Automatic vehicular velocity control apparatus for automotive vehicle

• US 6,473,686 B2
• Filed: 11/16/2001
• Issued: 10/29/2002
• 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:
  US09/987,891
• Publication Number:
  US 20020055813A1
• Time in Patent Office: 347 Days
• Field of Search: 701/96, 701/93, 180/169, 180/170, 342/70, 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 an inter-vehicle distance;

a target value determinator to determine a target value of the inter-vehicle distance prescribing a variation of the inter-vehicle distance with time until the detected value of the inter-vehicle distance has reached to the command value of the inter-vehicle distance;

a gain determinator to determine a first gain by which a deviation between the target value of the inter-vehicle distance and the detected value of the inter-vehicle distance is multiplied in accordance with the detected value of the relative velocity;

a vehicular velocity command value calculator to calculate a command value of the vehicular velocity to make the detected value of the inter-vehicle distance equal to the target value of the inter-vehicle distance on the basis of the detected value of the vehicular velocity, the detected value of the relative velocity, and the deviation between the target value of the inter-vehicle distance and the detected value thereof; 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 the detected value of the vehicular velocity is made equal to the command value thereof.

2. An automatic vehicular velocity control apparatus for an automotive vehicle as claimed in claim 1, wherein the target value determinator further determines a target value of the relative velocity prescribing the variation of the relative velocity with time until the detected value of the inter-vehicle distance has reached to the command value of the inter-vehicle distance, the gain determinator further determines a second gain by which another deviation between the target value of the relative velocity and the detected value thereof is multiplied in accordance with the detected value of the relative velocity, and the vehicular velocity command value calculator calculates the command value of the vehicular velocity to make the detected value of the inter-vehicle distance equal to the target value thereof on the basis of the deviation multiplied by the first gain the other deviation multiplied by the second gain.

3. An automatic vehicular velocity control apparatus for an automotive vehicle as claimed in claim 1, further comprising a correction value calculator to calculate a correction value Vc of the vehicular velocity from the inter-vehicle distance command value determined by the target value determinator using a filter having a transfer function including a transfer characteristic from the command value of the inter-vehicle distance determined by the target value determinator to the target value of the inter-vehicle distance and an inverse transfer characteristic of the transfer characteristic of the vehicular velocity control system to which an integration element is added and a vehicular velocity command value correction section to correct the command value of the vehicular velocity according to the corrected value of the vehicular velocity.

4. An automatic vehicular velocity control apparatus for an automotive vehicle as claimed in claim 3, wherein the gain determinator increases the first gain as the detected value of the relative velocity becomes large.

5. An automatic vehicular velocity control apparatus for an automotive vehicle as claimed in claim 1, wherein the gain determinator determines the first gain fL and the second gave fv as follows:

fL=ω

c²/ω

nv;

fv=1−

2ζ

cω

c/ω

nv, wherein ω

c denotes a specific angular frequency, ζ

c denotes a damping factor, both of the specific angular frequency and the damping factor being parameters to determine a response characteristic of an inter-vehicle distance feedback control system and being stored in a memory of the automatic vehicular velocity control apparatus in forms of respective maps in accordance with the detected value of the relative velocity and ω

nv denotes a specific angular frequency of the vehicular velocity control system to make the detected value of the vehicular velocity equal to the command value thereof.

6. An automatic vehicular velocity control apparatus for an automotive vehicle as claimed in claim 5, wherein the vehicular velocity command value calculator calculates the command value V*(t) of the vehicular velocity as follows:

V*(t)={V(t)+Δ

V(t)}−

[fv×

{Δ

V_T(t)−

Δ

V(t)}+fL×

{L_T(t)−

L(t)}], wherein V(t) denotes the detected value of the vehicular velocity, Δ

V(t) denotes the detected value of the relative velocity, fv denotes the second gain, Δ

V_T(t) denotes the target value of the relative velocity and Δ

V(t) denotes the detected value of the relative velocity, fL denotes the first gain, L_T(t) denotes the target value of the inter-vehicle distance, and L(t) denotes the detected value of the inter-vehicle distance.

7. An automatic vehicular velocity control apparatus for an automotive vehicle as claimed in claim 6, wherein the specific angular frequency ω

c in the inter-vehicle distance feedback control system is stored in the corresponding one of the maps such that the value of the specific angular frequency ω

c is increased in proportion to the increase in a magnitude of the detected value of the relative velocity.

8. An automatic vehicular velocity control 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 vehicular velocity of the vehicle;

detecting a relative velocity of the preceding vehicle;

calculating a command value of the inter-vehicle distance;

determining a target value of the inter-vehicle distance prescribing a variation of the inter-vehicle distance with time until the detected value of the inter-vehicle distance has reached to the command value of the inter-vehicle distance;

determining a first gain by which a deviation between the target value of the inter-vehicle distance and the detected value of the inter-vehicle distance is multiplied in accordance with the detected value of the relative velocity;

calculating a command value of the vehicular velocity to make the detected value of the inter-vehicle distance equal to the target value of the inter-vehicle distance as a function of the detected value of the vehicular velocity, the detected value of the relative velocity, and the deviation between the target value of the inter-vehicle distance and the detected value thereof; and

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

9. An automatic vehicular velocity control method for an automotive vehicle as claimed in claim 8, wherein the calculating the command value of the inter-vehicle distance further comprises determining a target value of the relative velocity prescribing the variation of the relative with the time until the detected value of the inter-vehicle distance has reached to the command value of the inter-vehicle distance, the determining the first gain further comprises determining a second gain by which another deviation between the target value of the relative velocity and the detected value thereof is multiplied in accordance with the detected value of the relative velocity, and wherein the calculating the command value of the vehicular velocity further comprises calculating a command value of the vehicular velocity to make the detected value of the inter-vehicle distance equal to the target value of the inter-vehicle distance as a function of the detected value of the vehicular velocity, and the deviation between the target value of the inter-vehicle distance and detected value thereof.

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

calculating a correction value of the vehicular velocity from the inter-vehicle distance command value using a filter having a transfer function including a transfer characteristic from the command value of the inter-vehicle distance and an inverse transfer characteristic of the vehicular velocity control system to which an integration element is added; and

correcting the command value of the vehicular velocity according to the corrected value of the vehicular velocity.