Automatic vehicular velocity control apparatus for automotive vehicle
First Claim
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.
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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 ωM (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.
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Citations
10 Claims
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1. An automatic vehicular velocity control apparatus for an automotive vehicle, comprising:
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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. - View Dependent Claims (2, 3, 4, 5, 6, 7)
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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; andcontrolling 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. - View Dependent Claims (9, 10)
- detecting an inter-vehicle distance from the vehicle to a preceding vehicle which is running ahead of the vehicle;
Specification