Method and system for controlling stand-by braking torque applied to automotive vehicle

• US 6,571,165 B2
• Filed: 02/15/2002
• Issued: 05/27/2003
• Est. Priority Date: 08/17/2000
• Status: Active Grant

• Current Assignee: Nissan Motor Co., Ltd.
• Original Assignee: Nissan Motor Co., Ltd.
• Inventors: Watanabe, Takayuki, Inoue, Hideaki, Tamura, Minoru, Maruko, Naoki
• Primary Examiner(s): Cuchlinski, Jr., William A
• Assistant Examiner(s): Marc-Coleman, Marthe Y.
• Application Number:
  US10/049,565
• Publication Number:
  US 20020107629A1
• Time in Patent Office: 466 Days
• Field of Search: 701/93, 701/96, 701/70, 701/301, 303/125, 303/191, 303/192, 340/435, 340/903
• US Class Current: 701/93
• CPC Class Codes: B60G 2400/823 Obstacle sensing
• CPC Class Codes: B60G 2800/22 Braking, stopping
• CPC Class Codes: B60G 2800/224 automatically, based on dangerous living style
• CPC Class Codes: B60K 31/0008 including means for detecting potential obstacles in vehicle path
• CPC Class Codes: B60K 31/107 the memory being digital
• CPC Class Codes: B60T 2201/02 Active or adaptive cruise control system; Distance control
• CPC Class Codes: B60T 2201/12 Pre-actuation of braking systems without significant braking effect; Optimizing brake performance by reduction of play between brake pads and brake disc
• 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 2510/1005 Transmission ratio engaged
• CPC Class Codes: B60W 2520/105 Longitudinal acceleration
• CPC Class Codes: B60W 2540/10 Accelerator pedal position
• CPC Class Codes: B60W 2552/15 Road slope, i.e. the inclination of a road segment in the longitudinal direction
• CPC Class Codes: B60W 2552/40 Coefficient of friction
• CPC Class Codes: B60W 2554/80 Spatial relation or speed relative to objects
• CPC Class Codes: B60W 2554/801 Lateral distance
• CPC Class Codes: B60W 30/09 Taking automatic action to avoid collision, e.g. braking and steering

Abstract

The present invention pertains a method and a system for controlling a stand-by braking torque applied to an automotive vehicle under a condition of approaching or following an obstacle preceding the vehicle, the automotive vehicle having a powering system for applying a driving torque to the vehicle in response to an operator power demand. A brake controller executes a series of instructions for determining a variable indicative of dynamic situation of the vehicle, for sampling the determined values of the dynamic situation indicative variable immediately before an operator braking action to reduce the speed of the vehicle is imminent, for using the sampled values of the dynamic situation indicative variable as a basis to establish a parameter, and for using the established parameter as a basis to determine a target value of stand-by braking torque.

Claims

1. A method for controlling a stand-by braking torque applied to an automotive vehicle under a condition of approaching or following an obstacle preceding the vehicle, the automotive vehicle having a powering system for applying a driving torque to the vehicle in response to an operator power demand, the method comprising:

determining a variable indicative of dynamic situation of the vehicle;

sampling the determined values of the dynamic situation indicative variable immediately before an operator braking action to reduce the speed of the vehicle is imminent;

using the sampled values of the dynamic situation indicative variable as a basis to establish a parameter; and

using the established parameter as a basis to determine a target value of stand-by braking torque, which is to be applied when the operator braking action to reduce the speed of the vehicle is imminent.

2. A method as claimed in claim 1, wherein the powering system includes an engine with various engine speeds and a transmission with various speed ratios between an input member driven by the engine and an output member drivingly coupled with at least one wheel of the vehicle, wherein a system for determining longitudinal acceleration, which the vehicle is subject to, is employed, and wherein the dynamic situation indicative variable is the determined longitudinal acceleration.

