Apparatus and method for controlling a distance between two traveling vehicles and a recording medium for storing the control method

• US 6,265,990 B1
• Filed: 07/15/1999
• Issued: 07/24/2001
• Est. Priority Date: 07/17/1998
• Status: Expired due to Fees

• Current Assignee: DENSO Corporation
• Original Assignee: DENSO Corporation
• Inventors: Isogai, Akira, Nishimura, Takao, Teramura, Eiji
• Primary Examiner(s): POPE, DARYL C
• Application Number:
  US09/353,944
• Time in Patent Office: 740 Days
• Field of Search: 340/903, 340/435, 340/436, 340/441, 340/438, 701/301, 180/197
• US Class Current: 340/903
• CPC Class Codes: B60K 31/0008 including means for detecting potential obstacles in vehicle path
• CPC Class Codes: B60W 2050/143 Alarm means
• CPC Class Codes: B60W 2520/10 Longitudinal speed
• CPC Class Codes: B60W 2520/105 Longitudinal acceleration
• CPC Class Codes: B60W 2520/14 Yaw
• CPC Class Codes: B60W 2540/18 Steering angle
• CPC Class Codes: B60W 2554/00 Input parameters relating to objects
• CPC Class Codes: B60W 2554/801 Lateral distance
• CPC Class Codes: B60W 2554/802 Longitudinal distance
• CPC Class Codes: B60W 2554/804 Relative longitudinal speed
• CPC Class Codes: B60W 2554/805 Azimuth angle
• CPC Class Codes: B60W 2555/20 Ambient conditions, e.g. wind or rain
• CPC Class Codes: B60W 2720/106 Longitudinal acceleration
• CPC Class Codes: G08G 1/166 for active traffic, e.g. moving vehicles, pedestrians, bikes
• CPC Class Codes: G08G 1/167 Driving aids for lane monitoring, lane changing, e.g. blind spot detection

Abstract

At least one of a plurality of deceleration devices is selected to decelerate a succeeding vehicle. A warning is generated only when a deceleration level attainable by the selected one or plural deceleration devices is higher than a predetermined maximum level even if the distance between two traveling vehicles is shorter than a predetermined warning distance.

Claims

1. A distance control apparatus for controlling a distance between first and second traveling vehicles, said control apparatus comprising:

acceleration/deceleration means for accelerating and decelerating said second vehicle, said acceleration/deceleration means including a plurality of deceleration devices independently operable and different from each other in degree of attainable deceleration;

distance control means for performing a distance control by obtaining a control value required for controlling the distance between said first and said second traveling vehicles based on a relationship between an actual value and a target value as well as a relative speed between said first and said second traveling vehicles, and by actuating said acceleration/deceleration means based on said control value to control the distance between said first and said second traveling vehicles, said distance control means selecting at least one of said plurality of deceleration devices to decelerate said said second vehicle;

warning means for performing a warning operation correlating with said distance control performed by said distance control means, said warning means being capable of generating a warning when the distance between said first and said second traveling vehicles is shorter than a predetermined warning distance under the condition where the distance control is in progress; and

warning prohibiting means for preventing said warning means from performing said warning operating when a deceleration level attainable by said at least one of said deceleration devices selected by said distance control means is lower than a predetermined maximum level even if the distance between said first and said second traveling vehicles is shorter than said predetermined warning distance.

2. The distance control apparatus in accordance with claim 1, wherein said warning prohibiting means judges that the deceleration level is higher than said predetermined maximum level when a deceleration device capable of generating a largest deceleration is included in said at least one of said deceleration devices selected by said distance control means.

3. The distance control apparatus in accordance with claim 1, wherein said warning prohibiting means judges that the deceleration level is higher than said predetermined maximum level when said control value obtained by said distance control means is equivalent to an available maximum deceleration.

4. The distance control apparatus in accordance with claim 2, wherein said deceleration device capable of generating the largest deceleration is a braking device for applying a braking force to wheels of said second vehicle.

5. The distance control apparatus in accordance with claim 4, wherein a deceleration degree attainable by said braking device during the distance control is set to be smaller than a deceleration degree attainable by a driver'"'"'s depression of a braking pedal.

6. The distance control apparatus in accordance with claim 4, wherein said acceleration/deceleration means includes at least one additional deceleration device performing another function selected from the group consisting of a fuel cut control for partly or fully cutting fuel supplied to an internal combustion engine, an overdrive cut control for preventing a transmission from being shifted to an overdrive position, a shift down control for causing said transmission to shift to a lower position, an ignition timing control for retarding an ignition timing of said internal combustion engine, a lockup control for forcibly connecting input and output shafts of a torque converter, and an exhaust gas braking or retarder control for increasing a flow resistance in an exhaust passage of said internal combustion engine.

