Vehicular velocity controlling apparatus and method to follow up a preceding vehicle running ahead of vehicle

• US 6,298,298 B1
• Filed: 06/12/2000
• Issued: 10/02/2001
• Est. Priority Date: 06/15/1999
• Status: Expired due to Term

• Current Assignee: Nissan Motor Co., Ltd.
• Original Assignee: Nissan Motor Co., Ltd.
• Inventors: Tange, Satoshi, Egawa, Kenichi, Higashimata, Akira, Asada, Tetsuya
• Primary Examiner(s): Cuchlinski, Jr., William A.
• Assistant Examiner(s): Hernandez, Olga
• Application Number:
  US09/592,565
• Time in Patent Office: 477 Days
• Field of Search: 701/96, 701/93, 701/79, 701/72, 340/435, 340/438
• US Class Current: 701/96
• CPC Class Codes: B60K 31/0008 including means for detecting potential obstacles in vehicle path
• CPC Class Codes: B60K 31/0083 responsive to centrifugal force acting on vehicle due to the path it is following
• CPC Class Codes: B60W 2520/105 Longitudinal acceleration
• CPC Class Codes: B60W 2520/125 Lateral acceleration
• CPC Class Codes: B60W 2540/18 Steering angle
• CPC Class Codes: B60W 2552/20 Road profile, i.e. the change in elevation or curvature of a plurality of continuous road segments
• CPC Class Codes: B60W 2552/30 Road curve radius
• CPC Class Codes: B60W 30/16 Control of distance between vehicles, e.g. keeping a distance to preceding vehicle

Abstract

In vehicular velocity controlling method and apparatus for an automotive vehicle, an inter-vehicle distance from the vehicle to a preceding vehicle which is running ahead of the vehicle is detected, a relative velocity of the vehicle to the preceding vehicle is detected, a vehicular velocity of the vehicle is detected, a target value of the vehicular velocity to make a detected value of the inter-vehicle distance substantially equal to a target value of the inter-vehicle distance is calculated on the basis of the detected value of the inter-vehicle distance and a detected value of the vehicular velocity, the vehicular velocity is controlled to make the detected value of the vehicular velocity substantially equal to the target value of the vehicular velocity, a magnitude of a turning (for example, a lateral acceleration) of the vehicle is detected, a correction coefficient of the magnitude of the turning of the vehicle is calculated in accordance with the detected value of the vehicular velocity, and the target value of the vehicular velocity is corrected on the basis of the turning magnitude correction coefficient by which the detected value of the turning magnitude is corrected.

Claims

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

inter-vehicle distance detecting means for detecting an inter-vehicle distance from the vehicle to a preceding vehicle which is running ahead of the vehicle;

relative velocity detecting means for detecting a relative velocity of the vehicle to the preceding vehicle;

vehicular velocity detecting means for detecting a vehicular velocity of the vehicle;

inter-vehicle distance controlling means for calculating a target value of the vehicular velocity to make a detected value of the inter-vehicle distance substantially equal to a target value of the inter-vehicle distance on the basis of the detected value of the inter-vehicle distance and a detected value of the vehicular velocity;

vehicular velocity controlling means for controlling the vehicular velocity to make the detected value of the vehicular velocity substantially equal to the target value of the vehicular velocity;

vehicular turning magnitude detecting means for detecting a magnitude of a turning of the vehicle;

correction coefficient calculating means for calculating a correction coefficient of the magnitude of the vehicular turning in accordance with the detected value of the vehicular velocity; and

target vehicular velocity correcting means for correcting the target value of the vehicular velocity on the basis of the turning magnitude correction coefficient by which the detected value of the turning magnitude is corrected.

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

detecting an inter-vehicle distance from the vehicle to a preceding vehicle which is running ahead of the vehicle;

detecting a relative velocity of the vehicle to the preceding vehicle;

detecting a vehicular velocity of the vehicle;

calculating a target value of the vehicular velocity to make a detected value of the inter-vehicle distance substantially equal to a target value of the inter-vehicle distance on the basis of the detected value of the inter-vehicle distance and a detected value of the vehicular velocity;

controlling the vehicular velocity to make the detected value of the vehicular velocity substantially equal to the target value of the vehicular velocity;

detecting a magnitude of a turning of the vehicle;

calculating a correction coefficient of the magnitude of the turning of the vehicle in accordance with the detected value of the vehicular velocity; and

correcting the target value of the vehicular velocity on the basis of the turning magnitude correction coefficient by which the detected value of the turning magnitude is corrected.

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

an inter-vehicle distance detector to detect an inter-vehicle distance from the vehicle to a preceding vehicle which is running ahead of the vehicle;

a relative velocity detector to detect a relative velocity of the vehicle to the preceding vehicle;

a vehicular velocity detector to detect a vehicular velocity of the vehicle;

an inter-vehicle distance controlling section that calculates a target value of the vehicular velocity to make a detected value of the inter-vehicle distance substantially equal to a target value of the inter-vehicle distance on the basis of the detected value of the inter-vehicle distance and a detected value of the vehicular velocity;

a vehicular velocity controlling section that controls the vehicular velocity to make the detected value of the vehicular velocity substantially equal to the target value of the vehicular velocity;

a vehicular turning magnitude detector to detect a magnitude of a turning of the vehicle;

a correction coefficient calculating section that calculates a correction coefficient of the magnitude of the turning in accordance with the detected value of the vehicular velocity; and

a target vehicular velocity correcting section that corrects the target value of the vehicular velocity on the basis of the turning magnitude correction coefficient by which the detected value of the turning magnitude is corrected.

