Preceding vehicle follow-up control system
First Claim
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1. A vehicle follow-up control apparatus for a controlled vehicle, comprising:
- a distance sensor sensing an actual vehicle-to-vehicle distance from the controlled vehicle to a preceding vehicle;
a vehicle speed sensor sensing an actual vehicle speed of the controlled vehicle; and
a controller connected with the distance sensor and the vehicle speed sensor, the controller, determining an actual relative speed of the controlled vehicle relative to the preceding vehicle, calculating a desired vehicle speed to bring the actual vehicle-to-vehicle distance closer to a desired distance in accordance with the actual vehicle-to-vehicle distance, the desired distance and the relative speed, calculating a desired driving force to bring the actual vehicle speed closer to the desired vehicle speed, controlling an actual driving/braking force of the controlled vehicle in accordance with the desired driving force, and setting a control gain used in calculation of the desired vehicle speed, in accordance with the relative speed.
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Abstract
A vehicle follow-up control apparatus includes a distance sensor sensing an actual vehicle-to-vehicle distance from a controlled vehicle to a preceding vehicle, a vehicle speed sensor sensing an actual vehicle speed of the controlled vehicle, and a controller for calculating a desired vehicle speed to be achieved in the controlled vehicle. The desired vehicle speed is calculated in accordance with the actual vehicle-to-vehicle distance, the relative speed and a control gain which is adjusted in accordance with the relative speed.
51 Citations
15 Claims
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1. A vehicle follow-up control apparatus for a controlled vehicle, comprising:
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a distance sensor sensing an actual vehicle-to-vehicle distance from the controlled vehicle to a preceding vehicle;
a vehicle speed sensor sensing an actual vehicle speed of the controlled vehicle; and
a controller connected with the distance sensor and the vehicle speed sensor, the controller, determining an actual relative speed of the controlled vehicle relative to the preceding vehicle, calculating a desired vehicle speed to bring the actual vehicle-to-vehicle distance closer to a desired distance in accordance with the actual vehicle-to-vehicle distance, the desired distance and the relative speed, calculating a desired driving force to bring the actual vehicle speed closer to the desired vehicle speed, controlling an actual driving/braking force of the controlled vehicle in accordance with the desired driving force, and setting a control gain used in calculation of the desired vehicle speed, in accordance with the relative speed. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13)
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14. A vehicle follow-up control apparatus for a controlled vehicle, comprising:
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means for ascertaining a sensed actual vehicle-to-vehicle distance from the controlled vehicle to a preceding vehicle;
means for ascertaining a sensed actual vehicle speed of the controlled vehicle;
means for ascertaining an actual relative speed of the controlled vehicle relative to the preceding vehicle;
means for calculating a desired vehicle speed to bring the actual vehicle-to-vehicle distance closer to a desired distance in accordance with the actual vehicle-to-vehicle distance, the relative speed and a control gain;
means for calculating a desired driving force to bring the actual vehicle speed closer to the desired vehicle speed;
controlling an actual driving/braking force of the controlled vehicle in accordance with the desired driving force; and
means for varying the control gain in accordance with the relative vehicle speed.
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15. A vehicle follow-up control process for a controlled vehicle, comprising:
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ascertaining a sensed actual vehicle-to-vehicle distance from the controlled vehicle to a preceding vehicle, a sensed actual vehicle speed of the controlled vehicle, and an actual relative speed of the controlled vehicle relative to the preceding vehicle;
calculating a control gain in accordance with the actual relative speed;
calculating a desired vehicle speed to bring the actual vehicle-to-vehicle distance closer to a desired distance in accordance with the actual vehicle-to-vehicle distance, the relative speed and the control gain; and
controlling an actual driving/braking force of the controlled vehicle so as to achieve the desired vehicle speed.
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Specification