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

• US 6,285,944 B1
• Filed: 06/18/1999
• Issued: 09/04/2001
• Est. Priority Date: 06/18/1998
• Status: Expired due to Term

• Current Assignee: Nissan Motor Co., Ltd.
• Original Assignee: Nissan Motor Co., Ltd.
• Inventors: Tange, Satoshi, Egawa, Kenichi
• Primary Examiner(s): Cuchlinski, Jr., William A.
• Assistant Examiner(s): MANCHO, RONNIE M
• Application Number:
  US09/335,478
• Time in Patent Office: 809 Days
• Field of Search: 701/96, 701/93, 701/91, 701/83, 701/82, 364/426.02, 364/426.03, 364/426.05, 364/426.01, 364/426.04, 303/192, 303/193, 303/198, 303/146, 303/147, 303/121, 303/122, 303/165, 180/167, 180/168, 180/169, 180/197, 280/707, 280/708, 280/840
• US Class Current: 701/96
• CPC Class Codes: B60K 28/16 responsive to, or preventing, skidding of wheels brake control systems for vehicle drive stability B60T8/1755; arrangements responsive to a speed condition for adjusting wheel braking force B60T8/32; control of vehicle driving stability otherwise than by controlling the propulsion unit only B60W30/02; preventing wheel slippage by reducing power in rail vehicles B61C15/00
• CPC Class Codes: B60K 31/0008 including means for detecting potential obstacles in vehicle path
• CPC Class Codes: B60W 2520/125 Lateral acceleration
• CPC Class Codes: B60W 2552/40 Coefficient of friction
• CPC Class Codes: B60W 2720/106 Longitudinal acceleration
• CPC Class Codes: B60W 2754/30 Longitudinal distance
• CPC Class Codes: B60W 30/16 Control of distance between vehicles, e.g. keeping a distance to preceding vehicle

Abstract

When it is detected that a vehicle is running on a road surface which has a coefficient of friction sufficiently low as to invite ready road wheel slippage, a control which enables the vehicle to automatically follow a preceding vehicle at a predetermined inter-vehicle distance, is inhibited. In one embodiment, when a request for vehicle follow-up is issued by the driver, and the follow-up is inhibited, the driver is informed of the low frictional coefficient of the road and is required to issue a confirmation that follow-up is required before its implementation can be carried out.

Claims

1. A vehicular velocity controlling apparatus for an automotive vehicle, comprising:

a controller, the controller including a first control function which performs a vehicular velocity control for the vehicle to follow up a preceding vehicle which is running ahead of the vehicle and to maintain an inter-vehicle distance to the preceding vehicle at a target inter-vehicle distance;

a road surface situation detector, the road surface situation detector detecting a road surface situation on which the vehicle runs; and

a control instruction generator, the control instruction generator being responsive to a detection by the road surface situation detector indicating that the detected road surface has a predetermined frictional coefficient at which vehicular slips can easily occur, and generating and outputting a disable instruction to inhibit an operation of the first control function of the controller to perform the vehicular velocity control to follow up the preceding vehicle.

2. A vehicular velocity controlling apparatus for an automotive vehicle as claimed in claim 1, wherein the controller further includes:

a second control function which performs a vehicular state control in accordance with the predetermined frictional coefficient; and

a flag register, the flag register registering that the second control function is in a control state based on the predetermined frictional coefficient of the road surface, and wherein the control instruction generator is installed in the controller and generates and outputs the disable instruction to the first control function to inhibit the control function such as to perform the vehicular velocity control for the vehicle to follow up the preceding vehicle, when the flag register registers that the second control function is in the control state based on the predetermined frictional coefficient.

3. A vehicular velocity controlling apparatus for an automotive vehicle as claimed in claim 2, wherein the controller further includes a counter, the counter counting a number of times per unit time the second control function has performed the vehicular state control in accordance with the predetermined frictional coefficient of the road surface on which the vehicle has run, and wherein the flag register registers that the second control function is in the control state when the counted number of times per unit time has exceeded a predetermined number of times per unit time.