3. A system for controlling a stand-by braking torque applied to an automotive vehicle under a condition of approaching or following an obstacle preceding the vehicle, the automotive vehicle having a powering system for applying a driving torque to the vehicle in response to an operator power demand through an accelerator pedal, the system comprising:

a detection system for detecting a distance between the vehicle and the obstacle preceding the vehicle;

a sensor for detecting an operation parameter indicative of vehicle speed of the automotive vehicle;

a sensor for detecting a depressed angle of the accelerator pedal indicative of operator power demand;

a system for determining a longitudinal acceleration to which the automotive vehicle is subject to;

a braking system for application of braking toque to the vehicle in response to a brake signal; and

a controller for determining whether or not an operator braking action to reduce the speed of the vehicle is imminent under a condition of approaching or following an obstacle preceding the vehicle based on the detected distance by the detection system, the vehicle speed, and the operator power demand, determining a target value of hydraulic brake pressure for stand-by braking torque based on the determined value of longitudinal acceleration before determination that the operator braking action is imminent, determining the brake signal for the determined target value of hydraulic pressure, and applying the determined brake signal to the braking system upon determination that the operator braking action is imminent.

4. A system as claimed in claim 3, wherein the controller samples the determined values of longitudinal acceleration for a predetermined period of time that ends with the determination that operator braking action is imminent and selects the maximum acceleration value among the sampled determined values of longitudinal acceleration, whereby the selected maximum acceleration value is used as a basis to determine the target value of hydraulic brake pressure.

5. A system as claimed in claim 3, wherein, with the same vehicle speed, the controller adjusts the target value of hydraulic brake pressure such that the greater the determined value of longitudinal acceleration is, the greater the determined target value of hydraulic brake pressure.

6. A system as claimed in claim 3, wherein the longitudinal acceleration determining system samples the detected values of depressed angle of the accelerator pedal in determining values of longitudinal acceleration.

7. A system as claimed in claim 3, wherein the controller adjusts the target value of hydraulic brake pressure such that the greater the vehicle speed is, the greater the target value of hydraulic brake pressure is.

8. A system as claimed in claim 3, wherein a system for detecting a vehicle weight of the motor vehicle is employed, and wherein the controller adjusts the target value of hydraulic brake pressure such that the greater the detected vehicle weight is, the less the target value of hydraulic brake pressure is.

9. A system as claimed in claim 3, wherein there is employed a system for detecting coefficient of friction between the road surface and the tire of at least one wheel of the automotive vehicle, and wherein the controller adjusts the target value of hydraulic brake pressure such that the less the detected coefficient of friction is, the less the target value of hydraulic brake pressure is.

10. A system as claimed in claim 3, wherein a system for detecting road gradient is employed, and wherein the controller adjusts the target value of hydraulic brake pressure such that, in the case where the detected road gradient is positive, the greater the magnitude of detected road gradient is, the greater the target value of hydraulic brake pressure is, and, in the case where the detected road gradient is negative, the greater the magnitude of detected road gradient is, the less the target value of hydraulic brake pressure is.

11. A system as claimed in claim 3, wherein the powering system includes an engine and a transmission with various speed ratios between an input member driven by the engine and an output member drivingly coupled with at least one wheel of the vehicle, wherein there is employed a system for detecting a speed ratio of the transmission, and wherein the controller adjusts the target value of hydraulic brake pressure such that the less the detected speed ratio is, the less the target value of the hydraulic brake pressure is.

12. A system as claimed in claim 3, wherein the powering system includes an engine and a transmission with various speed ratios between an input member driven by the engine and an output member drivingly coupled with at least one wheel of the vehicle, wherein there is employed a system for detecting a speed ratio of the transmission, wherein the longitudinal acceleration determining system samples the detected values of depressed angle of the accelerator pedal and samples the detected value of speed ratio and calculates a product of depressed angle of the accelerator pedal and speed ratio in determining values of longitudinal acceleration.

13. A system as claimed in claim 3, wherein the controller uses the determined value of longitudinal acceleration and the determined value of vehicle speed to find a base value of the target value of the hydraulic brake pressure, and corrects the base value with a vehicle weight of the vehicle, a coefficient of friction between the road surface and the tire of at least one wheel of the vehicle, and a road gradient of the road in determining the target value of hydraulic brake pressure.

14. A system as claimed in claim 13, wherein the base value falls in a band between a maximum base value of hydraulic brake pressure and a minimum base value of hydraulic brake pressure.

