Apparatus and method for automatically controlling vehicular velocity of vehicle

• US 6,351,702 B1
• Filed: 01/14/2000
• Issued: 02/26/2002
• Est. Priority Date: 01/14/1999
• 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): NGUYEN, THU V
• Application Number:
  US09/482,729
• Time in Patent Office: 774 Days
• Field of Search: 701/51-52, 701/65-66, 701/70-75, 701/78-94, 701/96-97, 701/110-111, 701/116-119, 701/124, 701/300-302, 180/170-171, 180/197, 180/201, 340/425.5, 340/435, 340/438, 340/463-467, 340/471-472, 342/104, 342/106-109
• US Class Current: 701/96
• CPC Class Codes: B60K 31/0008 including means for detecting potential obstacles in vehicle path
• CPC Class Codes: B60T 8/172 Determining control parameters used in the regulation, e.g. by calculations involving measured or detected parameters B60T8/17551 takes precedence
• CPC Class Codes: B60W 2050/0022 Gains, weighting coefficients or weighting functions
• CPC Class Codes: B60W 2520/14 Yaw
• CPC Class Codes: B60W 2552/40 Coefficient of friction
• CPC Class Codes: B60W 2720/106 Longitudinal acceleration
• CPC Class Codes: B60W 30/16 Control of distance between vehicles, e.g. keeping a distance to preceding vehicle

Abstract

In apparatus and method for automatically controlling a vehicular velocity of an automotive vehicle maintaining an inter-vehicle distance to a preceding vehicle, a release of a follow-up run control (a vehicular run control) to control the vehicular velocity to follow up the preceding vehicle is smoothly carried out when a follow-up run release condition such that when the vehicle is running with a braking control executed on a road surface having a low frictional coefficient such as a wet road or snowy road. For example, when the vehicle is running under a follow-up run control to follow up the preceding vehicle and the release condition of the follow-up run control is established, a controller determines if the vehicle is under the braking control execution. If the vehicle is under the braking control, the follow-up run control is continued. Upon the end of the braking control, a follow-up run release flag FF is set to “1” and the follow-up run control is released. The release of the follow-up run control may be carried out after a predetermined interval of time has passed from a time at which the braking control is ended or may be carried out after the braking pressure is gradually reduced during the braking control.

Claims

1. An apparatus for automatically controlling a vehicular velocity for a vehicle, comprising:

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

a target vehicular velocity variation rate calculating section that calculates a target vehicular velocity variation rate to make the detected inter-vehicle distance substantially equal to a target inter-vehicle distance;

a vehicular run controlling section that is enabled to perform a vehicular run control to maintain the target vehicular velocity variation rate;

a release condition detector to detect whether a release condition of the vehicular run control by the vehicular run controlling section is established; and

a vehicular run control releasing section that releases the vehicular run control at a time at which a vehicular deceleration control is completed, on condition that the vehicular run controlling section is detected to be performing the vehicular deceleration control and the release condition detector detects that the release condition is established.

2. An apparatus for automatically controlling a vehicular velocity for a vehicle as claimed in claim 1, wherein the vehicular run control releasing section includes a gradual vehicular run control releasing section that reduces the target vehicular velocity variation rate in the vehicular run control by a predetermined gradient for each predetermined interval of time in such a manner that a variation of the vehicular deceleration is relatively moderate when the vehicular run controlling section is detected to be performing the vehicular deceleration control while the release condition detector detects that the release condition is established and, thereafter, releases the vehicular run control when the target vehicular velocity variation rate of the vehicular run control is reduced to reach to zero.

3. An apparatus for automatically controlling a vehicular velocity for a vehicle as claimed in claim 1, wherein the vehicular run control releasing section includes a gradual vehicular run control releasing section that reduces the target vehicular velocity variation rate in the vehicular run control by a predetermined gradient for each predetermined interval of time in such a manner that a variation of the vehicular deceleration is relatively moderate from a time at which a predetermined delay in time has passed when the vehicular run controlling section is detected to be performing the vehicular deceleration control while the release condition detector detects that the release condition is established and, thereafter, releases the vehicular run control when the target vehicular velocity variation rate in the vehicular run control is reduced to reach to zero.

4. An apparatus for automatically controlling a vehicular velocity for an automotive vehicle as claimed in claim 1, wherein the release condition detector includes a road surface situation detector to detect whether the vehicle is running on a slippery road surface having a frictional coefficient lower than a predetermined frictional coefficient.

5. An apparatus for automatically controlling a vehicular velocity for a vehicle as claimed in claim 1, further comprising a road surface situation-dependent controlling section that is enabled to perform the vehicular run control according to a frictional coefficient of a road surface on which the vehicle is running and wherein the release condition detector includes a control state detector to detect whether the road surface situation-dependent controlling section is in its control active state according to the frictional condition of the road surface having a frictional coefficient lower than a predetermined frictional coefficient.

