Vehicle driving support apparatus with target position arrival determination

• US 8,010,274 B2
• Filed: 12/29/2005
• Issued: 08/30/2011
• Est. Priority Date: 01/06/2005
• Status: Active Grant

• Current Assignee: Subaru Corp.
• Original Assignee: Fuji Heavy Industries Limited (Subaru Corp.)
• Inventors: Sawada, Shinji
• Primary Examiner(s): Black; Thomas G
• Assistant Examiner(s): Kong; Sze-Hon
• Application Number:
  US11/319,551
• Publication Number:
  US 20060149455A1
• Time in Patent Office: 2,070 Days
• Field of Search: 701/27, 701/94, 701/98, 701/116, 701/302, 701/23, 701/48, 701/93, 701/96, 701/117, 701/119, 701/330, 701/301
• US Class Current: 701/96
• 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 2720/106 Longitudinal acceleration
• CPC Class Codes: B60W 30/16 Control of distance between vehicles, e.g. keeping a distance to preceding vehicle

Abstract

In automatic following control in a travel control unit of a driving support apparatus, a prerequisite inter-vehicle distance to a front vehicle is set, a time to reaching this requisite inter-vehicle distance is set as a control target time, an estimated position of the front vehicle after the control target time elapses is computed, an acceleration from a present vehicle speed that will bring to a preset target inter-vehicle distance the inter-vehicle distance to the front vehicle at an own vehicle speed as of when the control target time elapses is computed as a target acceleration on the basis of the present inter-vehicle distance to the front vehicle and the estimated position of the front vehicle after the control target time elapses, and automatic braking control and automatic acceleration control are carried out to follow the front vehicle.

Claims

1. A vehicle driving support apparatus, comprising:

own vehicle travel information detecting means for detecting travel information of an own vehicle;

front vehicle information detecting means for recognizing a vehicle in front of the own vehicle and detecting information of the front vehicle;

control target time setting means for setting a time required to reach a target position (P1) set before the front vehicle as a control target time;

front vehicle estimated position computing means for computing an estimated position of the front vehicle as of when the control target time elapses;

target acceleration computing means for computing a target acceleration of the own vehicle on the basis of the estimated position of the front vehicle and a target inter-vehicle distance such that an inter-vehicle distance between the own vehicle and the front vehicle matches the target inter-vehicle distance when the control target time elapses; and

acceleration/deceleration control means for performing acceleration/deceleration control on the basis of the target acceleration

wherein the target inter-vehicle distance is computed based on the control target time and a speed of the own vehicle.

2. The vehicle driving support apparatus according to claim 1, wherein the control target time is computed from a present own vehicle speed, a present own vehicle acceleration, a present inter-vehicle distance to the front vehicle, and a requisite inter-vehicle distance.

3. The vehicle driving support apparatus according to claim 1, wherein when the present own vehicle acceleration is zero, the control target time is set as the time to reach the target position at the present own vehicle speed.

4. The vehicle driving support apparatus according to claim 1, wherein when it is deemed that the own vehicle at a present own vehicle acceleration and a present own vehicle speed cannot reach the target position, the control target time is set as the time needed to stop the own vehicle at the target position.

5. The vehicle driving support apparatus according to claim 1, wherein when the present inter-vehicle distance to the front vehicle is greater than the target inter-vehicle distance, the control target time is corrected so that the greater the inter-vehicle distance becomes the greater the target acceleration becomes.

6. The vehicle driving support apparatus according to claim 1, wherein when the absolute value of the speed of the own vehicle relative to the front vehicle is smaller than a preset threshold value, the control target time is corrected to be at a larger value than its uncorrected value.

7. The vehicle driving support apparatus according to claim 1, wherein when the absolute value of the difference between the present inter-vehicle distance to the front vehicle and the target inter-vehicle distance is smaller than a preset threshold value, the control target time is corrected to be at a larger value than its uncorrected value.

8. The vehicle driving support apparatus according to claim 1, further comprising:

control target time correcting means for correcting the control target time involving a first correction wherein the control target time is made longer when the absolute value of the speed of the own vehicle relative to the front vehicle is smaller than a first preset threshold value, and a second correction wherein the control target time is made longer when the absolute value of the difference between the present inter-vehicle distance to the front vehicle and the target inter-vehicle distance is smaller than a second preset threshold value, and wherein only one of the first correction and the second correction, which corrects the control target time shorter than the other one of the first correction and the second correction, is executed.

9. The vehicle driving support apparatus according to claim 1, further comprising:

estimated contact time computing means for computing an estimated contact time when the own vehicle is estimated to contact with the front vehicle on the basis of the present travel information of the own vehicle and the present front vehicle information,

wherein the control target time is corrected based on the estimated contact time.

10. The vehicle driving support apparatus according to claim 1, wherein the control target time is limited to be less than or equal to an estimated contact time when the own vehicle is estimated to contact with the front vehicle on the basis of the present travel information of the own vehicle and the present front vehicle information.

11. The vehicle driving support apparatus according to claim 1, wherein, when it is deemed that another front vehicle has cut in between the front vehicle and the own vehicle, the control target time is corrected to be longer than its uncorrected value.

12. The vehicle driving support apparatus according to claim 1, further comprising:

a throttle valve control device for controlling a throttle angle of a throttle valve; and

a throttle angle detector for detecting a throttle angle,

wherein when the target acceleration is greater than zero and less than a preset threshold value and the throttle angle is zero, the throttle valve control device keeps the throttle angle to be zero.

13. The vehicle driving support apparatus according to claim 1, wherein when the speed of the own vehicle relative to the front vehicle is smaller than a preset threshold value and greater than zero, the control target time is corrected to be at a larger value than its uncorrected value.