Anti-collision support system and method for automotive vehicle

• US 6,566,999 B2
• Filed: 09/20/2001
• Issued: 05/20/2003
• Est. Priority Date: 10/12/2000
• Status: Active Grant

• Current Assignee: Nissan Motor Co., Ltd.
• Original Assignee: Nissan Motor Co., Ltd.
• Inventors: Kasai, Junichi, Hagino, Mitsuaki, Iwasaki, Masahiko
• Primary Examiner(s): Trieu, Van
• Application Number:
  US09/956,076
• Publication Number:
  US 20020057194A1
• Time in Patent Office: 607 Days
• Field of Search: 340/435, 340/436, 340/901, 340/995, 340/998, 340/990, 340/903, 701/208, 701/217, 180/167, 180/169, 180/170, 180/271
• US Class Current: 340/435
• CPC Class Codes: B60T 7/22 initiated by contact of vehicle, e.g. bumper, with an external object, e.g. another vehicle , or by means of contactless obstacle detectors mounted on the vehicle
• CPC Class Codes: B60W 2050/143 Alarm means
• CPC Class Codes: B60W 2520/10 Longitudinal speed
• CPC Class Codes: B60W 2530/10 Weight
• CPC Class Codes: B60W 30/09 Taking automatic action to avoid collision, e.g. braking and steering

Abstract

In anti-collision support method and apparatus for an automotive vehicle, a deceleration magnitude adjustment manipulation distance which is another vehicular running distance required to carry out a manipulation of an adjustment for a magnitude of the vehicular deceleration which would ordinarily be carried out at a time immediately before the vehicle is stopped is calculated from the vehicular velocity and the relative distance, a vehicular occupant is informed of an approach of the vehicle to the stop target object while the relative distance is shorter than a distance of the vehicle to a deceleration start position which is determined with the calculated deceleration magnitude adjustment manipulation distance taken into consideration and is shorter than a distance of the vehicle to the stop target object.

Claims

1. An anti-collision support system for an automotive vehicle, comprising:

a vehicular stop position determining section that determines a stop position for the vehicle to be stopped from a relative distance of the vehicle to a stop target object which provides a cause of an application of a brake to the vehicle;

a deceleration start position determining section that determines a deceleration start position at which the vehicle is to start a vehicular deceleration for the vehicle to be stopped at the stop position from a vehicular velocity of the vehicle and the relative distance, the deceleration start position determining section comprising at least a deceleration distance calculating section that calculates a deceleration distance which is a vehicular running distance required for the vehicle to be decelerated and a deceleration magnitude adjustment manipulation distance calculating section that calculates a deceleration magnitude adjustment manipulation distance which is another vehicular running distance required to carry out a manipulation of an adjustment for a magnitude of the vehicular deceleration which would ordinarily be carried out at a time immediately before the vehicle is stopped; and

an informing section enabled to inform a vehicular occupant of an approach of the vehicle to the stop target object while the relative distance is shorter than a distance of the vehicle to the deceleration start position and the stop target object.

2. An anti-collision support system for an automotive vehicle as claimed in claim 1, wherein the deceleration start position determining section further comprises a response distance calculating section that calculates a response distance which is a still another vehicular running distance from a time point at which a vehicular driver is started to be informed of the approach of the vehicle to the stop target object by the informing section to a time point at which the vehicular driver responsively carries out a manipulation of a brake manipulator to apply the brake to the vehicle and wherein the informing section comprises an alarm generating section that produces an alarm when the vehicle approaches to the stop target object by a distance which is the sum of the deceleration distance, the response distance, and the deceleration magnitude adjustment manipulation distance.

3. An anti-collision support system for an automotive vehicle as claimed in claim 2, wherein the deceleration magnitude adjustment manipulation distance calculating section calculates the deceleration magnitude adjustment manipulation in such a manner that, as the vehicular velocity becomes lower, the deceleration magnitude adjustment manipulation distance becomes longer.

4. An anti-collision support system for an automotive vehicle as claimed in claim 2, wherein the deceleration distance calculating section calculates the deceleration distance on the basis of the vehicular deceleration which is generable according to a situation of a road on which the vehicle is to run.

