Relative velocity detecting apparatus for automotive vehicle

• US 6,259,395 B1
• Filed: 11/05/1999
• Issued: 07/10/2001
• Est. Priority Date: 11/10/1998
• Status: Expired due to Fees

• Current Assignee: Nissan Motor Co., Ltd.
• Original Assignee: Nissan Motor Co., Ltd.
• Inventors: Adachi, Kazutaka, Hashizume, Takenori, Iwamoto, Hideo
• Primary Examiner(s): Lobo, Ian J.
• Application Number:
  US09/434,368
• Time in Patent Office: 613 Days
• Field of Search: 342/70, 342/71, 342/72, 342/455, 342/456, 340/903, 701/93, 701/96, 180/169, 180/170
• US Class Current: 342/70
• CPC Class Codes: B60Q 9/008 for anti-collision purposes
• CPC Class Codes: G01S 13/931 of land vehicles
• CPC Class Codes: G01S 2013/9321 Velocity regulation, e.g. cruise control
• CPC Class Codes: G01S 2013/9325 for inter-vehicle distance regulation, e.g. navigating in platoons
• CPC Class Codes: G01S 2013/93271 in the front of the vehicles
• CPC Class Codes: G08G 1/161 Decentralised systems, e.g. inter-vehicle communication

Abstract

In a relative velocity detecting apparatus for an automotive vehicle applicable to an automatic vehicular velocity control system to follow up a preceding vehicle, an inter-vehicle distance detector is provided which is disposed on the vehicle so as to be oriented toward a forward detection zone of the vehicle to detect an inter-vehicle distance to the preceding vehicle which is running ahead of the vehicle, to recognize whether the preceding vehicle has entered the forward detection zone and to derive the inter-vehicle distance value lrn (n=1, 2, . . . , n) whenever a predetermined period of time has passed when recognizing that the preceding vehicle has entered the forward detection zone, a relative velocity calculator is provided to perform a band pass filter calculation for the inter-vehicle distance value lrn, the band pass filter being expressed as: CF0·S/(S²+CF1·S+CF0), wherein CF0 and CF1 denote constants, and to calculate a relative velocity value vr of the preceding vehicle to the vehicle according to the above equation, and an initial value setting section is provided to set a first initial value lr0 of the inter-vehicle distance value and a second initial value vr0 of the relative velocity value in the band pass filter calculation by the relative velocity calculator during a run of the vehicle.

Claims

1. A relative velocity detecting apparatus for an automotive vehicle, comprising:

an inter-vehicle distance detector, disposed on the vehicle so as to be oriented toward a forward detection zone of the vehicle to detect an inter-vehicle distance to a preceding vehicle which is running ahead of the vehicle, to recognize whether the preceding vehicle has entered the forward detection zone and to derive the inter-vehicle distance value lrn (n=1, 2, - - - , n) whenever a predetermined period of time has passed when recognizing that the preceding vehicle has entered the forward detection zone;

a relative velocity calculator to perform a band pass filter calculation for the inter-vehicle distance value lrn, the band pass filter being expressed as;

2. A relative velocity detecting apparatus for an automotive vehicle as claimed in claim 1, wherein the initial value setting section sets the inter-vehicle distance value lr1 at the predetermined period of time after the inter-vehicle distance detector has recognized that the preceding vehicle has entered the forward detection zone to the first initial value lr0 of the inter-vehicle distance value.

3. A relative velocity detecting apparatus for an automotive vehicle as claimed in claim 1, wherein the initial value setting section sets the second initial value vr0 of the relative velocity value from the following equation:

vr0=(lr2−

lr1)/ts, wherein ts denotes the predetermined period of time, lr2 denotes the inter-vehicle distance value at the subsequent predetermined period of time to the predetermined period of time at which the inter-vehicle distance value lr1 is detected and sets the first initial value lr0 of the inter-vehicle distance from the following equation;

lr0=lr2−

(CF1/CF0)·

vr0.