15. A system as claimed in claim 3, wherein the longitudinal acceleration determining system samples the detected values of depressed angle of the accelerator pedal and samples the detected value of speed ratio of a transmission of the powering system and calculates a product of depressed angle of the accelerator pedal and speed ratio in determining values of longitudinal acceleration, and wherein the controller uses the calculated value of product and the determined value of vehicle speed to find a base value of the target value of the hydraulic brake pressure, and corrects the base value with a vehicle weight of the vehicle, a coefficient of friction between the road surface and the tire of at least one wheel of the vehicle, and a road gradient of the road in determining the target value of hydraulic brake pressure.

16. A system as claimed in claim 15, wherein the base value falls in a band between a maximum base value of hydraulic brake pressure and a minimum base value of hydraulic brake pressure.

17. A method for controlling a stand-by braking torque applied to an automotive vehicle under a condition of approaching or following an obstacle preceding the vehicle, the automotive vehicle having a powering system for applying a driving torque to the vehicle in response to an operator power demand through an accelerator pedal, the method comprising:

detecting a distance between the vehicle and the obstacle preceding the vehicle;

detecting an operation parameter indicative of vehicle speed of the automotive vehicle;

detecting a depressed angle of the accelerator pedal indicative of operator power demand;

determining a longitudinal acceleration to which the automotive vehicle is subject to;

applying braking toque to the vehicle in response to a brake signal;

determining whether or not an operator braking action to reduce the speed of the vehicle is imminent under a condition of approaching or following an obstacle preceding the vehicle based on the detected distance, the vehicle speed, and the operator power demand;

determining a target value of hydraulic brake pressure for stand-by braking torque based on the determined value of longitudinal acceleration before determination that the operator braking action is imminent;

determining the brake signal for the determined target value of hydraulic pressure; and

applying the determined brake signal upon determination that the operator braking action is imminent.

18. A system for controlling a stand-by braking torque applied to an automotive vehicle under a condition of approaching or following an obstacle preceding the vehicle, the automotive vehicle having a powering system for applying a driving torque to the vehicle in response to an operator power demand through an accelerator pedal, the system comprising:

means for detecting a distance between the vehicle and the obstacle preceding the vehicle;

means for detecting an operation parameter indicative of vehicle speed of the automotive vehicle;

means for detecting a depressed angle of the accelerator pedal indicative of operator power demand;

means for determining a longitudinal acceleration to which the automotive vehicle is subject to;

means for applying braking toque to the vehicle in response to a brake signal;

means for determining whether or not an operator braking action to reduce the speed of the vehicle is imminent under a condition of approaching or following an obstacle preceding the vehicle based on the detected distance, the vehicle speed, and the operator power demand;

means for determining a target value of hydraulic brake pressure for stand-by braking torque based on the determined value of longitudinal acceleration before determination that the operator braking action is imminent;

means for determining the brake signal for the determined target value of hydraulic pressure; and

means for applying the determined brake signal upon determination that the operator braking action is imminent.

19. An automotive vehicle having a powering system for applying a driving torque to the vehicle in response to an operator power demand through an accelerator pedal, the automotive vehicle comprising:

a detection system for detecting a distance between the vehicle and the obstacle preceding the vehicle;

a sensor for detecting an operation parameter indicative of vehicle speed of the automotive vehicle;

a sensor for detecting a depressed angle of the accelerator pedal indicative of operator power demand;

a system for determining a longitudinal acceleration to which the automotive vehicle is subject to;

a braking system for application of braking toque to the vehicle in response to a brake signal; and

a controller for determining whether or not an operator braking action to reduce the speed of the vehicle is imminent under a condition of approaching or following an obstacle preceding the vehicle based on the detected distance by the detection system, the vehicle speed, and the operator power demand, determining a target value of hydraulic brake pressure for stand-by braking torque based on the determined value of longitudinal acceleration before determination that the operator braking action is imminent, determining the brake signal for the determined target value of hydraulic pressure, and applying the determined brake signal to the braking system upon determination that the operator braking action is imminent.

20. A computer readable storage medium having information stored thereon representing instructions executable by a brake controller to control stand-by braking torque, the computer readable storage medium comprising:

instructions for determining a variable indicative of dynamic situation of the vehicle;

instructions for sampling the determined values of the dynamic situation indicative variable immediately before an operator braking action to reduce the speed of the vehicle is imminent;

instructions for establishing a parameter based on the sampled values of the dynamic situation indicative variable; and

instructions for using the established parameter to determine a target value of stand-by braking torque.