5. An anti-collision support system for an automotive vehicle as claimed in claim 2, wherein the deceleration magnitude adjustment manipulation distance calculating section calculates the deceleration magnitude adjustment manipulation distance with a vehicular weight, a load amount of the vehicle, a vehicular weight center position, and a performance of a vehicular suspension system taken into consideration.

6. An anti-collision support system for an automotive vehicle as claimed in claim 2, wherein the deceleration magnitude adjustment manipulation distance calculating section calculates the deceleration magnitude adjustment manipulation distance with data read from a memory learning a relationship between a time duration for which the vehicular driver manipulates the adjustment for the magnitude of the vehicular deceleration and the vehicular deceleration taken into consideration.

7. An anti-collision support system for an automotive vehicle as claimed in claim 1, further comprising an automatic brake system that automatically applies the brake to the vehicle while the relative distance is shorter than the distance of the vehicle to the deceleration start position and stop target object.

8. An anti-collision support system for an automotive vehicle as claimed in claim 7, wherein the deceleration magnitude adjustment manipulation distance calculating section calculates the deceleration magnitude adjustment manipulation distance with a vehicular weight, a load amount of the vehicle, a vehicular weight center position, and a performance of a vehicular suspension system taken into consideration.

9. An anti-collision support system for an automotive vehicle as claimed in claim 7, wherein the deceleration magnitude adjustment manipulation distance calculating section calculates the deceleration magnitude adjustment manipulation distance with data read from a memory learning a relationship between a time duration for which the vehicular driver manipulates the adjustment for the magnitude of the vehicular deceleration and the vehicular deceleration taken into consideration.

10. An anti-collision support method for an automotive vehicle, comprising:

determining a stop position for the vehicle to be stopped from a relative distance of the vehicle to a stop target object which provides a cause of an application of a brake to the vehicle;

calculating a deceleration distance which is a vehicular running distance required for the vehicle to be decelerated from a vehicular velocity and the relative distance;

calculating a deceleration magnitude adjustment manipulation distance which is another vehicular running distance required to carry out a manipulation of an adjustment for a magnitude of the vehicular deceleration which would ordinarily be carried out at a time immediately before the vehicle is stopped from the vehicular velocity and the relative distance;

determining a deceleration start position at which the vehicle is to start a vehicular deceleration for the vehicle to be stopped at the stop position on the basis of at least the calculated deceleration distance and the calculated deceleration magnitude adjustment manipulation distance; and

informing a vehicular occupant of an approach of the vehicle to the stop target object while the relative distance is shorter than a distance of the vehicle to the deceleration start position and to the stop target object.

11. An anti-collision support method for an automotive vehicle as claimed in claim 10, further comprising calculating a response distance which is a still another vehicular running distance from a time point at which a vehicular driver is started to be informed of the approach of the vehicle to the stop target object to a time point at which the vehicular driver responsively carries out a manipulation of a brake manipulator to apply the brake to the vehicle, wherein, when determining the deceleration start position, the response distance is added in addition to the deceleration distance and the deceleration magnitude adjustment manipulation distance, and further comprising producing an alarm when the vehicle approaches to the stop target object by a distance which is a sum of the deceleration distance, the response distance, and the deceleration magnitude adjustment manipulation distance.

12. An anti-collision support method for an automotive vehicle as claimed in claim 11, further comprising:

detecting the vehicular velocity;

calculating the relative distance of the vehicle to the stop target object according to the detected vehicular velocity and an information on the stop target object;

setting a magnitude of the vehicular deceleration which corresponds to the vehicular deceleration distance according to a road linearity information and a road surface information; and

calculating a deceleration magnitude adjustment manipulation time for which the adjustment for the deceleration magnitude is enabled to be manipulated according to the detected vehicular velocity and the set magnitude of the vehicular deceleration and wherein the deceleration magnitude adjustment manipulation distance is calculated according to the deceleration magnitude adjustment manipulation time.

