Follow-up cruise control apparatus

• US 6,282,483 B1
• Filed: 07/28/2000
• Issued: 08/28/2001
• Est. Priority Date: 01/11/2000
• Status: Expired due to Term

• Current Assignee: Mitsubishi Denki Kabushiki Kaisha (Mitsubishi Electric Corporation)
• Original Assignee: Mitsubishi Denki Kabushiki Kaisha (Mitsubishi Electric Corporation)
• Inventors: Yano, Takuto, Nishida, Minoru
• Primary Examiner(s): NGUYEN, TAN QUANG
• Application Number:
  US09/628,422
• Time in Patent Office: 396 Days
• Field of Search: 701/96, 701/93, 701/300, 701/301, 701/302, 340/903, 340/435, 340/436, 367/99, 367/103
• US Class Current: 701/96
• CPC Class Codes: B60K 31/0008 including means for detecting potential obstacles in vehicle path
• CPC Class Codes: B60W 2520/14 Yaw
• CPC Class Codes: B60W 2540/18 Steering angle
• CPC Class Codes: B60W 2554/4041 Position
• CPC Class Codes: B60W 2710/1061 Output power
• CPC Class Codes: B60W 2720/106 Longitudinal acceleration
• CPC Class Codes: G01S 2013/9325 for inter-vehicle distance regulation, e.g. navigating in platoons

Abstract

To maintain a predetermined distance to each of obstacles ahead of own vehicle, a follow-up cruise control apparatus calculates traveling direction target acceleration and deceleration of own vehicle, and treats, as s safe acceleration and deceleration, the product of the traveling direction target acceleration and deceleration and a weight coefficient determined by a distance between the front obstacle and the center line of the course of own vehicle. The follow-up cruise control apparatus selects a front obstacle having a safe acceleration and deceleration with the highest degree of risk of collision, from among all front obstacles ahead of own vehicle. Based on the safe acceleration and deceleration of the front obstacle, the follow-up cruise control apparatus prevents own vehicle from dangerously closely approaching or colliding with the front obstacle by restricting the driving power of own vehicle typically determined by an acceleration operation by a driver or by amplifying the braking power of own vehicle typically determined by a braking operation by the driver.

Claims

1. A follow-up cruise control apparatus comprising:

a vehicle-to-vehicle distance sensor for detecting a relative distance of own vehicle to each of front obstacles including a plurality of vehicles present ahead of own vehicle;

a speed sensor for detecting a speed of own vehicle;

traveling direction target acceleration and deceleration calculating means for calculating traveling direction target acceleration and deceleration to optimize a distance to the front obstacle, based on, at least, the own vehicle speed and the relative distance to the front obstacle;

safe acceleration and deceleration calculating means for calculating safe acceleration and deceleration indicating the degree of risk of collision with the front obstacle, based on at least the traveling direction acceleration and deceleration;

means for applying the traveling direction target acceleration and deceleration calculating means and the safe acceleration and deceleration calculating means to each of the plurality of front obstacles, detected by the vehicle-to-vehicle distance sensor;

front obstacle selecting means for selecting a front obstacle having a safe acceleration and deceleration with the highest degree of risk of collision, from among the plurality of the front obstacles; and

vehicle control means for controlling a driving power or a braking power of own vehicle, based on, at least, the safe acceleration and deceleration or the traveling direction target acceleration and deceleration, to the front obstacle selected by the front obstacle selecting means.

2. The follow-up cruise control apparatus according to claim 1, wherein the vehicle control means comprises:

an actuator for electrically adjusting the driving power of own vehicle to control own vehicle to a specified target driving power;

acceleration and deceleration calculating means for calculating an acceleration and deceleration based on the speed of own vehicle;

acceleration-state detection element for detecting an acceleration control amount input by a driver;

target driving power calculating means for calculating the target driving power, based on, at least, the acceleration and deceleration of own vehicle, the acceleration control amount, and the safe acceleration and deceleration or the traveling direction target acceleration and deceleration, to the front obstacle selected by the front obstacle selecting means; and

output means for outputting the target driving power to the actuator.