4. A vehicular velocity controlling apparatus for an automotive vehicle as claimed in claim 3, wherein the control instruction generator includes:

an information supplier, the information supplier indicating that the second control function is in the control state when the first control function is about to perform the vehicular velocity control to follow up the preceding vehicle; and

a confirmation operation detector, the confirmation operation detector detecting whether a vehicular driver'"'"'s confirmation operation is carried out after the information supplier has indicated that the second control function is in the control state and wherein the control instruction generator generates and outputs the control disable instruction to the first control function to inhibit the first control function such as to perform the vehicular velocity control to follow up the preceding vehicle when the confirmation operation detector detects that the vehicular driver'"'"'s confirmation operation is not carried out, and generates and outputs a control enable instruction to the first control function to enable the first control function to perform the vehicular velocity control to follow up the preceding vehicle when the confirmation operation detector detects that the vehicular driver'"'"'s confirmation operation is carried out.

5. A vehicular velocity controlling apparatus for an automotive vehicle as claimed in claim 2, wherein the second control function of the controller includes a traction control for preventing slips of the vehicle road wheels from occurring.

6. A vehicular velocity controlling apparatus for an automotive vehicle as claimed in claim 2, wherein the second control function of the controller includes a side-slip control for preventing a side slip of the vehicle from occurring.

7. A vehicular velocity controlling apparatus for an automotive vehicle as claimed in claim 2, wherein the second control function of the controller includes an anti-lock brake control.

8. A vehicular velocity controlling apparatus for an automotive vehicle as claimed in claim 5, wherein the flag register registers that the traction control is in the control state when the traction control is activated within a range of a vehicular acceleration used in an ordinary traction control.

9. A vehicular velocity controlling apparatus for an automotive vehicle as claimed in claim 6, wherein the flag register registers that the side-slip control is in the control state when the side-slip control is activated within a range of a lateral acceleration imposed on a body of the vehicle and used in an ordinary side-slip control.

10. A vehicular velocity controlling apparatus for an automotive vehicle as claimed in claim 7, wherein the flag register registers that the anti-lock brake control is in the control state within a range of a vehicular deceleration used in an ordinary anti-lock brake control.

11. A vehicular velocity controlling apparatus for an automotive vehicle as claimed in claim 2, further comprising a non-operation state detector, the non-operation state detector detecting whether the second control function of the controller is in a non-operation state, and wherein the control instruction generator generates and outputs the disable instruction to inhibit the first control function of the controller from performing the vehicular velocity control to follow up the preceding vehicle when the non-operation state detector detects that the second control function is in the non-operation state.

12. A vehicular velocity controlling apparatus for an automotive vehicle as claimed in claim 2, further comprising a non-operation state detector, the non-operation state detector detecting whether the second control function of the controller is in a non-operation state, and wherein the control instruction generator includes a forced operation recovery setter, the forced operation recovery setter generating and outputting a forced operation instruction to forcefully operate the second control function of the controller when the non-operation state detector detects that the second control function is in the non-operation state and when the first control function is about to perform the vehicular velocity control to follow up the preceding vehicle.

13. A vehicular velocity controlling apparatus for an automotive vehicle as claimed in claim 11, further comprising a functional off switch, the functional off switch turning off the second control function when it is turned on and turning on the second control function when it is turned off and wherein the non-operation state detector detects that the second control function is in the non-operation state when the functional off switch is turned on.

14. A vehicular velocity controlling apparatus for an automotive vehicle as claimed in claim 13, wherein the forced operation recovery setter includes a switch instruction generator, the switch instruction generator generating and outputting a forced switch instruction to force the second control function into its function operation state while invalidating the functional off switch when the second control function of the controller is in the non-operation state with the functional off switch turned on.

15. A vehicular velocity controlling apparatus for an automotive vehicle as claimed in claim 2, further comprising a non-operation state detector, the non-operation state detector detecting whether the second control function of the controller is in a non-operation state, and a control suppressor, the control suppressor being responsive to a result of a detection by the non-operation detector indicating that the second control function is in the non-operation state and suppressing the vehicular velocity control for the vehicle to follow up the preceding vehicle performed by the first control function of the controller with respect to an ordinary control state when the road surface situation detector detects that the detected road surface does not exhibit the predetermined frictional coefficient.

16. A vehicular velocity controlling apparatus for an automotive vehicle as claimed in claim 15, wherein the control suppressor includes a corrector, the corrector correcting a limit value on a target value of a variation rate of the vehicular velocity to a smaller value, the target value of the variation rate being calculated on the basis of at least one of a deviation between a detected value of the inter-vehicle distance and the target value thereof and the deviation between the vehicular velocity and a target vehicular velocity.

