vehicle.

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;

a determinator for determining whether the system vehicle is following the preceding vehicle at a target value of the inter-vehicle distance;

an inter-vehicle distance controller having a control system for performing a feedback control of the detected value of the inter-vehicle distance to the target value thereof and for outputting a target value of the velocity of the system vehicle, a control gain of the feedback control system being modified according to the detected value of the inter-vehicle distance and a result of a determination by the determinator; and

a vehicle velocity controller for controlling a braking force and a driving force of the system vehicle so as to make a detected value of the system vehicle velocity coincident with the target value of the velocity of the system vehicle,

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 and the determinator determines that the system vehicle is following the preceding vehicle at the target value of the inter-vehicle distance when the calculated deviation is equal to or below a predetermined inter-vehicle distance value and a predetermined period of time has passed after the calculated deviation is equal to or below the predetermined inter-vehicle distance.

2. A system for an automotive vehicle equipped with the system and defined as a system vehicle as claimed in claim 1, wherein the inter-vehicle distance controller includes:

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 wherein the determinator determines that the system vehicle is following the preceding vehicle at the target value of the inter-vehicle distance when the calculated deviation is equal to or below a predetermined inter-vehicle distance value and a first predetermined period of time has passed after a calculated value of the relative velocity is equal to or below a predetermined relative velocity value.

3. A system for an automotive vehicle equipped with the system and defined as a system vehicle as claimed in claim 1, wherein the inter-vehicle distance controller sets the control gain such as to quicken a responsive characteristic of the feedback control system when the detected value of the inter-vehicle distance is equal to or below a predetermined inter-vehicle distance value and modifies the set control gain to a new control gain such as to slow the responsive characteristic of the feedback control system when the determinator determines that the system vehicle is following the preceding vehicle at the target value of the inter-vehicle distance.

4. A system for an automotive vehicle equipped with the system and defined as a system vehicle as claimed in claim 1, wherein the inter-vehicle distance controller modifies the set control gain of the feedback control system according to an elapsed time upon the system vehicle beginning to follow the preceding vehicle at the target value of the inter-vehicle distance.

5. A system for an automotive vehicle equipped with the system and defined as a system vehicle as claimed in claim 1, 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 and wherein the determinator does not determine that the system vehicle is following the preceding vehicle at the target value of the inter-vehicle distance when a second predetermined period of time has passed, the calculated deviation exceeding a predetermined deviation value, after the determinator has determined that the system vehicle is following the preceding vehicle at the target value of the inter-vehicle distance.

6. A system for an automotive vehicle equipped with the system vehicle and defined as a system vehicle as claimed in claim 5, wherein, when the determinator does not determine that the system vehicle is following the preceding vehicle at the target value of the inter-vehicle distance, the control gain of the feedback control system is set so as to quicken the responsive characteristic of the feedback control system when the detected value of the inter-vehicle distance is equal to or below a first predetermined inter-vehicle distance and so as to slow the responsive characteristic of the feedback control system when the detected value of the inter-vehicle distance is above the first predetermined inter-vehicle distance value.

7. A system for an automotive vehicle equipped with the system and defined as a system vehicle as claimed in claim 6, wherein the first predetermined inter-vehicle distance value is approximately 40 meters.

8. A system for an automotive vehicle equipped with the system and defined as a system vehicle as claimed in claim 1, wherein the inter-vehicle distance controller includes:

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;

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;

a first multiplier for multiplying the calculated deviation by a first control gain; and

a second multiplier for multiplying a calculated value of the relative velocity by a second control gain;

an adder for adding results of multiplications by both of the first and second multipliers to derive a target value of the relative velocity of the system vehicle to the preceding vehicle; and

a target system velocity calculator for calculating and outputting the target velocity of the system vehicle to the vehicle velocity controller on the basis of the target value of the relative velocity from the adder.

9. A system for an automotive vehicle equipped with the system and defined as a system vehicle as claimed in claim 8, wherein the inter-vehicle distance controller derives the target value (V*) of the system vehicle velocity as follows:

V*=V_T−

Δ

V*, wherein V_T denotes a vehicle velocity of the preceding vehicle and is expressed as V_T=Δ

V−

Vs, wherein Δ

V denotes the relative velocity of the system vehicle to the preceding vehicle and Vs denotes the detected value of the velocity of the system vehicle, Δ

V* denotes the target value of the relative velocity of the system vehicle to the preceding vehicle as a result of an addition by the adder and is expressed as Δ

V*=fd*Δ

L+fv*Δ

V, wherein fd denotes a first control gain of the feedback control system and fv denotes a second control gain of the feedback control system, Δ

L denotes a deviation between the target value of the inter-vehicle distance (L_T*) and the detected value of the inter-vehicle distance (L_T).

10. A system for an automotive vehicle equipped with the system and defined as a system vehicle as claimed in claim 9, wherein the inter-vehicle distance controller includes a band pass filter having a transfer function expressed as ω

n²s/(s²+2ζ

ω

ns+ω

n²), wherein s denotes a Laplace tranform operator and s=jω

, ω

n denotes a specific angular frequency of the feedback control system, and ζ

denotes a damping factor of the feedback control system, and derives the relative velocity (Δ

V) of the system vehicle to the preceding vehicle from the detected value of the inter-vehicle distance using the band pass filter.

