Automatic vehicular velocity control apparatus for automotive vehicle

• US 6,330,507 B1
• Filed: 08/26/1999
• Issued: 12/11/2001
• Est. Priority Date: 08/26/1998
• Status: Expired due to Term

• Current Assignee: Nissan Motor Co., Ltd.
• Original Assignee: Nissan Motor Co., Ltd.
• Inventors: Adachi, Kazutaka, Hashizume, Takenori, Iwamoto, Hideo
• Primary Examiner(s): Louis-Jacques, Jacques H.
• Assistant Examiner(s): Broadhead, Brian J.
• Application Number:
  US09/384,292
• Time in Patent Office: 838 Days
• Field of Search: 701/93, 701/96, 342/70, 342/69, 180/169, 180/170, 340/435, 340/436, 340/903
• US Class Current: 701/96
• CPC Class Codes: B60K 31/0008 including means for detecting potential obstacles in vehicle path
• CPC Class Codes: B60W 2050/001 Proportional integral [PI] controller
• CPC Class Codes: B60W 2050/0022 Gains, weighting coefficients or weighting functions
• CPC Class Codes: B60W 2050/0031 Mathematical model of the vehicle
• CPC Class Codes: B60W 2050/0052 Filtering, filters
• 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
• CPC Class Codes: G05D 1/0223 involving speed control of the vehicle vehicle fittings for automatically controlling, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator B60K31/00
• CPC Class Codes: G05D 1/024 in combination with a laser lasers per se H01S
• CPC Class Codes: G05D 1/0255 using acoustic signals, e.g. ultra-sonic singals sonar systems designed for anti-collision purposes G01S15/93
• CPC Class Codes: G05D 1/0257 using a radar radar systems designed for anti-collision purposes between land vehicles or between land vehicle and fixed obstacles G01S13/931

Abstract

In an automatic vehicular velocity control apparatus for an automotive vehicle, a relative velocity detector is provided to detect a relative velocity of a preceding vehicle to the vehicle, an inter-vehicle distance command value calculator is provided to calculate an inter-vehicle distance command value, a control response characteristic determinator is provided to determine a control response characteristic of the inter-vehicle distance control system according to a deviation from the inter-vehicle distance command value to a detected value of the inter-vehicle distance and a detected value of the relative velocity, a vehicular velocity command value calculator is provided to calculate a vehicular velocity command value on the basis of the determined control response characteristic of the inter-vehicle distance control system, and a vehicular velocity control section is provided to control at least one of a driving force of the vehicle, a braking force of the vehicle, and a gear ratio of a transmission in such a manner that a detected value of the vehicular velocity is made coincident with the vehicular velocity command value. The control response characteristic determinator includes maps representing a relationships of a specific angular frequency ω_M (or ωC) with respect to the relative velocity ΔV and an inter-vehicle distance deviation ΔL and a damping factor ζM (or ζc) with respect to the relative velocity and the inter-vehicle distance deviation.

Claims

1. An automatic vehicular velocity control 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 vehicular velocity detector to detect a vehicular velocity of the vehicle;

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

an inter-vehicle distance command value calculator to calculate a command value of the Inter-vehicle distance;

a control response characteristic determinator to determine a control response characteristic of an inter-vehicle distance control system the control response characteristic determinator comprising at least one parameter to determine the control response characteristic of the inter-vehicle distance control system the parameter being determined according to at least the detected value of the relative velocity;

a vehicular velocity command value calculator to calculate a command value of the vehicular velocity according to a detected value of the vehicular velocity, the detected value of the relative velocity, a first deviation between the command value of the inter-vehicle distance and a detected value thereof, a second deviation between a target value of the relative velocity and the detected value thereof, a first gain to be multiplied by the first deviation, and a second gain to be multiplied by the second deviation; and

a vehicular velocity control section to control at least one of a driving force of the vehicle, a braking force of the vehicle, and a gear ratio of a vehicular transmission in such a manner that a detected value of the vehicular velocity is made equal to the command value of the vehicular velocity.

2. An automatic vehicular velocity control apparatus for an automotive vehicle as claimed in claim 1, wherein the control response characteristic determinator includes a memory in which a plurality of control modes and control response characteristics corresponding to the respective control modes are previously stored on the basis of signs and magnitudes of the first deviation and of the detected value of the relative velocity.

3. An automatic vehicular velocity control apparatus for an automotive vehicle as claimed in claim 2, wherein the memory includes two-dimensional array having a longitudinal axis of the deviation and a lateral axis of the detected value of the relative velocity each of which a parameter to determine the control response characteristic is previously stored.

4. An automatic vehicular velocity control apparatus for an automotive vehicle as claimed in claim 3, wherein the parameter comprises a specific angular frequency and a damping factor in a second order transfer function.

