Apparatus and method for performing automatic control over velocity of automotive vehicle

• US 6,269,298 B1
• Filed: 07/23/1999
• Issued: 07/31/2001
• Est. Priority Date: 07/23/1998
• Status: Expired due to Term

• Current Assignee: Nissan Motor Co., Ltd.
• Original Assignee: Nissan Motor Co., Ltd.
• Inventors: Seto, Yoji
• Primary Examiner(s): Cuchlinski, Jr., William A.
• Assistant Examiner(s): Donnelly, Arthur D.
• Application Number:
  US09/359,373
• Time in Patent Office: 739 Days
• Field of Search: 701/96, 701/300, 701/301, 180/169, 180/170, 180/167, 348/118, 342/69, 342/70, 700/302, 700/307, 702/165
• US Class Current: 701/96
• CPC Class Codes: B60K 31/0008 including means for detecting potential obstacles in vehicle path
• CPC Class Codes: B60T 7/22 initiated by contact of vehicle, e.g. bumper, with an external object, e.g. another vehicle , or by means of contactless obstacle detectors mounted on the vehicle
• CPC Class Codes: B60W 2720/106 Longitudinal acceleration

Abstract

In automatic vehicular velocity control apparatus and method for an automotive vehicle, a controller is responsive to the detection of a new preceding vehicle by an inter-vehicle distance detector and programmed to derive a target motion of the vehicle until a present relationship between the vehicle and the new preceding vehicle becomes a relationship between the vehicle and the preceding vehicle in a steady state and to adjust a vehicular variation rate in such a manner that the motion of the vehicle gives the target motion of the vehicle. In a embodiment, a target value of a vehicular acceleration/deceleration is calculated as the target motion of the vehicle.

Claims

1. A control apparatus for an automotive vehicle, comprising:

an inter-vehicle distance detector to detect an actual inter-vehicle distance which is running ahead of the vehicle on the same traffic lane as the vehicle; and

a controller programmed to;

calculate a target value of a vehicular velocity variation rate on the basis of the actual value of the inter-vehicle distance and a target value of the same;

perform a follow-up run control for the vehicle to follow up the preceding vehicle according to the target value of the vehicular velocity variation rate and to maintain the inter-vehicle distance from the vehicle to the preceding vehicle at the target value of the same;

responsive to a detection of a new preceding vehicle by the inter-vehicle distance detector, where the new preceding vehicle has a different inter-vehicle distance than the target inter-vehicle distance, calculate a target vehicle motion to be a transitional vehicle motion of the vehicle until a new inter-vehicle distance from the vehicle to the new preceding vehicle is made substantially equal to the target value of the inter-vehicle distance from the vehicle to the preceding vehicle; and

adjust the vehicular velocity variation rate in such a manner that the vehicular motion becomes the target vehicular motion.

2. A control apparatus for an automotive vehicle as claimed in claim 1, wherein the controller is programmed to calculate the target vehicular motion on the basis of the inter-vehicle distance from the vehicle to the new preceding vehicle and a relative velocity of the vehicle to the new preceding vehicle.

3. A control apparatus for an automotive vehicle as claimed in claim 1, wherein the controller is programmed to calculate the target value of the vehicular velocity variation rate as the target vehicular motion.

4. A control apparatus for an automotive vehicle as claimed in claim 1, wherein the controller is programmed to calculate target values of the inter-vehicle distance from the vehicle to the new preceding vehicle and of a relative velocity of the vehicle to the new preceding vehicle as the target vehicular motion.

5. A control apparatus for an automotive vehicle as claimed in claim 1, wherein the controller is programmed to calculate the target vehicular motion such that the vehicle once approaches to the new preceding vehicle when the relationship between a relative velocity of the vehicle to the preceding vehicle and the inter-vehicle distance from the vehicle to the new preceding vehicle gives a predetermined relationship.

6. A control apparatus for an automotive vehicle as claimed in claim 5, wherein the controller is programmed to calculate a minimum value of the target value of the inter-vehicle distance when the controller is programmed to calculate the target vehicular motion for the vehicle to once approach to the preceding vehicle, and is programmed to calculate the target vehicular motion within a range such that the target vehicular motion is at least one of being equal to and being greater than the minimum value of the target value of the inter-vehicle distance.

7. A control apparatus for an automotive vehicle as claimed in claim 6, wherein the controller is programmed to calculate the minimum value of the target value of the inter-vehicle distance using at least one of the vehicular velocity of the vehicle and the vehicular velocity of the new preceding vehicle.

8. A control apparatus for an automotive vehicle as claimed in claim 6, wherein the controller is programmed to multiply the vehicular velocity of the preceding vehicle by a constant to calculate the minimum value of the target value of the inter-vehicle distance.

9. A control apparatus for an automotive vehicle as claimed in claim 6, wherein the controller is programmed to multiply the vehicular velocity of the vehicle by a constant to calculate the minimum value of the target value of the inter-vehicle distance.

10. A control apparatus for an automotive vehicle as claimed in claim 1, wherein the controller is programmed to:

determine whether the vehicular velocity of the new preceding vehicle exceeds that of the vehicle;

determine whether the detected value of the inter-vehicle distance by the inter-vehicle distance detector is at least one of being equal to and being greater than a set inter-vehicle distance; and

being responsive to results of the determinations that the vehicular velocity of the new preceding vehicle exceeds that of the vehicle and that actual value of the inter-vehicle distance is at least one of being equal to and being greater than the set inter-vehicle distance to generate and output a vehicular acceleration enable command to enable the acceleration of the vehicle.