4. A relative velocity detecting apparatus for an automotive vehicle as claimed in claim 1, wherein the initial value setting section includes a difference determinator to determine a difference between lr2 and lr1 and a selector to selectively set the first and second initial values of lr0 and vr0 of the inter-vehicle distance and the relative velocity according to a magnitude of difference from either the first initial value lr0 of the inter-vehicle distance set to the inter-vehicle distance value lr1 detected at the predetermined period of time after recognizing that the preceding vehicle has entered the forward detection zone and the second initial value lr1 of the relative velocity set from the following equation:

vr0=(lr2−

lr1)·

(CF0/CF1), wherein lr2 denotes the inter-vehicle distance value at the subsequent predetermined period of time to the predetermined period of time at which the inter-vehicle distance value lr1 is detected, or the second initial value of the relative velocity set from the following equation;

vr0=(lr2−

lr1)/ts, wherein ts denotes the predetermined period of time, and the first initial value lr0 of the inter-vehicle distance set from the following equation;

lr0=lr2−

(CF1/CF0)vr0.

5. A relative velocity detecting apparatus for an automotive vehicle as claimed in claim 1, wherein the relative velocity detecting apparatus is installed in a system including:

a vehicular velocity detector to detect a vehicular velocity of the vehicle;

a preceding vehicle velocity calculator to add the calculated relative velocity value vr to the vehicular velocity to derive the vehicular velocity of the preceding vehicle;

a target relative velocity calculator to calculate a target relative velocity which is used to make the inter-vehicle distance coincident with a target inter-vehicle distance, the target relative velocity calculator calculating the target relative velocity by using a form comprising a linear combination of, on one hand, a product of a first gain and a difference between the inter-vehicle distance and the target inter-vehicle distance and, on the other hand, a product of a second gain and the relative velocity;

a target vehicular velocity calculating section to subtract the target relative velocity from the vehicular velocity of the preceding vehicle to calculate a target vehicular velocity of the vehicle; and

a vehicular velocity controlling section to control the vehicular velocity of the vehicle so as to make the detected vehicular velocity of the vehicle coincident with the target vehicular velocity.

6. A relative velocity detecting apparatus for an automotive vehicle as claimed in claim 1, wherein the initial value setting section sets the first initial value lr0 of the inter-vehicle distance value and the second initial value vr0 of the relative velocity value in the band pass filter calculation by he relative velocity calculator at a time point at which the inter-vehicle distance detector recognizes that the preceding vehicle has entered the forward detection zone.

7. A relative velocity detecting apparatus for an automotive vehicle as claimed in claim 6, wherein the initial value setting section sets the second initial value vr0 of the relative velocity value to a value based on a deviation on the inter-vehicle distance value at the time point at which the inter-vehicle distance detector recognizes that the preceding vehicle has entered the forward detection zone and sets the first initial value lr0 of the inter-vehicle distance value to a value that accords with the second initial value vr0 of the relative velocity.

8. A relative velocity detecting apparatus for an automotive vehicle, comprising:

an inter-vehicle distance detector, disposed on the vehicle so as to be oriented toward a forward detection zone of the vehicle to detect an inter-vehicle distance to a preceding vehicle which is running ahead of the vehicle, to recognize whether the preceding vehicle has entered the forward detection zone and to derive the inter-vehicle distance value lrn (n=1, 2, - - - , n) whenever a predetermined period of time has passed when recognizing that the preceding vehicle has entered the forward detection zone;

a relative velocity calculator to perform a band pass filter calculation for the inter-vehicle distance value lrn, the band pass filter being expressed as;

CF0·

S/(S²+CF1·

S+CF0), wherein CF0 and CF1 denote constants and S denotes a differential operator, and to calculate a relative velocity value vr of the preceding vehicle to the vehicle according to the above equation; and

an initial value setting section to change a first initial value lr0 of the inter-vehicle distance value from null and to change a second initial value vr0 of the relative velocity value from null in the band pass filter calculation by the relative velocity calculator.