Adaptive cruise control system

• US 6,985,805 B2
• Filed: 06/11/2003
• Issued: 01/10/2006
• Est. Priority Date: 06/19/2002
• Status: Expired due to Fees

• Current Assignee: Nissan Motor Co., Ltd.
• Original Assignee: Nissan Motor Co., Ltd.
• Inventors: Sudou, Hideki, Hashizume, Takenori
• Primary Examiner(s): Chin, Gary
• Application Number:
  US10/458,619
• Publication Number:
  US 20030234127A1
• Time in Patent Office: 944 Days
• Field of Search: 701/93, 701/96, 701/301, 340/903, 340/435, 340/436, 180/169, 180/170, 123/352
• US Class Current: 701/96
• CPC Class Codes: B60K 31/0008 including means for detecting potential obstacles in vehicle path
• CPC Class Codes: B60K 31/0066 responsive to vehicle path curvature
• CPC Class Codes: B60W 2540/20 Direction indicator values
• CPC Class Codes: B60W 30/16 Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
• CPC Class Codes: B60W 30/18145 Cornering

Abstract

In an adaptive cruise control (ACC) system with object detection system interaction, capable of executing a vehicle speed holding mode, a constant-speed control mode, and a following control mode, a lane-change detector is provided to detect the presence or absence of a driver'"'"'s intention for a lane change by the host vehicle. An ACC unit executes the vehicle speed holding mode during which the host vehicle'"'"'s speed is restricted until such time that a predetermined holding time has expired from a time when the object detection system loses the preceding vehicle during the following control mode, and thereafter executes the constant-speed control mode during which the host vehicle'"'"'s speed is automatically accelerated up to a set speed. The ACC unit releases the vehicle speed holding mode, in presence of the driver'"'"'s intention for the lane change when the object detection system loses the preceding vehicle during the following control mode.

Claims

1. An adaptive cruise control system capable of executing at least a vehicle speed increase restriction control mode, an automatic accelerating control mode, and a following control mode, comprising:

an object detector that captures a preceding vehicle positioned ahead of a host vehicle;

a lane-change detector that detects the presence or absence of a driver'"'"'s intention for a lane change by the host vehicle;

an adaptive vehicle speed control unit executing the following control mode during which the host vehicle automatically follows the preceding vehicle, maintaining a host vehicle'"'"'s distance from the preceding vehicle at a desired inter-vehicle distance when the preceding vehicle exists ahead of the host vehicle;

the adaptive vehicle speed control unit executing the vehicle speed increase restriction control mode during which an increase in the host vehicle'"'"'s speed is restricted until such time that a time period corresponding to either of a predetermined distance and a predetermined holding time has expired from a time when the object detector loses the preceding vehicle during the following control mode, and thereafter executing the automatic accelerating control mode during which the host vehicle'"'"'s speed is automatically accelerated up to a set speed;

the adaptive vehicle speed control unit comprising a preceding-vehicle candidate detection section that detects a vehicle positioned in either of left and right traffic lanes corresponding to a direction of the lane change based on the driver'"'"'s intention as a candidate for a next preceding vehicle after the lane change by the host vehicle, and a vehicle speed increase restriction control releasing section that releases the vehicle speed increase restriction control mode, in presence of the driver'"'"'s intention for the lane change when the object detector loses the preceding vehicle during the following control mode and the preceding-vehicle candidate detection section detects no candidate for the next preceding vehicle.

2. The adaptive cruise control system as claimed in claim 1, further comprising:

a relative velocity detector that detects a relative velocity of the candidate for the next preceding vehicle with respect to the host vehicle; and

a host vehicle'"'"'s approach state determination section that determines a degree of the host vehicle'"'"'s approach to the candidate for the next preceding vehicle, based on the relative velocity;

wherein the adaptive vehicle speed control unit varies an execution time for the vehicle speed increase restriction control mode depending on the degree of the host vehicle'"'"'s approach to the candidate for the next preceding vehicle.

3. The adaptive cruise control system as claimed in claim 2, wherein:

the execution time for the vehicle speed increase restriction control mode increases, as the degree of the host vehicle'"'"'s approach to the candidate for the next preceding vehicle becomes greater so that the host vehicle approaches closer to the candidate for the next preceding vehicle.