13. An anti-collision support method for an automotive vehicle as claimed in claim 12, wherein, when the deceleration magnitude adjustment manipulation time is calculated, the deceleration magnitude manipulation adjustment time becomes longer as the detected vehicular velocity becomes lower.

14. An anti-collision support method for an automotive vehicle as claimed in claim 11, wherein, when the deceleration magnitude adjustment manipulation distance is calculated, a vehicular weight, a load amount of the vehicle, a vehicular weight center position, and a performance of a vehicular suspension system is taken into consideration.

15. An anti-collision support method for an automotive vehicle as claimed in claim 11, wherein, when the deceleration magnitude adjustment manipulation distance is calculated, data read from a memory learning a relationship between a time duration for which the vehicular driver manipulates the adjustment for the magnitude of the vehicular deceleration and the vehicular deceleration is taken into consideration.

16. An anti-collision support method for an automotive vehicle as claimed in claim 10, further comprising providing an automatic brake system that automatically applies the brake to the vehicle while the relative distance is shorter than the distance of the vehicle to the deceleration start position and is shorter than the distance of the vehicle to the stop target object.

17. An anti-collision support method for an automotive vehicle as claimed in claim 16, further comprising automatically applying the brake to the vehicle through the automatic brake system from a time at which the vehicle approaches to the stop target object by a distance which is a sum of the deceleration distance and the deceleration magnitude adjustment manipulation distance.

18. An anti-collision support method for an automotive vehicle as claimed in claim 17, wherein, when the deceleration magnitude adjustment manipulation distance is calculated, a vehicular weight, a load amount of the vehicle, a vehicular weight center position, and a performance of a vehicular suspension system is taken into consideration.

19. An anti-collision support method for an automotive vehicle as claimed in claim 17, wherein, when the deceleration magnitude adjustment manipulation distance is calculated, data read from a memory learning a relationship between a time duration for which the vehicular driver manipulates the adjustment for the magnitude of the vehicular deceleration and the vehicular deceleration is taken into consideration.

20. An anti-collision support system for an automotive vehicle, comprising:

vehicular stop position determining means for determining a stop position for the vehicle to be stopped from a relative distance of the vehicle to a stop target object which provides a cause of an application of a brake to the vehicle;

deceleration start position determining means for determining a deceleration start position at which the vehicle is to start a vehicular deceleration for the vehicle to be stopped at the stop position from a vehicular velocity of the vehicle and the relative distance, the deceleration start position determining means comprising at least deceleration distance calculating means for calculating a deceleration distance which is a vehicular running distance required for the vehicle to be decelerated and deceleration magnitude adjustment manipulation distance calculating means for calculating a deceleration magnitude adjustment manipulation distance which is another vehicular running distance required to carry out a manipulation of an adjustment for a magnitude of the vehicular deceleration which would ordinarily be carried out at a time immediately before the vehicle is stopped; and

informing means for informing a vehicular occupant of an approach of the vehicle to the stop target object while the relative distance is shorter than a distance of the vehicle to the deceleration start position and the stop target object.

21. An anti-collision support system for an automotive vehicle, comprising:

a vehicular stop position determining section that determines a stop position for the vehicle to be stopped from a relative distance of the vehicle to a stop target object which provides a cause of an application of a brake to the vehicle;

a deceleration start position determining section that determines a deceleration start position at which the vehicle is to start a vehicular deceleration for the vehicle to be stopped at the stop position from a vehicular velocity of the vehicle and the relative distance, the deceleration start position determining section comprising at least a deceleration distance calculating section that calculates a deceleration distance which is a first vehicular running distance required for the vehicle to be decelerated and a deceleration magnitude adjustment manipulation distance calculating section that calculates a deceleration magnitude adjustment manipulation distance which is a second vehicular running distance required to carry out a manipulation of an adjustment for a magnitude of the vehicular deceleration which would be carried out at a time immediately before the vehicle is stopped; and

an informing section adapted to inform a vehicular occupant of an approach of the vehicle to the stop target object while the relative distance is shorter than a distance of the vehicle to the deceleration start position and the stop target object.