6. An apparatus for automatically controlling a vehicular velocity for a vehicle as claimed in claim 1, further comprising a braking control detector to detect whether the vehicular run controlling section is in the brake control to decelerate the vehicle and wherein the vehicular run control releasing section releases the vehicular run control after a predetermined interval of time has passed from a time at which the braking control by the vehicular run controlling section is ended.

7. An apparatus for automatically controlling a vehicular velocity for a vehicle as claimed in claim 4, further comprising a deceleration control state detector to detect whether the vehicular run controlling section is performing the vehicular deceleration control when the release condition detector detects that the release condition is established and wherein the vehicular run control releasing section releases the vehicular run control at the time at which the vehicular deceleration control is completed when the deceleration control state detector detects that the vehicular run controlling section is performing the vehicular deceleration control.

8. An apparatus for automatically controlling a vehicular velocity for a vehicle as claimed in claim 7, further comprising a control active state detector to detect whether any one of an anti-lock brake control, a traction control, and a sideslip angle suppression control is executing;

and wherein the road surface situation detector detects whether the vehicle is running on the slippery road surface having the frictional coefficient lower than the predetermined frictional coefficient when the control active state detector detects that any one of the anti-lock brake control, the traction control, and the sideslip angle suppression control is executing.

9. An apparatus for automatically controlling a vehicular velocity for a vehicle as claimed in claim 8, further comprising a braking control state detector to detect whether the vehicular run controlling section is performing a braking control to decelerate the vehicle when the road surface situation detector detects that any one of the anti-lock brake control, the traction control, and the sideslip angle suppression control is executing.

10. An apparatus for automatically controlling a vehicular velocity for a vehicle as claimed in claim 9, wherein the braking control state detector detects whether the vehicular run controlling section is performing the braking control to decelerate the vehicle according to whether a target braking pressure P_B* calculated by the vehicular run controlling section for a vehicular brake system to decelerate the vehicle is positive.

11. An apparatus for automatically controlling a vehicular velocity for a vehicle as claimed in claim 9, wherein when the target braking pressure P_B* is positive, the braking control state detector detects that the vehicular run controlling section is performing the braking control to decelerate the vehicle and when the target braking pressure P_B* crosses zero, the braking control state detector detects that the vehicular run controlling section is not performing the braking control to decelerate the vehicle but detects that the braking control by the vehicular run controlling section is ended and wherein the vehicular run controlling section is released when the braking state detector detects that the braking control is ended.

12. An apparatus for automatically controlling a vehicular velocity for a vehicle as claimed in claim 11, further comprising a first timer C to measure a time duration which corresponds to a predetermined interval of time from a time at which the target braking pressure P_B* crosses zero and wherein the vehicular run controlling section is released when the predetermined interval of time by the measurement of the first timer C has passed.

13. An apparatus for automatically controlling a vehicular velocity for a vehicle as claimed in claim 12, further comprising a braking pressure decreasing section that decreases the target braking pressure P_B* by a predetermined pressure decrease coefficient Δ

P_B for each predetermined interval of time when the braking control state detector detects that the target braking pressure P_B* indicates positive and wherein the vehicular run controlling section is released when the target braking pressure P_B* reduced by the predetermined pressure decrease coefficient Δ

P_B indicates from a positive value to zero.

14. An apparatus for automatically controlling a vehicular velocity for a vehicle as claimed in claim 13, further comprising a second timer to measure another time duration which corresponds to another predetermined interval of time from a time at which the reduced target braking pressure P_B* indicates from a positive value to zero and wherein the vehicular run controlling section is released when the predetermined interval of time by the measurement of the second timer C is passed.

15. An apparatus for automatically controlling a vehicular velocity for a vehicle as claimed in claim 11, further comprising:

a first timer C to measure a time duration which corresponds to a predetermined interval of time from a time at which the target braking pressure P_B* indicates positive to detect that the vehicular run controlling section is in the braking control; and

a braking pressure decreasing section that decreases the target braking pressure P_B* by a predetermined pressure decrease coefficient Δ

P_B for each predetermined interval of time when the first timer C measures the time duration which corresponds to the predetermined interval of time.

16. An apparatus for automatically controlling a vehicular velocity for a vehicle as claimed in claim 5, further comprising:

a vehicular velocity detector to detect a present vehicular velocity Vc(n) of the vehicle; and

a vehicular velocity comparator to compare the present vehicular velocity Vc(n) with a preset vehicular run control release velocity V_o to determine whether the present vehicular velocity Vc(n) is equal to or lower than the preset vehicular run control release velocity V_o and wherein when the control state detector detects that the road surface situation-dependent controlling section is in its control active state and the vehicular velocity comparator determines that the present vehicular velocity Vc(n) is equal to or lower than the preset vehicular run control release velocity V_o, the vehicular run control releasing section releases the vehicular run control after the road surface situation-dependent controlling section ends its control active state.