5. An automatic vehicular velocity control apparatus for an automotive vehicle as claimed in claim 4, wherein the inter-vehicle distance control system includes a target value calculator to calculate a target value of the inter-vehicle distance and a target value of the relative velocity from the inter-vehicle distance command value using a first filter prescribed by the specific angular frequency ω

_M and the damping factor ζ

_M selected from the memory and the vehicular velocity command value calculator calculates the vehicular velocity command value on the basis of the detected values of the inter-vehicle distance, the relative velocity, and the vehicular velocity and the target values of the inter-vehicle distance and the relative velocity.

6. An automatic vehicular velocity control apparatus for an automotive vehicle as claimed in claim 5, wherein the first filter is a second order filter.

7. An automatic vehicular velocity control apparatus for an automotive vehicle as claimed in claim 6, wherein a transfer function of the second order filter is expressed as ω

_M²/(s²+2ζ

_Mω

_Ms+ω

_M²), wherein s denotes a Laplace transform operator.

8. An automatic vehicular velocity control apparatus for an automotive vehicle as claimed in claim 7, further comprising:

a correction value calculator to calculate a correction value for the vehicular velocity command value calculated by the vehicular velocity command value calculator using a second filter having a transfer function prescribed by the transfer function of the first filter, an inverse of a transfer function of the vehicular velocity control system, and an integration element; and

a vehicular velocity command value correction section to correct the vehicular velocity command value using the correction value calculated by the correction value calculator.

9. An automatic vehicular velocity control apparatus for an automotive vehicle as claimed in claim 1, wherein the first gain and the second gain are determined according to the parameter, the first gain and the second gain being varied according to the detected value of the relative velocity.

12. An automatic vehicular velocity control apparatus for an automotive vehicle as claimed in claim 1, wherein the relative velocity detector comprises a differentiator to differentiate the detected value of the inter-vehicle distance.

10. An automatic vehicular velocity control 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 vehicular velocity detector to detect a vehicular velocity of the vehicle;

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

an inter-vehicle distance command value calculator to calculate a command value of the inter-vehicle distance;

a control response characteristic determinator to determine a control response characteristic of an inter-vehicle distance control system in accordance with to a deviation between the command value of the inter-vehicle distance and a detected value thereof and a detected value of the relative velocity;

a vehicular velocity command value calculator to calculate a command value of the vehicular velocity on the basis of the determined control response characteristic of the inter-vehicle distance control system;

a vehicular velocity control section to control at least one of a driving force of the vehicle, a braking force of the vehicle, and a gear ratio of a vehicular transmission in such a manner that a detected value of the vehicular velocity is made equal to the command value of the vehicular velocity, wherein

the control response characteristic determinator includes a memory in which a plurality of control modes and control response characteristics corresponding to the respective control modes are previously stored on the basis of signs and magnitudes of the deviation and of the detected value of the relative velocity,

the memory includes two-dimensional arrays, each two-dimensional array having a longitudinal axis of the deviation and a lateral axis of the detected value of the relative velocity each of which a coefficient to determine the control response characteristic is previously stored,

each coefficient to determine the control response characteristic is a specific angular frequency {overscore (ω

)}_M and a damping factor ζ

_M of the inter-vehicle distance control system,

the inter-vehicle distance control system includes a target value calculator to calculate a target value of the inter-vehicle distance and a target value of the relative velocity from the inter-vehicle distance command value using a first filter prescribed by the specific angular frequency {overscore (ω

)}_M and the damping factor ζ

_M selected from the memory and the vehicular velocity command value calculator calculates the vehicular velocity command value on the basis of the detected values of the inter-vehicle distance, the relative velocity, and the vehicular velocity and the target values of the inter-vehicle distance and the relative velocity,

the first filter is a second order filter, and

a transfer function of the second order filter is expressed as ({overscore (ω

)}_M²/(S²+2ζ

_M{overscore (ω

)}_Ms+{overscore (ω

)}_M²), with s denoting a Laplace transform operator;

the automatic vehicular velocity control apparatus for an automotive vehicle further comprising;

a correction value calculator to calculate a correction value for the vehicular velocity command value calculated by the vehicular velocity command value calculator using a second filter having a transfer function prescribed by the transfer function of the first filter, an inverse of a transfer function of the vehicular velocity control system, and an integration element; and

a vehicular velocity command value correction section to correct the vehicular velocity command value using the correction value calculated by the correction value calculator, wherein

the transfer function of the second filter is expressed as {overscore (ω

)}_M²s(s+{overscore (ω

)}v)/{overscore (ω

)}v(s² (s²+2ζ

{overscore (ω

)}_Ms+{overscore (ω

)}_Ms+{overscore (ω

)}_M²), with {overscore (ω

)}v denoting a break point angular frequency in a vehicular velocity control system constituted by the vehicular velocity control section.

11. An automatic vehicular velocity control apparatus or an automotive vehicle as claimed in claim 10, wherein the correction value calculator is a feedforward system connected between the control response characteristic determinator and the vehicular velocity command value calculator.