4. The adaptive cruise control system as claimed in claim 1, further comprising:

a relative velocity detector that detects a relative velocity of the candidate for the next preceding vehicle with respect to the host vehicle;

a host vehicle'"'"'s approach state determination section that determines a degree of the host vehicle'"'"'s approach to the candidate for the next preceding vehicle, based on the relative velocity; and

a cornering state determination section that determines whether the host vehicle goes around a curved road;

wherein the adaptive vehicle speed control unit varies an execution time for the vehicle speed increase restriction control mode depending on the degree of the host vehicle'"'"'s approach to the candidate for the next preceding vehicle, and

wherein the adaptive vehicle speed control unit sets the execution time for the vehicle speed increase restriction control mode so that a first execution time produced when the host vehicle goes around the curved road is longer than a second execution time produced when the host vehicle is traveling on roads except the curved road.

5. The adaptive cruise control system as claimed in claim 4, wherein:

the cornering state determination section determines, based on a comparison result between a road curvature and a road-curvature threshold value, whether the host vehicle goes around the curved road; and

the cornering state determination section determines that the host vehicle goes around the curved road, when the road curvature is less than the road-curvature threshold value.

6. An adaptive cruise control system capable of executing at least a vehicle speed increase restriction control mode, an automatic accelerating control mode, and a following control mode, comprising:

an object detection means for capturing a preceding vehicle positioned ahead of a host vehicle;

a lane-change detection means for detecting the presence or absence of a driver'"'"'s intention for a lane change by the host vehicle;

an adaptive vehicle speed control unit executing the following control mode during which the host vehicle automatically follows the preceding vehicle, maintaining a host vehicle'"'"'s distance from the preceding vehicle at a desired inter-vehicle distance when the preceding vehicle exists ahead of the host vehicle;

the adaptive vehicle speed control unit executing the vehicle speed increase restriction control mode during which an increase in the host vehicle'"'"'s speed is restricted until such time that a time period corresponding to either of a predetermined distance and a predetermined holding time has expired from a time when the object detection means loses the preceding vehicle during the following control mode, and thereafter executing the automatic accelerating control mode during which the host vehicle'"'"'s speed is automatically accelerated up to a set speed;

the adaptive vehicle speed control unit comprising a preceding-vehicle candidate detection means for detecting a vehicle positioned in either of left and right traffic lanes corresponding to a direction of the lane change based on the driver'"'"'s intention as a candidate for a next preceding vehicle after the lane change by the host vehicle, and a vehicle speed increase restriction control releasing means for releasing the vehicle speed increase restriction control mode, in presence of the driver'"'"'s intention for the lane change when the object detection means loses the preceding vehicle during the following control mode and the preceding-vehicle candidate detection means detects no candidate for the next preceding vehicle.

7. An adaptive cruise control system capable of executing at least a vehicle speed holding mode, a constant-speed control mode, and a following control mode, comprising:

an object detector that captures a preceding vehicle positioned ahead of a host vehicle;

a lane-change detector that detects the presence or absence of a driver'"'"'s intention for a lane change by the host vehicle;

an adaptive vehicle speed control unit electronically connected to the object detector and the lane-change detector for executing the following control mode during which the host vehicle automatically follows the preceding vehicle, maintaining a host vehicle'"'"'s distance from the preceding vehicle at a desired inter-vehicle distance when the preceding vehicle exists ahead of the host vehicle;

the adaptive vehicle speed control unit executing the vehicle speed holding mode during which the host vehicle'"'"'s speed is restricted until such time that a time period corresponding to either of a predetermined distance and a predetermined holding time has expired from a time when the object detector loses the preceding vehicle during the following control mode, and thereafter executing the constant-speed control mode during which the host vehicle'"'"'s speed is automatically accelerated up to a set speed, manually set by a man-machine interface; and

the adaptive vehicle speed control unit initiating the constant-speed control mode while inhibiting the vehicle speed holding mode, in presence of the driver'"'"'s intention for the lane change when the object detector loses the preceding vehicle during the following control mode;

