Vehicle traveling control system

• US 6,665,603 B2
• Filed: 11/30/2001
• Issued: 12/16/2003
• Est. Priority Date: 12/28/2000
• Status: Active Grant

• Current Assignee: Nissan Motor Co., Ltd.
• Original Assignee: Nissan Motor Co., Ltd.
• Inventors: Jindo, Tomio, Shimizu, Youji, Hirasago, Kiyomi
• Primary Examiner(s): LOUIS JACQUES, JACQUES H
• Application Number:
  US09/996,610
• Publication Number:
  US 20020087255A1
• Time in Patent Office: 746 Days
• Field of Search: 701/96, 701/93, 701/300, 701/301, 701/41, 701/36, 701/28, 701/117, 180/443, 180/168, 180/170, 340/903, 340/436, 340/901, 340/905, 340/936, 340/937, 340/435
• US Class Current: 701/96
• CPC Class Codes: B60K 31/0008 including means for detecting potential obstacles in vehicle path
• CPC Class Codes: B60T 2201/02 Active or adaptive cruise control system; Distance control
• CPC Class Codes: B60T 2201/08 Lane monitoring; Lane Keeping Systems
• CPC Class Codes: B60T 2201/082 using alarm actuation
• 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: B60T 8/17557 specially adapted for lane departure prevention road vehicle drive control systems for lane keeping otherwise than by controlling a particular sub-unit B60W30/12
• CPC Class Codes: B60T 8/17558 specially adapted for collision avoidance or collision mitigation road vehicle drive control systems for collision avoidance otherwise than by controlling a particular sub-unit B60W30/09
• CPC Class Codes: B62D 15/026 combined with automatic distance control, i.e. electronic tow bar

Abstract

A vehicle traveling control system is comprised of a following controller and a lane-keeping controller. The following controller controls an inter-vehicle distance between a host vehicle and a following object ahead of the host vehicle by controlling a vehicle speed on the basis of a detected inter-vehicle distance. The lane-keeping controller controls a steering control of the host vehicle so as to locate the host vehicle within a lane traveled by the host vehicle. A control condition of one of the following control and the steering control is changed according to the control condition of the other of the following control and the steering control.

Claims

1. A vehicle traveling control system of a host vehicle comprising:

a following controller executing a following control for controlling an inter-vehicle distance between the host vehicle and a following object ahead of the host vehicle; and

a lane-keeping controller coupled with the following controller, the lane-keeping controller executing a steering control for steering the host vehicle so as to locate the host vehicle within a lane traveled by the host vehicle;

wherein a control condition of one of the following control and the steering control is changed according to the control condition of the other of the following control and the steering control; and

wherein the following controller outputs a speed alarm when a deceleration control of the following control is unable to maintain a target inter-vehicle distance between the host vehicle and a preceding vehicle ahead of the host vehicle, and the lane-keeping controller outputs a lane-keeping alarm when there is a tendency to increase a rate of change of a displacement of the host vehicle relative to the lane.

2. The vehicle traveling control system as claimed in claim 1, wherein the following controller outputs a speed alarm when the following control is unable to maintain a target inter-vehicle distance, and the lane-keeping controller outputs a lane-keeping alarm when the steering control is unable to maintain a traveling of the host vehicle within the lane.

3. The vehicle traveling control system as claimed in claim 1, wherein the lane-keeping controller stops the steering control when the following controller outputs the speed alarm.

4. The vehicle traveling control system as claimed in claim 1, wherein the lane-keeping controller stops the steering control when the following controller outputs the speed alarm and when a relative speed between the host vehicle and a preceding object ahead of the host vehicle is greater than or equal to a predetermined value.

5. The vehicle traveling control system as claimed in claim 1, wherein when the lane-keeping controller was put in an operating condition before the following controller outputs the speed alarm, the lane-keeping controller is put in the operating condition after the following controller stops generating the speed alarm.

6. The vehicle traveling control system as claimed in claim 1, wherein the following controller prohibits a vehicle acceleration control of the following control when the lane-keeping controller outputs the lane-keeping alarm.

7. The vehicle traveling control system as claimed in claim 1, wherein the following controller executes a vehicle deceleration control of the following control when the lane-keeping controller outputs the lane-keeping alarm.

8. The vehicle traveling control system as claimed in claim 1, wherein the following controller executes a vehicle deceleration control of the following control so that a rate of change of a displacement of the host vehicle relative to the lane becomes smaller than a predetermined value when the lane-keeping controller outputs the lane-keeping alarm.

9. The vehicle traveling control system as claimed in claim 1, wherein when lane-keeping controller outputs the lane-keeping alarm, the lane-keeping controller calculates a target vehicle speed for decreasing the rate of change of the displacement of the host vehicle relative to the lane and sends the calculated target vehicle speed to the following controller, and the following controller executes the following control on the basis of the target vehicle speed sent from the lane-keeping controller.

10. A method of controlling a traveling of a host vehicle, comprising:

executing a following control for controlling an inter-vehicle distance between the host vehicle and a following object ahead of the host vehicle;

executing a steering control for steering the host vehicle so as to locate the host vehicle within a lane traveled by the host vehicle; and

changing a control condition of one of the following control and the steering control according to the control condition of the other of the following control and the steering control;

outputting a speed alarm when a deceleration control of the following control is unable to maintain a target inter-vehicle distance between the host vehicle and a preceding vehicle ahead of the host vehicle; and

outputting a lane-keeping alarm when there is a tendency to increase a rate of change of a displacement of the host vehicle relative to the lane.

11. A vehicle traveling control system comprising:

traveling speed control means for controlling a traveling speed of a host vehicle;

traveling direction control means for controlling a traveling direction of the host vehicle;

first anteceding means for anteceding the control executed by the traveling speed control means prior to the control executed by the traveling direction control means;

second anteceding means for anteceding the control executed by the traveling direction control means prior to the control by the traveling speed control means;

priority determining means for determining a priority between the first anteceding means and the second anteceding means according to a traveling condition of the host vehicle; and

priority executing means for executing one of the first anteceding means and the second anteceding means according to the determination of the priority determining means.

12. A vehicle traveling control system comprising:

inter-vehicle distance control means for executing a following control for controlling an inter-vehicle distance between a host vehicle and a following object ahead of the host vehicle;

lane-keeping control means for executing a steering operation so as to locate the host vehicle within a lane;

cooperative control means for changing a control condition of one of the inter-vehicle distance control means and the lane-keeping control means according to a control condition of the other of the inter-vehicle distance control means and the lane-keeping control means;

speed alarm outputting means for outputting a speed alarm when a deceleration control of the following control is unable to maintain a target inter-vehicle distance between the host vehicle and a preceding vehicle ahead of the host vehicle; and

lane-keeping alarm outputting means for outputting a lane-keeping alarm when there is a tendency to increase a rate of change of a displacement of the host vehicle relative to the lane.