4. A vehicular velocity controlling apparatus for an automotive vehicle as claimed in claim 3, wherein the correction coefficient calculating section calculates the correction coefficient as the detected value of the vehicular velocity decreases, the correction coefficient becomes decreased.

5. A vehicular velocity controlling apparatus for an automotive vehicle as claimed in claim 3, wherein the target vehicular velocity correcting section includes a vehicular velocity decrement variable calculator to calculate a vehicular velocity decrement variable which is increased as the correction coefficient on the magnitude of the turning is increased and a vehicular velocity corrector to subtract the vehicular velocity decrement variable from the target value of the vehicular velocity to correct the target value of the vehicular velocity.

6. A vehicular velocity controlling apparatus for an automotive vehicle as claimed in claim 3, wherein the vehicular turning magnitude detector comprises a lateral acceleration detector to detect a lateral acceleration of the vehicle.

7. A vehicular velocity controlling apparatus for an automotive vehicle as claimed in claim 6, wherein the correction coefficient calculating section includes a lateral acceleration correction coefficient calculating section that calculates an correction coefficient Δ

Y_G on the lateral acceleration of the vehicle in accordance with the detected value Vs of the vehicular velocity.

8. A vehicular velocity controlling apparatus for an automotive vehicle as claimed in claim 7, wherein the correction coefficient Δ

Y_G on the lateral acceleration indicates a first predetermined value Δ

Y_G1 when the detected value of the vehicular velocity Vs ranges from zero to a first predetermined vehicular velocity V1, is reduced from the first predetermined velocity at a first predetermined gradient when the detected value of the vehicular velocity Vs ranges from the first predetermined vehicular velocity V1 to a second predetermined vehicular velocity V2, is reduced at a second predetermined gradient when the detected value Vs of the vehicular velocity ranges from the second predetermined vehicular velocity V2 to a third predetermined vehicular velocity V3, and is reduced at a third predetermined gradient when the detected value of the vehicular velocity exceeds the third predetermined vehicular velocity V3.

9. A vehicular velocity controlling apparatus for an automotive vehicle as claimed in claim 8, wherein the third predetermined gradient is smallest than both of the first and second predetermined gradients and the first predetermined gradient is largest than both of the second and third predetermined gradients.

10. A vehicular velocity controlling apparatus for an automotive vehicle as claimed in claim 8, wherein the correction coefficient calculating section calculates the corrected value Y_GC on the lateral acceleration of the vehicle as follows:

Y_GC=|Y_G|−

Δ

Y_G.

11. A vehicular velocity controlling apparatus for an automotive vehicle as claimed in claim 10, wherein the target vehicular velocity correcting section includes:

a target vehicular velocity decrement variable calculator to calculate a vehicular velocity decrement variable V_D on the basis of the lateral acceleration corrected value Y_GC when Y_GC≧

0, the vehicular velocity decrement variable V_D being zeroed when Y_GC<

0;

a converting section that converts the vehicular velocity variable V_D into a vehicular velocity correction variable Vc which is a variation rate of the vehicular velocity per unit time;

a subtractor to subtract the vehicular velocity correction variable Vc from the target vehicular velocity V* calculate by the inter-vehicle distance controlling section to derive the corrected target vehicular velocity Vc* and wherein controls an opening angle of an engine throttle valve, a gear position of a vehicular transmission, and a braking force to be exerted by a vehicular bake system on the basis of the corrected target value of the vehicular velocity Vc* to make the detected value of the vehicular velocity substantially equal to the corrected target value Vc* of the vehicular velocity.

12. A vehicular velocity controlling apparatus for an automotive vehicle as claimed in claim 10, wherein the target vehicular velocity correcting section includes:

a target vehicular velocity decrement variable calculator to calculate a vehicular velocity decrement variable V_D on the basis of the lateral acceleration corrected value Y_GC when Y_GC24 0, the vehicular velocity decrement variable V_D being zeroed when Y_GC<

0;

a converting section that converts the vehicular velocity variable V_D into a vehicular velocity correction variable Vc which is a variation rate of the vehicular velocity per unit time;

a subtractor to subtract the vehicular velocity correction variable Vc from a previous vehicular velocity command value V_T(n−

1) to derive a previous corrected vehicular velocity command value V_REG;

a comparator to compare the previous vehicular velocity command value V_REG with the target value of the vehicular velocity V*s to determine whether V_REG<

V*S, V_REG=Vs*, and V_REG>

Vs*; and

a present vehicular velocity command value calculator to calculate a present vehicular velocity command value V_T(n) as follows;

V_T(n)=V_REG+Δ

V_A when V_REG<

Vs*, wherein Δ

V_A denotes an acceleration set vehicular velocity, V_T(n)=V_REG when V_REG=Vs*, and V_T(n)=V_REG−

Δ

V_D when V_REG<

Vs*, wherein Δ

V_D denotes a deceleration set vehicular velocity.

13. A vehicular velocity controlling apparatus for an automotive vehicle as claimed in claim 12, wherein the vehicular velocity controlling section controls an opening angle of an engine throttle valve, a gear position of a vehicular transmission, and a braking force to be exerted by a vehicular bake system on the basis of the present vehicular velocity command value V_T(n) to make the detected value of the vehicular velocity substantially equal to the present vehicular velocity command value V_T(n).

14. A vehicular velocity controlling apparatus for an automotive vehicle as claimed in claim 12, wherein the vehicular velocity variable calculator calculates the vehicular velocity decrement variable V_D in such a manner that as the lateral acceleration correction variable Y_GC becomes large, the vehicular velocity decrement variable V_D generally becomes large.