Apparatus and method for controlling vehicular velocity of host vehicle to follow preceding vehicle running ahead of host vehicle
First Claim
1. An apparatus for controlling a vehicular velocity of a host vehicle to follow a preceding vehicle which is running ahead of the host vehicle, comprising:
- a vehicular velocity detecting section that detects the vehicular velocity of the host vehicle;
an inter-vehicle distance detecting section that detects an inter-vehicle distance of the host vehicle to the preceding vehicle;
a gradient variation detecting section that detects a variation of a gradient of a road segment forward to the host vehicle on which the host vehicle is to run;
a control target switching section that switches a control target between an inter-vehicle distance control in which the vehicular velocity of the host vehicle is controlled to make a detected value of the inter-vehicle distance substantially equal to a target value of the inter-vehicle distance and a vehicular velocity control in which the vehicular velocity of the host vehicle is controlled to make a detected value of the vehicular velocity of the host vehicle substantially equal to a target value of the vehicular velocity of the host vehicle according to a result of detection of the variation of the gradient of the road segment by the gradient variation detecting section;
a target vehicular driving force calculating section that calculates a target value of a vehicular driving force to be exerted by the host vehicle to achieve the control target; and
a vehicular driving force controlling section that controls the vehicular driving force on the basis of the calculated target value of the vehicular driving force of the host vehicle.
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Accused Products
Abstract
In method and apparatus for controlling a vehicular velocity of a host vehicle to follow a preceding vehicle which is running ahead of the host vehicle, a control target is switched between an inter-vehicle distance control in which the vehicular velocity of the host vehicle is controlled to make a detected value of the inter-vehicle distance substantially equal to a target value of the inter-vehicle distance and a vehicular velocity control in which the vehicular velocity of the host vehicle is controlled to make a detected value of the vehicular velocity of the host vehicle substantially equal to a target value of the vehicular velocity of the host vehicle according to a result of a detection of a variation of a gradient of a road segment which is forward of the vehicle and on which the host vehicle is to run.
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Citations
23 Claims
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1. An apparatus for controlling a vehicular velocity of a host vehicle to follow a preceding vehicle which is running ahead of the host vehicle, comprising:
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a vehicular velocity detecting section that detects the vehicular velocity of the host vehicle;
an inter-vehicle distance detecting section that detects an inter-vehicle distance of the host vehicle to the preceding vehicle;
a gradient variation detecting section that detects a variation of a gradient of a road segment forward to the host vehicle on which the host vehicle is to run;
a control target switching section that switches a control target between an inter-vehicle distance control in which the vehicular velocity of the host vehicle is controlled to make a detected value of the inter-vehicle distance substantially equal to a target value of the inter-vehicle distance and a vehicular velocity control in which the vehicular velocity of the host vehicle is controlled to make a detected value of the vehicular velocity of the host vehicle substantially equal to a target value of the vehicular velocity of the host vehicle according to a result of detection of the variation of the gradient of the road segment by the gradient variation detecting section;
a target vehicular driving force calculating section that calculates a target value of a vehicular driving force to be exerted by the host vehicle to achieve the control target; and
a vehicular driving force controlling section that controls the vehicular driving force on the basis of the calculated target value of the vehicular driving force of the host vehicle. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. An apparatus for controlling a vehicular velocity of a host vehicle to follow a preceding vehicle which is running ahead of the host vehicle, comprising:
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a vehicular velocity detecting section that detects the vehicular velocity of the host vehicle;
an inter-vehicle distance detecting section that detects an inter-vehicle distance of the host vehicle to the preceding vehicle;
a gradient variation detecting section that detects a variation of a gradient of a road segment forward to the host vehicle on which the host vehicle is to run;
a control target switching section that switches a control target between an inter-vehicle distance control in which the vehicular velocity of the host vehicle is controlled to make a detected value of the inter-vehicle distance substantially equal to a target value of the inter-vehicle distance and a vehicular velocity control in which the vehicular velocity of the host vehicle is controlled to make a detected value of the vehicular velocity of the host vehicle substantially equal to a target value of the vehicular velocity of the host vehicle according to a result of detection of the variation of the gradient of the road segment by the gradient variation detecting section;
a target vehicular driving force calculating section that calculates a target value of a vehicular driving force to be exerted by the host vehicle to achieve the control target; and
a vehicular driving force controlling section that controls the vehicular driving force on the basis of the calculated target value of the vehicular driving force of the host vehicle, wherein the control target switching section switches the control target from the inter-vehicle distance control to the vehicular velocity control when the preceding vehicle has reached a spot which is a predetermined distance ahead of another spot at which the gradient of the road segment is varied.