17. A vehicular velocity controlling apparatus for an automotive vehicle as claimed in claim 15, wherein the control suppressor includes a corrector, the corrector correcting a limit value on a target value of the inter-vehicle distance to a greater value than its ordinary value, the target value of the inter-vehicle distance being calculated on the basis of a deviation between a detected value of the vehicular velocity and a target value thereof.

18. A vehicular velocity controlling apparatus for an automotive vehicle as claimed in claim 15, wherein the control suppressor includes a control gain modifier, the control gain modifier modifying a control gain from its ordinary value to a smaller value, the control gain by which at least one of a deviation between a detected value of the vehicular velocity and a target value thereof and the deviation between a detected value of the inter-vehicle distance and a target value thereof being multiplied when the first control function calculates a target value of a variation rate of the vehicular velocity.

19. A vehicular velocity controlling apparatus for an automotive vehicle as claimed in claim 2, further comprising:

a non-operation state detector, the non-operation state detector detecting whether the second control function is in the non-operation state,

an information supplier which is responsive to a result of a detection by the non-operation state detector and which indicates that the second control function is in the non-operation state when the non-operation detector detects the same, and

a confirmation operation detector, the confirmation operation detector being responsive to an information by the information supplier and detecting whether a vehicular driver'"'"'s confirmation operation is carried out, and wherein the control instruction generator generates and outputs an enable instruction to continue the vehicular velocity control for the vehicle to follow up the preceding vehicle performed by the first control function of the controller only when the confirmation operation detector detects that the vehicular driver'"'"'s confirmation operation is carried out.

20. A vehicular velocity controlling apparatus for an automotive vehicle, comprising:

preceding vehicle follow-up run controlling means for performing a vehicular velocity control for the vehicle to follow up a preceding vehicle which is running ahead of the vehicle and to maintain an inter-vehicle distance between the vehicle and the preceding vehicle at a target value of the inter-vehicle distance if the preceding vehicle is present and for performing a vehicular velocity control for the vehicle to establish an auto-cruise at a set vehicular velocity if no preceding vehicle is present;

road surface situation detecting means for detecting a road surface situation on which the vehicle runs; and

control disabling means for generating and outputting a disable instruction to inhibit an operation of a function that the preceding vehicle follow-up run controlling means has, when the road surface situation detecting means indicates that the detected road surface has a predetermined frictional coefficient which is such as to allow easy vehicular slips.

21. A vehicular velocity controlling method for an automotive vehicle, comprising:

detecting a road surface situation of a road surface on which the vehicle runs;

determining whether the detected road surface has a predetermined frictional coefficient which invites vehicular wheel slips;

outputting a disable instruction to inhibit an operation of a preceding vehicle follow-up run control such as to perform a vehicular velocity control for the vehicle to follow up a preceding vehicle which is running ahead of the vehicle and to maintain an inter-vehicle distance to the preceding vehicle at a target value of the inter-vehicle distance when determining that the detected road surface has a predetermined frictional coefficient.

22. A vehicular velocity controlling apparatus for an automotive vehicle, comprising:

a controller, said controller comprising a first follow-up control function which controls vehicular velocity control to follow up a preceding vehicle and maintains a target inter-vehicle distance from the preceding vehicle;

a road surface condition detector which detects a condition of a road surface on which the vehicle is running;

a control instruction generator, the control instruction generator being responsive to a detection by the road surface condition detector indicating that the detected road surface has a predetermined frictional coefficient at which vehicular slip can easily occur, and generates and outputs a disable instruction to inhibit the follow-up control by the follow-up control function;

said controller further including;

a second control function which performs a vehicular state control in accordance with the predetermined frictional coefficient;

a flag register, the flag register registering that the second control function is in a control state based on the predetermined frictional coefficient of the road surface, and wherein the control instruction generator is installed in the controller and generates and outputs the disable instruction to the follow up control function to inhibit the vehicular velocity control which enables the vehicle to follow up the preceding vehicle, when the flag register registers that the second control function is in the control state based on the predetermined frictional coefficient; and

a non-operation state detector, the non-operation state detector detecting whether the second control function of the controller is in a non-operation state.