11. A control apparatus for an automotive vehicle as claimed in claim 10, wherein the controller is programmed to calculate the set inter-vehicle distance using at least one of the vehicular velocity of the vehicle and a relative velocity of the vehicle to the new preceding vehicle.

12. A control apparatus for an automotive vehicle as claimed in claim 10, wherein the set inter-vehicle distance is set to become longer as a magnitude of the vehicular velocity of the vehicle becomes larger.

13. A control apparatus for an automotive vehicle as claimed in claim 10, wherein the set inter-vehicle distance is set to become shorter as a magnitude of a relative velocity of the vehicle to the new preceding vehicle becomes larger.

14. A control apparatus for an automotive vehicle as claimed in claim 1, wherein the controller is programmed to determine whether the vehicular velocity of the new preceding vehicle exceeds that of the vehicle;

being responsive to a result of a determination that the vehicular velocity of the newly detected preceding vehicle exceeds that of the vehicle, to determine whether the new preceding vehicle is the preceding vehicle which is running on another traffic lane onto which the vehicle has made a traffic lane change or which is running on the same traffic lane as the vehicle onto which another vehicle has made the traffic lane change;

being responsive to the result of the determination that the new preceding vehicle is the preceding vehicle which is running on the other traffic lane onto which the vehicle has made the traffic lane change to generate and output a vehicular acceleration enable command to enable the acceleration of the vehicle; and

being responsive to the result of the determination that the new preceding vehicle is the preceding vehicle which is running ahead of the vehicle on the same traffic lane onto which the other vehicle has made the traffic lane change to generate and output a vehicular acceleration suppress command to suppress the vehicular acceleration.

15. A control apparatus for an automotive vehicle as claimed in claim 14, wherein the controller is programmed to determine whether the new preceding vehicle is the preceding vehicle which is running on the other traffic lane onto which the vehicle has made the traffic lane change or which is running on the same traffic lane as the vehicle onto which the other vehicle has made the traffic lane change on the basis of a relative velocity of the vehicle to the new preceding vehicle and the inter-vehicle distance from the vehicle to the new preceding vehicle.

16. A control apparatus for an automotive vehicle as claimed in claim 11, wherein the controller is responsive to the vehicular acceleration enable command and programmed to set the target vehicular motion in a transient state in such a manner that the actual inter-vehicle distance is made congruent with the target value of the inter-vehicle distance and a relative velocity of the vehicle to the new preceding vehicle is zeroed when the vehicle is accelerated at a constant acceleration.

17. A control apparatus for an automotive vehicle as claimed in claim 16, wherein the target vehicular motion is a calculation of a target value of the vehicular velocity of the vehicle.

18. A control apparatus for an automotive vehicle as claimed in claim 16, wherein the target vehicular motion is a calculation of the target value of the inter-vehicle distance from the vehicle to the new preceding vehicle and a target value of the relative velocity of the vehicle to the new preceding vehicle.

19. A control apparatus for an automotive vehicle, comprising:

inter-vehicle distance detecting means for detecting an actual inter-vehicle distance which is running ahead of the vehicle on the same traffic lane as the vehicle; and

controlling means for calculating a target value of a vehicular velocity variation rate on the basis of the actual value of the inter-vehicle distance and for performing a follow-up run control for the vehicle to follow up the preceding vehicle according to the target value of the vehicular velocity variation rate and to maintain the inter-vehicle distance from the vehicle to the preceding vehicle at the target value of the same, the controlling means being responsive to a detection of a new preceding vehicle, where the new preceding vehicle has a different inter-vehicle distance than the target inter-vehicle distance, by the inter-vehicle distance detecting means for calculating the target value of the vehicular velocity variation rate to be a transitional vehicular velocity variation rate on the basis of a new inter-vehicle distance from the vehicle to the new preceding vehicle and a variation rate of the new inter-vehicle distance and for varying the vehicular velocity on the basis of the target value of the vehicular velocity variation rate until the new inter-vehicle distance is made substantially equal to the target value of the inter-vehicle distance from the vehicle to the preceding vehicle.

20. A control method for an automotive vehicle, comprising:

detecting an actual inter-vehicle distance from the vehicle to a preceding vehicle which is running ahead of the vehicle on the same traffic lane as the vehicle;

calculating a target value of a vehicular velocity variation rate on the basis of the actual value of the inter-vehicle distance and a target value of the same;

performing a follow-up run control for the vehicle to follow up the preceding vehicle according to the calculated target vehicular velocity variation rate;

maintaining the inter-vehicle distance from the vehicle to the preceding vehicle at the target value of the same;

when detecting a new preceding vehicle, where the new preceding vehicle has a different inter-vehicle distance than the target inter-vehicle distance, deriving a target motion of the vehicle to be a transitional vehicle motion of the vehicle until a new inter-vehicle distance from the vehicle to the new preceding vehicle is made substantially equal to the target value of the inter-vehicle distance from the vehicle to the preceding vehicle; and

adjusting the vehicular variation rate in such a manner that the motion of the vehicle gives the derived target motion of the vehicle.