7. The distance control apparatus in accordance with claim 1, wherein said actual value is a value directly or indirectly representing an actual distance between said first and said second traveling vehicles, and said target value is a value directly or indirectly representing a target distance between said first and said second traveling vehicles.

8. The distance control apparatus in accordance with claim 7, wherein said actual value is a distance deviation between said actual distance and said target distance, and said target value is said target distance.

9. The distance control apparatus in accordance with claim 1, wherein said control value is selected from the group consisting of a target acceleration, a target torque, and a target vehicle speed.

10. A distance control apparatus for controlling a distance between first and second traveling vehicles, said control apparatus disposed in said second vehicle;

said control apparatus comprising;

acceleration/deceleration means for accelerating and decelerating said second vehicle, said acceleration/deceleration means including a plurality of deceleration devices independently operable and different from each other in degree of attainable deceleration;

distance control means for performing a distance control by obtaining a control value required for controlling the distance between said first and said second traveling vehicles based on a relationship between an actual value and a target value as well as a relative speed between said first and said second traveling vehicles, and by actuating said acceleration/deceleration means based on said control value to control the distance between said first and said second traveling vehicles; and

warning means for performing a warning operation, said warning means being capable of generating a warning when the distance between said first and said second traveling vehicles is shorter than a predetermined warning distance under the condition where the distance control is in progress,

wherein said distance control means selects at least on of said plurality of deceleration devices to decelerate said second vehicle, and performs a deceleration control correlating with said warning operation performed by said warning means so as to obtain an available maximum deceleration of said second vehicle when said warning operation is performed by said warning means.

11. The distance control apparatus in accordance with claim 10, wherein the deceleration control of said distance control means is performed by selecting a deceleration device capable of generating a largest deceleration.

12. The distance control apparatus in accordance with claim 10, wherein the deceleration control of said distance control means is performed by setting said control value to a value corresponding to the available maximum deceleration.

13. The distance control apparatus in accordance with claim 11, wherein said deceleration device capable of generating the largest deceleration is a braking device for applying a braking force to wheels of said second vehicle.

14. The distance control apparatus in accordance with claim 13, wherein a deceleration degree attainable by said braking device during the distance control is set to be smaller than a deceleration degree attainable by a driver'"'"'s depression of a braking pedal.

15. The distance control apparatus in accordance with claim 13, wherein said acceleration/deceleration means includes at least one additional deceleration device performing another function selected from the group consisting of a fuel cut control for partly or fully cutting fuel supplied to an internal combustion engine, an overdrive cut control for preventing a transmission from being shifted to an overdrive position, a shift down control for causing said transmission to shift to a lower position, an ignition timing control for retarding an ignition timing of said internal combustion engine, a lockup control for forcibly connecting input and output shafts of a torque converter, and an exhaust gas braking or retarder control for increasing a flow resistance in an exhaust passage of said internal combustion engine.

16. The distance control apparatus in accordance with claim 10, wherein said actual value is a value directly or indirectly representing an actual distance between said two traveling vehicles, and said target value is a value directly or indirectly representing a target distance between said two traveling vehicles.

17. The distance control apparatus in accordance with claim 16, wherein said actual value is a distance deviation between said actual distance and said target distance, and said target value is said target distance.

18. The distance control apparatus in accordance with claim 10, wherein said control value is selected from the group consisting of a target acceleration, a target torque, and a target vehicle speed.

19. A distance control method for controlling a distance between first and second traveling vehicles, said control method comprising:

obtaining a relationship between an actual value and a target value;

obtaining a relative speed between said first and said second traveling vehicles;

generating a control value required for controlling the distance between said first and said second traveling vehicles;

selecting at least one of a plurality of deceleration devices to decelerate said second vehicle, said plurality of deceleration devices being independently operable and different from each other in degree of attainable deceleration; and

generating a warning only when a deceleration level attainable by said selected one or plural deceleration devices is higher than a predetermined maximum level even if the distance between said first and said second traveling vehicles is shorter than a predetermined warning distance.

20. The distance control method in accordance with claim 19, wherein the deceleration level attainable by said selected one or plural deceleration devices is judged to be higher than said predetermined maximum level when a deceleration device capable of generating a largest deceleration is selected.

21. The distance control method in accordance with claim 19, wherein the deceleration level attainable by said selected one or plural deceleration devices is judged to be higher than said predetermined maximum level when said control value is equivalent to an available maximum deceleration.

22. The distance control method in accordance with claim 20, wherein said deceleration device capable of generating the largest deceleration is a braking device for applying a braking force to wheels of said second vehicle.

23. The distance control method in accordance with claim 22, wherein a deceleration degree attainable by said braking device during the distance control is set to be smaller than a deceleration degree attainable by a driver'"'"'s depression of a braking pedal.