11. A system for an automotive vehicle equipped with the system and defined as a system vehicle as claimed in claim 10, wherein fv=1−

2ζ

ω

nτ

v and fd=ω

n²×

τ

v, wherein τ

V denotes a time constant of the vehicle velocity controller, and

wherein the determinator comprises;

a first determinator for determining a deviation (Δ

L) between the target value of the inter-vehicle distance (L_T*) and the detected value of the inter-vehicle distance (L_T);

a first timer for measuring an elapsed time from a time at which the deviation (Δ

L) indicates an approximately zero and a second determinator for determining whether the elapsed time measured by the first timer is equal to or above a first predetermined period of time and wherein the first control gain (fd) and the second control gain (fv) are varied according to the detected value of the inter-vehicle distance (L_T) and according to the elapsed time measured by the first timer from the time at which the deviation (Δ

L) indicates the approximately zero.

12. A system for an automotive vehicle equipped with the system and defined as a system vehicle as claimed in claim 11, wherein the determinator comprises:

a first determinator for determining a deviation (Δ

L) between the target value of the inter-vehicle distance (L_T*) and the detected value of the inter-vehicle distance (L_T);

a first timer for measuring an elapsed time from a time at which the deviation (Δ

L) indicates an approximately zero and a second determinator for determining whether the elapsed time measured by the first timer is equal to or above a first predetermined period of time and wherein the first control gain (fd) and the second control gain (fv) are varied according to the detected value of the inter-vehicle distance (L_T) and according to the elapsed time measured by the first timer from the time at which the deviation (Δ

L) indicates the approximately zero.

13. A system for an automotive vehicle equipped with the system and defined as a system vehicle as claimed in claim 11, wherein ω

n is reduced when the detected value of the inter-vehicle distance is above a predetermined inter-vehicle distance value and as the elapsed time from the time at which the deviation (Δ

L) indicates the approximately zero becomes increased to the first predetermined period of time (T1).

14. A system for an automotive vehicle equipped with the system and defined as a system vehicle as claimed in claim 13, wherein the determinator further comprises a second timer for measuring an elapsed time from a time at which the deviation (Δ

L) does not indicate the approximately zero after the determinator has determined that the system vehicle is following the preceding vehicle at the target value of the inter-vehicle distance; and

a third determinator for determining whether the elapsed time measured by the second timer is below a second predetermined period of time (T2), and wherein the first control gain (fd) and the second control gain (fv) are varied according to the detected value of the inter-vehicle distance (L_T) and according to the elapsed time measured by the second timer, which is below the second predetermined period of time (T2).

15. A system for an automotive vehicle equipped with the system and defined as a system vehicle as claimed in claim 14, wherein the inter-vehicle distance controller further comprises a fourth determinator for determining whether another vehicle is interrupting between the preceding vehicle and the system vehicle according to a variation in the detected value of the inter-vehicle distance and wherein con is increased in accordance with a normal gain scheduling so that the control gain is set so as to quicken the responsive characteristic of the feedback control system when the detected value of the inter-vehicle distance is equal to or below a predetermined inter-vehicle distance and so as to slow the responsive characteristic of the feedback control system when the detected value of the inter-vehicle distance is above the predetermined inter-vehicle distance, when the fourth determinator determines that the other vehicle is interrupting between the preceding vehicle and the system vehicle.

16. A system for an automotive vehicle equipped with the system and defined as a system vehicle as claimed in claim 15, wherein ω

n is reduced from approximately 0.4 [rad/sec.] to a lowest value of approximately 0.2 [rad/sec.] as the elapsed time from the time at which the deviation (Δ

L) indicates the approximately zero becomes increased to the first predetermined period of time.

17. A system for an automotive vehicle equipped with the system and defined as a system vehicle as claimed in claim 16, wherein the detected value of the velocity of the system vehicle is expressed as V=1/(1+τ

vs) V* and wherein when τ

v is 0.5 seconds and ω

n is 0.4 [rad/sec.], the first control gain (fd) is 0.08 and the second control gain (fv) is 0.6 and when τ

v is 0.5 seconds and ω

n is 0.2 [rad/sec.], the first control gain (fd) is 0.02 and the second control gain (fv) is 0.8.

18. A system for an automotive vehicle equipped with the system and defined as a system vehicle as claimed in claim 17, wherein the first predetermined period of time is approximately 9 seconds and wherein ω

n is reduced to approximately 0.2 [rad/sec.] when the elapsed time from the time at which the deviation Δ

L indicates approximately zero and measured by the first timer is approximately 9 seconds.

19. 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;

a determinator for determining whether the system vehicle is running behind the preceding vehicle at a target value of the inter-vehicle distance;

an inter-vehicle distance controller having a control system for performing a feedback control of the detected value of the inter-vehicle distance to the target value thereof and for outputting a target value of the velocity of the system vehicle, a control gain of the feedback control system being modified according to the detected value of the inter-vehicle distance and a result of a determination by the determinator; and

a vehicle velocity controller for controlling a braking force and a driving force of the system vehicle so as to make a detected value of the system vehicle velocity coincident with the target value of the velocity of the system vehicle

wherein the inter-vehicle distance controller sets the control gain such as to quicken a responsive characteristic of the feedback control system when the detected value of the inter-vehicle distance is equal to or below a predetermined inter-vehicle distance value and modifies the set control gain to a new control gain such as to slow the responsive characteristic of the feedback control system when the determinator determines that the system vehicle is running behind the preceding vehicle at the target value of the inter-vehicle distance.