3. The follow-up cruise control apparatus according to claim 2, wherein the acceleration and deceleration calculating means comprises:

an acceleration-state detection element for detecting an acceleration control amount input by a driver; and

calculating means for calculating the acceleration and deceleration of own vehicle, in response to at least an acceleration operation by a driver.

4. The follow-up cruise control apparatus according to claim 1, wherein the vehicle control means comprises:

an actuator for electrically adjusting the braking power of own vehicle to control own vehicle to a specified target braking power;

acceleration and deceleration calculating means for calculating an acceleration and deceleration based on the speed of own vehicle;

braking-state detection element for detecting a brake control amount input by a driver;

target braking power calculating means for calculating the target braking power, based on, at least, the acceleration and deceleration of own vehicle, the brake control amount, and the safe acceleration and deceleration or the traveling direction target acceleration and deceleration, to the front obstacle selected by the front obstacle selecting means; and

output means for outputting the target braking power to the actuator.

5. The follow-up cruise control apparatus according to claim 4, wherein the acceleration and deceleration calculating means comprises:

a braking-state detection element for detecting a braking control amount input by a driver; and

calculating means for calculating the acceleration and deceleration of own vehicle, in response to at least an braking operation by a driver.

6. The follow-up cruise control apparatus according to claim 1, wherein the vehicle control means comprises:

an actuator for electrically adjusting the driving power of own vehicle to control own vehicle to a specified target driving power;

target driving power calculating means for calculating the target driving power to control own vehicle to, at least, the safe acceleration and deceleration or the traveling direction target acceleration and deceleration, to the front obstacle selected by the front obstacle selecting means; and

output means for outputting the target driving power to the actuator.

7. The follow-up cruise control apparatus according to claim 1, wherein the vehicle control means comprises:

an actuator for electrically adjusting the braking power of own vehicle to control own vehicle to a specified target braking power;

target braking power calculating means for calculating the target braking power to control own vehicle to, at least, the safe acceleration and deceleration or the traveling direction target acceleration and deceleration, to the front obstacle selected by the front obstacle selecting means; and

output means for outputting the target braking power to the actuator.

8. The follow-up cruise control apparatus according to claim 1, wherein the safe acceleration and deceleration calculating means comprises:

weight coefficient calculating means for calculating a weight coefficient, based on, at least, the relative distance to the front obstacle; and

means for correcting the traveling direction target acceleration and deceleration by the weight coefficient and treating the corrected value as the safe acceleration and deceleration.

9. The follow-up cruise control apparatus according to claim 8, wherein the weight coefficient calculating means comprises:

a yaw-rate sensor for detecting a yaw rate of own vehicle;

course calculating means for calculating an orbital curve along which own vehicle runs at least at the yaw rate; and

means for calculating the weight coefficient based on at least a distance between the orbital curve and the front obstacle.

10. The follow-up cruise control apparatus according to claim 9, comprising:

a steering angle sensor for detecting a steering control amount input by a driver, instead of the yaw-rate sensor; and

calculating means for calculating the yaw rate of own vehicle, based on the steering control amount.

11. The follow-up cruise control apparatus according to claim 8, wherein the weight coefficient calculating means comprises:

a yaw-rate sensor for detecting a yaw rate of own vehicle;

distance calculating means for calculating a predicted distance to the front obstacle in a lateral direction a predetermined duration of time later, based on, at least, the yaw rate and the output signal from the vehicle-to-vehicle distance sensor; and

means for calculating the weight coefficient, based on the predicted distance to the front obstacle the predetermined duration of time later.

12. The follow-up cruise control apparatus according to claim 11, wherein the predetermined duration of time is a predicted time to a collision with the front obstacle.

13. The follow-up cruise control apparatus according to claim 11, wherein the predetermined duration of time is based on the speed of own vehicle.

14. The follow-up cruise control apparatus according to claim 11, comprising:

a steering angle sensor for detecting a steering control amount input by a driver, instead of the yaw-rate sensor; and

calculating means for calculating the yaw rate of own vehicle, based on the steering control amount.

15. The follow-up cruise control apparatus according to claim 1, comprising a vehicle-to-vehicle distance sensor which concurrently detects the distance to the front obstacle and the relative speed to the front obstacle.