Method and apparatus for correcting a curve radius

• US 6,640,182 B2
• Filed: 05/15/2002
• Issued: 10/28/2003
• Est. Priority Date: 05/16/2001
• Status: Expired due to Fees

• Current Assignee: Fujitsu Ten Limited (DENSO Corporation)
• Original Assignee: Fujitsu Ten Limited (DENSO Corporation)
• Inventors: Matsui, Sadanori
• Primary Examiner(s): Cuchlinski, Jr., William A.
• Assistant Examiner(s): Hernandez, Olga
• Application Number:
  US10/146,172
• Publication Number:
  US 20020177936A1
• Time in Patent Office: 531 Days
• Field of Search: 701/96, 701/93, 701/210, 701/25, 701/41, 701/301, 340/901, 340/905
• US Class Current: 701/96
• CPC Class Codes: G01S 13/931 of land vehicles
• CPC Class Codes: G01S 2013/932 using own vehicle data, e.g. ground speed, steering wheel direction
• CPC Class Codes: G01S 2013/9325 for inter-vehicle distance regulation, e.g. navigating in platoons
• CPC Class Codes: G05D 1/0257 using a radar radar systems designed for anti-collision purposes between land vehicles or between land vehicle and fixed obstacles G01S13/931
• CPC Class Codes: G05D 1/0272 comprising means for registering the travel distance, e.g. revolutions of wheels measuring distance traversed on the ground by vehicles, e.g. using odometers G01C22/00

Abstract

The present invention relates to traveling control for a vehicle and, in particular, to a method and apparatus, in an adaptive cruise control (ACC) system for a vehicle, for correcting the curve radius of the lane on which the vehicle is traveling, wherein the curve radius is corrected accurately and speedily based on the information about the movement of a leading vehicle detected with a radar, etc. The apparatus, in the ACC system, for correcting the curve radius comprises a means of computing a virtual curve radius based on the information about the horizontal movement of the leading vehicle, a means of computing the horizontal relative position for the curve radius obtained by the ACC system and the horizontal relative position for the virtual curve radius, and a means for correcting the curve radius based on the value obtained by synthesizing the computed horizontal relative positions.

Claims

1. A method for correcting the curve radius of the lane on which the vehicle is traveling, the method comprising:

detecting the curve radius by a curve detection sensor;

determining whether the curve radius is wrong based on the first detected position and the present position of a leading vehicle;

computing a virtual curve radius based on the detected information about the leading vehicle; and

synthesizing the horizontal relative position for the curve radius and the horizontal relative position for the virtual curve radius.

2. The method of claim 1 further comprising assigning a weight corresponding to the distance between said vehicle and said leading vehicle to the detected horizontal relative positions.

3. The method of claim 1, wherein said curve radius is not corrected when said curve radius is a predetermined value or more.

4. The method of claim 1, wherein said curve radius is not corrected when the relative speed between said vehicle and said leading vehicle is a predetermined value or less.

5. The method of claim 1, wherein said curve radius is not corrected when said leading vehicle has not moved for a predetermined distance in the direction of said vehicle from the detected position of said leading vehicle.

6. The method of claim 1, wherein said curve radius is not corrected when said leading vehicle has moved out of the area having a predetermined length in the horizontal direction from the detected position of said leading vehicle.

8. The method of claim 2, wherein said curve radius is not corrected when the relative speed between said vehicle and said leading vehicle is a predetermined value or less.

9. The method of claim 2, wherein said curve radius is not corrected when said leading vehicle has not moved for a predetermined distance in the direction of said vehicle from the detected position of said leading vehicle.

10. The method of claim 2, wherein said curve radius is not corrected when said leading vehicle has moved out of the area having a,predetermined length in the horizontal direction from the detected position of said leading vehicle.

7. An apparatus for correcting the curve radius of the lane on which the vehicle is traveling, comprising:

a means of detecting the curve radius by a curve detection sensor;

a means of determining whether the curve radius is wrong based on the first detected position and the present position of a leading vehicle;

a means of computing a virtual curve radius based on the detected information about the leading vehicle; and

a means of synthesizing the horizontal relative position for the curve radius and the horizontal relative position for the virtual curve radius.

11. An apparatus, in an adaptive cruise control (ACC) system for the vehicle, for correcting the curve radius of the lane on which the vehicle is traveling, the apparatus comprising:

a means of determining whether the curve radius is wrong based on the first detected position and the present position of a leading vehicle;

a means of computing a virtual curve radius based on the detected information about the leading vehicle; and

a means of synthesizing the horizontal relative position for the curve radius obtained by the ACC system and the horizontal relative position for the virtual curve radius obtained based on the position of the leading vehicle.

12. The apparatus of claim 11 further comprising a means of assigning a weight corresponding to the distance between said vehicle and said leading vehicle to the detected horizontal relative positions.