the adaptive vehicle speed control unit comprising a preceding-vehicle candidate detection section that detects a vehicle positioned in either of left and right traffic lanes corresponding to a direction of the lane change based on the driver'"'"'s intention as a candidate for a next preceding vehicle after the lane change by the host vehicle; and

the adaptive vehicle speed control unit continuously executing the following control mode while releasing the vehicle speed holding mode, in presence of the driver'"'"'s intention for the lane change when the object detector loses the preceding vehicle during the following control mode and the preceding-vehicle candidate detection section detects no candidate for the next preceding vehicle.

8. The adaptive cruise control system as claimed in claim 7, further comprising:

a relative velocity detector that detects a relative velocity of the candidate for the next preceding vehicle with respect to the host vehicle; and

a host vehicle'"'"'s approach state determination section that determines a degree of the host vehicle'"'"'s approach to the candidate for the next preceding vehicle, based on the relative velocity;

wherein the adaptive vehicle speed control unit varies an execution time for the vehicle speed holding mode depending on the degree of the host vehicle'"'"'s approach to the candidate for the next preceding vehicle.

9. The adaptive cruise control system as claimed in claim 8, wherein:

the execution time for the vehicle speed holding mode increases, as the degree of the host vehicle'"'"'s approach to the candidate for the next preceding vehicle becomes greater so that the host vehicle approaches closer to the candidate for the next preceding vehicle.

10. The adaptive cruise control system as claimed in claim 7, further comprising:

a relative velocity detector that detects a relative velocity of the candidate for the next preceding vehicle with respect to the host vehicle;

a host vehicle'"'"'s approach state determination section that determines a degree of the host vehicle'"'"'s approach to the candidate for the next preceding vehicle, based on the relative velocity; and

a cornering state determination section that determines whether the host vehicle goes around a curved road;

wherein the adaptive vehicle speed control unit varies an execution time for the vehicle speed holding mode depending on the degree of the host vehicle'"'"'s approach to the candidate for the next preceding vehicle, and

wherein the adaptive vehicle speed control unit sets the execution time for the vehicle speed holding mode so that a first execution time produced when the host vehicle goes around the curved road is longer than a second execution time produced when the host vehicle is traveling on roads except the curved road.

11. The adaptive cruise control system as claimed in claim 10, wherein:

the cornering state determination section determines, based on a comparison result between a road curvature and a road-curvature threshold value, whether the host vehicle goes around the curved road; and

the cornering state determination section determines that the host vehicle goes around the curved road, when the road curvature is less than the road-curvature threshold value.

12. A method of controlling a host vehicle'"'"'s speed by either of a vehicle speed holding mode, a constant-speed control mode, and a following control mode, the method comprising:

capturing a preceding vehicle positioned ahead of a host vehicle;

detecting the presence or absence of a driver'"'"'s intention for a lane change by the host vehicle;

executing the following control mode during which the host vehicle automatically follows the preceding vehicle, maintaining a host vehicle'"'"'s distance from the preceding vehicle at a desired inter-vehicle distance when the preceding vehicle exists ahead of the host vehicle;

executing the vehicle speed holding mode during which the host vehicle'"'"'s speed is restricted until such time that a time period corresponding to either of a predetermined distance and a predetermined holding time has expired from a time when the preceding vehicle is lost during the following control mode, and thereafter executing the constant-speed control mode during which the host vehicle'"'"'s speed is automatically accelerated up to a set speed, manually set by a man-machine interface;

initiating the constant-speed control mode while inhibiting the vehicle speed holding mode, in presence of the driver'"'"'s intention for the lane change when the preceding vehicle is lost during the following control mode;

detecting a vehicle positioned in either of left and right traffic lanes corresponding to a direction of the lane change based on the driver'"'"'s intention as a candidate for a next preceding vehicle after the lane change by the host vehicle; and

continuously executing the following control mode while releasing the vehicle speed holding mode, in presence of the driver'"'"'s intention for the lane change when the preceding vehicle is lost during the following control mode and there is no detection of the candidate for the next preceding vehicle.