System and method for controlling vehicle velocity and inter-vehicle distance
First Claim
1. An automatic vehicular velocity controlling system 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 vehicle to the preceding vehicle;
an inter-vehicle distance command value calculating section that calculates a command value of the inter-vehicle distance;
a control response characteristic determining section that determines a response characteristic of an inter-vehicle related feedback control system in accordance with the relative velocity;
a response characteristic correcting section that corrects the response characteristic of the inter-vehicle related feedback control system determined by the control response characteristic determining section in accordance with at least the inter-vehicle distance detected by the inter-vehicle distance detector;
a vehicular velocity command value calculating section that calculates an inter-vehicle related controlling vehicular velocity command value on the basis of the response characteristic of the inter-vehicle related feedback control system corrected by the response characteristic correcting section; and
a vehicular velocity controlling section that controls at least one of a driving force of the vehicle, a braking force of the vehicle, and a speed ratio of a transmission in such a manner that the vehicular velocity detected by the vehicular velocity detector is made substantially equal to the vehicular velocity command value.
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Accused Products
Abstract
In automatic vehicular velocity controlling apparatus and method for automotive vehicle having a function to maintain an inter-vehicle distance from the vehicle to a preceding vehicle which is running ahead of the vehicle at a target inter-vehicle distance, a response characteristic of an inter-vehicle related feedback control system is determined in accordance with a relative velocity of the vehicle to the preceding vehicle is corrected in accordance with the inter-vehicle distance, is corrected in accordance with a modification of a set inter-vehicle time duration by a vehicular occupant, and in accordance with an external disturbance value correspond to a road surface gradient of a slope during a vehicular run on the slope, in order to improve the response characteristic for the vehicular occupant not to give an un-match feeling to a driving sense.
34 Citations
24 Claims
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1. An automatic vehicular velocity controlling system 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 vehicle to the preceding vehicle;
an inter-vehicle distance command value calculating section that calculates a command value of the inter-vehicle distance;
a control response characteristic determining section that determines a response characteristic of an inter-vehicle related feedback control system in accordance with the relative velocity;
a response characteristic correcting section that corrects the response characteristic of the inter-vehicle related feedback control system determined by the control response characteristic determining section in accordance with at least the inter-vehicle distance detected by the inter-vehicle distance detector;
a vehicular velocity command value calculating section that calculates an inter-vehicle related controlling vehicular velocity command value on the basis of the response characteristic of the inter-vehicle related feedback control system corrected by the response characteristic correcting section; and
a vehicular velocity controlling section that controls at least one of a driving force of the vehicle, a braking force of the vehicle, and a speed ratio of a transmission in such a manner that the vehicular velocity detected by the vehicular velocity detector is made substantially equal to the vehicular velocity command value. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 21, 22)
dT — HPF(t) /dT(t)=(T1·
s+1)/(T2·
s+1), wherein T1 and T2 denotes time constants arbitrarily set by a designer and T1>
T2 and s denotes a differential operator equivalent to d/dt.
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15. An automatic vehicular velocity controlling system for an automotive vehicle as claimed in claim 11, further comprising an inter-vehicle time duration setting section enabled to changeably set an inter-vehicle time duration dT(t) through a manipulation by a vehicular occupant, the inter-vehicle time duration being defined as a time duration from a time at which the preceding vehicle has stopped to a time at which the vehicle has reached to the preceding vehicle if the preceding vehicle were stopped and wherein the responsive characteristic correcting section further comprises a feedback system specific angular frequency second correcting block that further corrects the specific angular frequency corrected by the feedback system specific angular frequency first correcting block by a second correction coefficient CD2 when the vehicular occupant has operated the inter-vehicle time duration setting section to modify the set inter-vehicle time duration to a newly set inter-vehicle time duration in such a manner that the feedback system specific angular frequency ω
- nDBC1 corrected by the feedback system first correcting block is temporarily increased by the second correction coefficient CD2 for a predetermined time duration from one to a value larger than one so that the feedback constants fL and fV determined by the feedback constants determining block are temporarily increased.
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16. An automatic vehicular velocity controlling system for an automotive vehicle as claimed in claim 15, wherein the predetermined time duration is one second and the value larger than one is 1.5.
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17. An automatic vehicular velocity controlling system for an automotive vehicle as claimed in claim 15, wherein the feedback constants determining block calculates the feedback constants fL and fv as follows:
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18. An automatic vehicular velocity controlling system for an automotive vehicle as claimed in claim 17, further comprising a pre-compensation vehicular velocity command value calculating block that calculates a pre-compensation vehicular velocity command value Vc(t) as follows:
Vc(t)=ω
nT2·
s(Tv·
s+1)·
L*(t)/(s2+2ζ
T·
s+ω
nT2), wherein ω
nT denotes a specific angular frequency of a target inter-vehicle distance response and arbitrarily set by the designer and ζ
T denotes a damping factor of the target inter-vehicle distance response and arbitrarily set by the designer.
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19. An automatic vehicular velocity controlling system for an automotive vehicle as claimed in claim 18, wherein the inter-vehicle related controlling vehicular velocity command value calculating section comprises an inter-vehicle related controlling vehicular velocity command value calculating block that calculates the inter-vehicle related vehicular velocity command value V*(t) as follows:
V*(t)=VA(t)+Δ
V(t)−
Vc(t)−
{LT(t)−
LA(t)}·
*fL−
{Δ
VT(t)−
Δ
V(t)}·
fV, wherein Δ
V(t) denotes an actual relative velocity, LT(t) denotes a target inter-vehicle distance, LA(t) denotes an actual inter-vehicle distance, and Δ
VT(t) denotes a target relative velocity.
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21. An automatic vehicular velocity controlling system for an automotive vehicle as claimed in claim 1, wherein the vehicular velocity controlling section controls a speed ratio of a continuously variable transmission in such a manner that the vehicular velocity detected by the vehicular velocity detector is made substantially equal to the vehicular velocity command value.
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22. An automatic vehicular velocity controlling system for an automotive vehicle as claimed in claim 1, wherein the vehicular velocity controlling section controls a speed ratio of a multiple-ratio, geared transmission in such a manner that the vehicular velocity detected by the vehicular velocity detector is made substantially equal to the vehicular velocity command value.
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20. An automatic vehicular velocity controlling method for an automotive vehicle, comprising:
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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 vehicle to the preceding vehicle;
calculating a command value of the inter-vehicle distance;
determining a response characteristic of an inter-vehicle related feedback control system in accordance with the relative velocity;
correcting the determined response characteristic of the inter-vehicle related feedback control system in accordance with at least the detected inter-vehicle distance;
calculating an inter-vehicle related controlling vehicular velocity command value on the basis of the corrected response characteristic of the inter-vehicle related feedback control system; and
controlling at least one of a driving force of the vehicle, a braking force of the vehicle, and a speed ratio of a transmission in such a manner that the detected vehicular velocity is made substantially equal to the vehicular velocity command value. - View Dependent Claims (23, 24)
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Specification