24. The distance control method in accordance with claim 22, wherein there is at least one additional deceleration device performing another function selected from the group consisting of a fuel cut control for partly or fully cutting fuel supplied to an internal combustion engine, an overdrive cut control for preventing a transmission from being shifted to an overdrive position, a shift down control for causing said transmission to shift to a lower position, an ignition timing control for retarding an ignition timing of said internal combustion engine, a lockup control for forcibly connecting input and output shafts of a torque converter, and an exhaust gas braking or retarder control for increasing a flow resistance in an exhaust passage of said internal combustion engine.

25. The distance control method in accordance with claim 19, wherein said actual value is a value directly or indirectly representing an actual distance between said first and said second traveling vehicles, and said target value is a value directly or indirectly representing a target distance between said first and said second traveling vehicles.

26. The distance control method in accordance with claim 25, wherein said actual value is a distance deviation between said actual distance and said target distance, and said target value is said target distance.

27. The distance control method in accordance with claim 19, wherein said control value is selected from the group consisting of a target acceleration, a target torque, and a target vehicle speed.

28. A distance control method for controlling a distance between first and second traveling vehicles, said control method comprising the steps of:

obtaining a relationship between an actual value and a target value;

obtaining a relative speed between said first and said second traveling vehicles;

generating a control value required for controlling the distance between said first and said second traveling vehicles;

providing a plurality of deceleration devices in said second vehicle;

selecting at least one of said plurality of deceleration devices in accordance with said control value, said plurality of deceleration devices being independently operable and different from each other in degree of attainable deceleration; and

performing a deceleration control in correlation with a warning operation so as to obtain and available maximum deceleration of said second vehicle when said warning operation is performed.

29. The distance control method in accordance with claim 28, wherein the deceleration control is performed by selecting a deceleration device capable of generating a largest deceleration.

30. The distance control method in accordance with claim 28, wherein the deceleration control is performed by setting said control value to a value corresponding to the available maximum deceleration.

31. The distance control method in accordance with claim 29, wherein said deceleration device capable of generating the largest deceleration is a braking device for applying a braking force to wheels of said second vehicle.

32. The distance control method in accordance with claim 31, wherein a deceleration degree attainable by said braking device during the distance control is set to be smaller than a deceleration degree attainable by a driver'"'"'s depression of a braking pedal.

33. The distance control method in accordance with claim 31, wherein there is at least one additional deceleration device performing another function selected from the group consisting of a fuel cut control for partly or fully cutting fuel supplied to an internal combustion engine, an overdrive cut control for preventing a transmission from being shifted to an overdrive position, a shift down control for causing said transmission to shift to a lower position, an ignition timing control for retarding an ignition timing of said internal combustion engine, a lockup control for forcibly connecting input and output shafts of a torque converter, and an exhaust gas braking or retarder control for increasing a flow resistance in an exhaust passage of said internal combustion engine.

34. The distance control method in accordance with claim 28, wherein said actual value is a value directly or indirectly representing an actual distance between said first and said second traveling vehicles, and said target value is a value directly or indirectly representing a target distance between said first and said second traveling vehicles.

35. The distance control method in accordance with claim 34, wherein said actual value is a distance deviation between said actual distance and said target distance, and said target value is said target distance.

36. The distance control method in accordance with claim 28, wherein said control value is selected from the group consisting of a target acceleration, a target torque, and a target vehicle speed.

37. A recording medium storing a control program for controlling a distance between first and second traveling vehicles, said recording medium being installable in a computer system for performing the steps of:

obtaining a relationship between an actual value and a target value;

obtaining a relative speed between said first and said second traveling vehicles;

generating a control value required for controlling the distance between said first and said second traveling vehicles;

selecting at least one of a plurality of deceleration devices to decelerate said second vehicle, said plurality of deceleration devices being independently operable and different from each other in degree of attainable deceleration; and

generating a warning only when a deceleration level attainable by said selected one or plural deceleration devices is higher than a predetermined maximum level even if the distance between said first and said second traveling vehicles is shorter than a predetermined warning distance.

38. A recording medium for controlling a distance between first and second traveling vehicles, said recording medium being installable in a computer system for performing the steps of:

obtaining a relationship between an actual value and a target value;

obtaining a relative speed between said first and said second traveling vehicles;

generating a control value required for controlling the distance between said first and said second traveling vehicles;

selecting at least one of a plurality of deceleration devices of said second vehicle in accordance with said control value, said plurality of deceleration devices being independently operable and different from each other in degree of attainable deceleration; and

performing a deceleration control in correlation with a warning operation so as to obtain an available maximum deceleration of said second vehicle when said warning operation is performed.