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11. An apparatus for controlling a vehicular velocity of a host vehicle to follow a preceding vehicle which is running ahead of the host vehicle, comprising:
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a vehicular velocity detecting section that detects the vehicular velocity of the host vehicle;
an inter-vehicle distance detecting section that detects an inter-vehicle distance of the host vehicle to the preceding vehicle;
a gradient variation detecting section that detects a variation of a gradient of a road segment forward to the host vehicle on which the host vehicle is to run;
a control target switching section that switches a control target between an inter-vehicle distance control in which the vehicular velocity of the host vehicle is controlled to make a detected value of the inter-vehicle distance substantially equal to a target value of the inter-vehicle distance and a vehicular velocity control in which the vehicular velocity of the host vehicle is controlled to make a detected value of the vehicular velocity of the host vehicle substantially equal to a target value of the vehicular velocity of the host vehicle according to a result of detection of the variation of the gradient of the road segment by the gradient variation detecting section;
a target vehicular driving force calculating section that calculates a target value of a vehicular driving force to be exerted by the host vehicle to achieve the control target;
a target vehicular velocity setting section that sets the target value of the vehicular velocity of the host vehicle during the vehicular velocity control to any one of the detected value of the vehicular velocity of the host vehicle, a vehicular velocity of the preceding vehicle, and an intermediate value between the vehicular velocities of the host vehicle and the preceding vehicle according to vehicular velocity variation rates of both of the host vehicle and the preceding vehicle when the control target switching section switches from the inter-vehicle distance control to the vehicular velocity control; and
a vehicular driving force controlling section that controls the vehicular driving force on the basis of the calculated target value of the vehicular driving force of the host vehicle, wherein the target vehicular velocity setting section sets the target value of the vehicular velocity of the host vehicle in such a manner that, when the road segment is an ascending slope, the target value of the vehicular velocity of the host vehicle is reduced and, when the road segment is a descending slope, the target value of the vehicular velocity of the host vehicle is increased.
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12. A method for controlling a vehicular velocity of a host vehicle to follow a preceding vehicle which is running ahead of the host vehicle, comprising:
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detecting the vehicular velocity of the host vehicle;
detecting an inter-vehicle distance of the host vehicle to the preceding vehicle;
detecting a variation of a gradient of a road segment forward to the host vehicle on which the host vehicle is to run;
switching a control target between an inter-vehicle distance control in which the vehicular velocity of the host vehicle is controlled to make a detected value of the inter-vehicle distance substantially equal to a target value of the inter-vehicle distance and a vehicular velocity control in which the vehicular velocity of the host vehicle is controlled to make a detected value of the vehicular velocity of the host vehicle substantially equal to a target value of the vehicular velocity of the host vehicle according to a result of detection of the variation of the gradient of the road segment;
calculating a target value of a vehicular driving force to be exerted by the host vehicle to achieve the control target; and
controlling the vehicular driving force on the basis of the calculated target value of the vehicular driving force of the host vehicle. - View Dependent Claims (13, 14, 15, 16, 17, 18)
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19. A method for controlling a vehicular velocity of a host vehicle to follow a preceding vehicle which is running ahead of the host vehicle, comprising:
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detecting the vehicular velocity of the host vehicle;
detecting an inter-vehicle distance of the host vehicle to the preceding vehicle;
detecting a variation of a gradient of a road segment forward to the host vehicle on which the host vehicle is to run;
switching a control target between an inter-vehicle distance control in which the vehicular velocity of the host vehicle is controlled to make a detected value of the inter-vehicle distance substantially equal to a target value of the inter-vehicle distance and a vehicular velocity control in which the vehicular velocity of the host vehicle is controlled to make a detected value of the vehicular velocity of the host vehicle substantially equal to a target value of the vehicular velocity of the host vehicle according to a result of detection of the variation of the gradient of the road segment;
calculating a target value of a vehicular driving force to be exerted by the host vehicle to achieve the control target; and
controlling the vehicular driving force on the basis of the calculated target value of the vehicular driving force of the host vehicle, wherein the control target is switched from the inter-vehicle distance control to the vehicular velocity control when the preceding vehicle has reached a spot which is a predetermined distance ahead of another spot at which the gradient of the road segment is varied.
