Apparatus and method for controlling a distance between two traveling vehicles and a recording medium for storing the control method

• US 6,327,530 B1
• Filed: 07/13/1999
• Issued: 12/04/2001
• Est. Priority Date: 07/13/1998
• Status: Expired due to Term

• Current Assignee: DENSO Corporation
• Original Assignee: DENSO Corporation
• Inventors: Isogai, Akira, Nishimura, Takao, Teramura, Eiji
• Primary Examiner(s): Cuchlinski, Jr., William A.
• Assistant Examiner(s): Donnelly, Arthur D.
• Application Number:
  US09/352,841
• Time in Patent Office: 875 Days
• Field of Search: 701/96, 701/300, 701/301, 180/170, 342/455, 340/903, 340/435
• US Class Current: 701/96
• CPC Class Codes: B60K 31/0008 including means for detecting potential obstacles in vehicle path
• CPC Class Codes: B60W 2050/0045 using databus protocols
• CPC Class Codes: B60W 2520/14 Yaw
• CPC Class Codes: B60W 2540/18 Steering angle
• CPC Class Codes: B60W 2555/20 Ambient conditions, e.g. wind or rain
• CPC Class Codes: B60W 2710/0605 Throttle position
• CPC Class Codes: B60W 2720/106 Longitudinal acceleration
• CPC Class Codes: G01P 3/56 for comparing two speeds
• CPC Class Codes: G01S 17/931 of land vehicles

Abstract

A control ratio (γ) of a distance deviation (Δd) to a target distance (dm) is obtained to control a space between two traveling vehicles. The distance deviation (Δd) is the difference between an actual distance (d) and the target distance (dm). A target control quantity, such as acceleration, engine torque or vehicle speed, is determined in accordance with the obtained control ratio (γ) so as to equalize the actual distance (d) to the target distance (dm).

Claims

1. A distance control apparatus for controlling a space between two traveling vehicles, said control apparatus comprising:

acceleration/deceleration means for accelerating and decelerating a vehicle;

relative speed detecting means for obtaining a relative speed between two traveling vehicles;

control ratio detecting means for obtaining a control ratio of an actual value to a target value;

target control value generating means for generating a target control value required for controlling the space between said two traveling vehicles based on said control ratio obtained by said control ratio detecting means in addition to said relative speed obtained by said relative speed detecting means; and

control means for activating said acceleration/deceleration means in accordance with said target control value generated by said target control value generating means.

2. The distance control apparatus in accordance with claim 1, wherein said actual value is a value directly or indirectly representing an actual distance between said two traveling vehicles, and said target value is a value directly or indirectly representing a target distance between said two traveling vehicles.

3. The distance control apparatus in accordance with claim 2, wherein said actual value is a distance deviation between said actual distance and said target distance, and said target value is said target distance.

4. The distance control apparatus in accordance with claim 2, wherein said actual value is an actual time interval obtained by dividing said actual distance by a vehicle speed, and said target value is a target time interval obtained by dividing said target distance by the vehicle speed.

5. The distance control apparatus in accordance with claim 4, wherein said actual value is a time interval deviation between said actual time interval and said target time interval, and said target value is said target time interval.

6. The distance control apparatus in accordance with claim 1, wherein said target control value is a target acceleration.

7. The distance control apparatus in accordance with claim 1, wherein said target control value is a target torque.

8. The distance control apparatus in accordance with claim 1, wherein said target control value is a target vehicle speed.

9. A distance control method for controlling a space between two traveling vehicles, said control method comprising the steps of:

obtaining a relative speed between two traveling vehicles;

obtaining a control ratio of an actual value to a target value;

generating a target control value required for controlling the space between said two traveling vehicles based on said control ratio in addition to said relative speed; and

activating an acceleration/deceleration means in accordance with said target control value.

10. The distance control method in accordance with claim 9, wherein said actual value is a value directly or indirectly representing an actual distance between said two traveling vehicles, and said target value is a value directly or indirectly representing a target distance between said two traveling vehicles.

11. The distance control method in accordance with claim 10, wherein said actual value is a distance deviation between said actual distance and said target distance, and said target value is said target distance.

12. The distance control method in accordance with claim 10, wherein said actual value is an actual time interval obtained by dividing said actual distance by a vehicle speed, and said target value is a target time interval obtained by dividing said target distance by the vehicle speed.

13. The distance control method in accordance with claim 12, wherein said actual value is a time interval deviation between said actual time interval and said target time interval, and said target value is said target time interval.

14. The distance control method in accordance with claim 9, wherein said target control value is a target acceleration.

15. The distance control method in accordance with claim 9, wherein said target control value is a target torque.

16. The distance control method in accordance with claim 9, wherein said target control value is a target vehicle speed.

17. A recording medium storing a control program for controlling a space between two traveling vehicles, said recording medium being installable in a computer system for performing the steps of:

obtaining a relative speed between two traveling vehicles;

obtaining a control ratio of an actual value to a target value;

generating a target control value required for controlling the space between said two traveling vehicles based on said control ratio in addition to said relative speed; and

activating an acceleration/deceleration means in accordance with said target control value.

18. The recording medium in accordance with claim 17, wherein said actual value is a value directly or indirectly representing an actual distance between said two traveling vehicles, and said target value is a value directly or indirectly representing a target distance between said two traveling vehicles.

19. The recording medium in accordance with claim 18, wherein said actual value is a distance deviation between said actual distance and said target distance, and said target value is said target distance.

20. The recording medium in accordance with claim 18, wherein said actual value is an actual time interval obtained by dividing said actual distance by a vehicle speed, and said target value is a target time interval obtained by dividing said target distance by the vehicle speed.

21. The recording medium in accordance with claim 20, wherein said actual value is a time interval deviation between said actual time interval and said target time interval, and said target value is said target time interval.

22. The recording medium in accordance with claim 17, wherein said target control value is a target acceleration.

23. The recording medium in accordance with claim 17, wherein said target control value is a target torque.

24. The recording medium in accordance with claim 17, wherein said target control value is a target vehicle speed.