17. An apparatus for automatically controlling a vehicular velocity for a vehicle as claimed in claim 16, further comprising a braking control state detector to detect whether the vehicular run controlling section is in a brake control state to decelerate the vehicle and wherein the vehicular velocity comparator determines whether the present vehicular velocity Vc (n) of the vehicle is equal to or lower than the preset vehicular run control release velocity V₀ after the braking control state detector detects whether the vehicular run controlling section is in the braking control state to decelerate the vehicle and the control state detector detects whether the road surface situation-dependent controlling section is in its control active state.

18. An apparatus for automatically controlling a vehicular velocity for a vehicle as claimed in claim 17, further comprising an alarm circuit to produce an alarm to inform the vehicular driver of the release of the vehicular run control by the vehicular run controlling section when the braking control state detector detects that the vehicular run controlling section is in the braking control state to decelerate the vehicle, the control state detector detects that the road surface-dependent controlling section is in its control active state, and that the vehicular velocity comparator determines that the present vehicular velocity Vc(n) is equal to or lower than the preset vehicular run control release velocity V₀ and the target vehicular velocity variation rate G* calculated by the target vehicular velocity variation rate calculating section indicating a negative value is held at the same time as the alarm circuit produces the alarm until the road surface situation-dependent controlling section ends its control active state.

19. An apparatus for automatically controlling a vehicular velocity for a vehicle, comprising:

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

target vehicular velocity variation rate calculating means for calculating a target vehicular velocity variation rate to make the detected inter-vehicle distance substantially equal to a target inter-vehicle distance;

vehicular run controlling means for performing a vehicular run control to maintain the target vehicular velocity variation rate;

release condition detecting means for detecting whether a release condition of the vehicular run control by the vehicular run controlling means is established; and

vehicular run control releasing means for releasing the vehicular run control at a time at which a vehicular deceleration control is completed, on condition that the vehicular run controlling means is detected to be performing the vehicular deceleration control and the release condition detecting means detects that the release condition is established.

20. A method for automatically controlling a vehicular velocity for a vehicle, comprising:

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

calculating a target vehicular velocity variation rate to make the detected inter-vehicle distance substantially equal to a target inter-vehicle distance;

performing a vehicular run control to maintain the target vehicular velocity variation rate;

detecting whether a release condition of the vehicular run control is established; and

releasing the vehicular run control at a time at which a vehicular deceleration control to perform the vehicular run control is completed, on condition that the vehicular deceleration control is being performed and the release condition is established.

21. An apparatus for automatically controlling a vehicular velocity for a vehicle, comprising:

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

a target vehicular velocity variation rate calculating section that calculates a target vehicular velocity variation rate to make the detected inter-vehicle distance substantially equal to a target inter-vehicle distance;

a vehicular run controlling section that is enabled to perform a vehicular run control to maintain the target vehicular velocity variation rate;

a release condition detector to detect whether a release condition of the vehicular run control by the vehicular run controlling section is established;

a vehicular deceleration control detector to detect whether a deceleration control by the vehicular run control is executed; and

a vehicular run control releasing section that releases the vehicular run control gradually when the release condition of the vehicular run control is detected on condition that the vehicular deceleration control is being executed.

22. An apparatus for automatically controlling a vehicular velocity for a vehicle, comprising:

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

target vehicular velocity variation rate calculating means for calculating a target vehicular velocity variation rate to make the detected inter-vehicle distance substantially equal to a target inter-vehicle distance;

vehicular run controlling means for performing a vehicular run control to maintain the target vehicular velocity variation rate;

release condition detecting means for detecting whether a release condition of the vehicular run control by the vehicular run controlling means is established;

vehicular deceleration control detection means for detecting whether a deceleration control by the vehicular run control is executed; and

vehicular run control releasing means for releasing the vehicular run control gradually when the release condition of the vehicular run control is detected on condition that the vehicular deceleration control is being executed.

23. A method for automatically controlling a vehicular velocity for a vehicle, comprising:

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

calculating a target vehicular velocity variation rate to make the detected inter-vehicle distance substantially equal to a target inter-vehicle distance;

performing a vehicular run control to maintain the target vehicular velocity variation rate;

detecting whether a release condition of the vehicular run control is established;

detecting whether a deceleration control by the vehicular run control is executed; and

releasing the vehicular run control gradually when the release condition of the vehicular run control is detected on condition that the vehicular deceleration control is being executed.