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20. An apparatus for controlling a vehicular velocity of a host vehicle to follow a preceding vehicle which is running ahead of the host vehicle, comprising:
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vehicular velocity detecting means for detecting the vehicular velocity of the host vehicle;
inter-vehicle distance detecting means for detecting an inter-vehicle distance of the host vehicle to the preceding vehicle;
gradient variation detecting means for detecting a variation of a gradient of a road segment forward to the host vehicle on which the host vehicle is to run;
control target switching means for switching a control target between an inter-vehicle distance control in which the vehicular velocity of the host vehicle is controlled to make a detected value of the inter-vehicle distance substantially equal to a target value of the inter-vehicle distance and a vehicular velocity control in which the vehicular velocity of the host vehicle is controlled to make a detected value of the vehicular velocity of the host vehicle substantially equal to a target value of the vehicular velocity of the host vehicle according to a result of detection of the variation of the gradient of the road segment by the gradient variation detecting means;
target vehicular driving force calculating means for calculating a target value of a vehicular driving force to be exerted by the host vehicle to achieve a content of the control target; and
vehicular driving force controlling means for controlling the vehicular driving force on the basis of the calculated target value of the vehicular driving force of the host vehicle.
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21. An apparatus for controlling a vehicular velocity of a host vehicle to follow a preceding vehicle which is running ahead of the host vehicle, comprising:
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vehicular velocity detecting means for detecting the vehicular velocity of the host vehicle;
inter-vehicle distance detecting means for detecting an inter-vehicle distance of the host vehicle to the preceding vehicle;
gradient variation detecting means for detecting a variation of a gradient of a road segment forward to the host vehicle on which the host vehicle is to run;
control target switching means for switching a control target between an inter-vehicle distance control in which the vehicular velocity of the host vehicle is controlled to make a detected value of the inter-vehicle distance substantially equal to a target value of the inter-vehicle distance and a vehicular velocity control in which the vehicular velocity of the host vehicle is controlled to make a detected value of the vehicular velocity of the host vehicle substantially equal to a target value of the vehicular velocity of the host vehicle according to a result of detection of the variation of the gradient of the road segment by the gradient variation detecting means;
target vehicular driving force calculating means for calculating a target value of a vehicular driving force to be exerted by the host vehicle to achieve the control target; and
vehicular driving force controlling means for controlling the vehicular driving force on the basis of the calculated target value of the vehicular driving force of the host vehicle, wherein the control target switching means switches the control target from the inter-vehicle distance control to the vehicular velocity control when the preceding vehicle has reached a spot which is a predetermined distance ahead of another spot at which the gradient of the road segment is varied.
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22. A cruise control device for a vehicle, comprising:
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a controller configured to adjust a velocity of a host vehicle at least based on a road gradient of a road segment preceding the vehicle, the controller switching between at least an inter-vehicle distance control mode and a vehicle velocity control mode, wherein a target velocity is reduced when the road gradient has an ascending gradient, and wherein the target velocity is increased when the road gradient has a descending gradient.
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23. A cruise control device for a vehicle, comprising:
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a controller configured to adjust a velocity of a host vehicle at least based on a road gradient of a road segment preceding the vehicle, the controller switching between at least an inter-vehicle distance control mode and a vehicle velocity control mode, wherein the controller switches from the vehicle velocity control mode to the inter-vehicle distance control mode at least when a vehicular velocity error over the road segment is equal to or lower than a predetermined value for a predetermined amount of time.
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Specification