Method and apparatus for target vehicle following control for adaptive cruise control
First Claim
1. Method for controlling vehicle speed in a host vehicle operating with a target vehicle following control system in relation to a target vehicle, the method comprising:
- monitoring a range between the host vehicle and the target vehicle;
monitoring a speed of the host vehicle;
determining a rate of change of the range between the host vehicle and the target vehicle;
determining a speed of the target vehicle based upon the rate of change of the range between the host vehicle and the target vehicle and the speed of the host vehicle;
determining a control region of the host vehicle by;
comparing the range between the host vehicle and the target vehicle and the speed of the host vehicle to a simple sliding surface line defining a minimum range between the host vehicle and the target vehicle based upon a time headway; and
comparing the range between the host vehicle and the target vehicle and the speed of the host vehicle to a modified sliding surface line defined by an increasing margin to the simple sliding surface line as the speed of the host vehicle increases;
determining an acceleration command based upon the determined control region; and
utilizing the acceleration command to control operation of the vehicle comprising one of,utilizing the acceleration command to change the speed of the vehicle until the speed of the vehicle is coincident with the simple sliding surface line and subsequently changing the speed of the vehicle upon the simple sliding surface line until the speed of the target vehicle is reached, andutilizing the acceleration command to change the speed of the vehicle until the speed of the vehicle is coincident with the modified sliding surface line and subsequently changing the speed of the vehicle upon the modified sliding surface line until the simple sliding surface line is reached and subsequently changing the speed of the vehicle upon the simple sliding surface line until the speed of the target vehicle is reached.
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0 Petitions
Accused Products
Abstract
A host vehicle'"'"'s speed is controlled with a target vehicle following control system when following a target vehicle. The target vehicle following control system monitors a range with respect to a target vehicle and a speed of the host vehicle. The target vehicle following device determines operation of the vehicle based upon a control region by comparing the range and the speed of the host vehicle to a simple sliding surface, which defines a minimum range between the host vehicle and target vehicle and a modified sliding surface, which increases the margin to the simple sliding surface as the speed of the host vehicle increases. The host vehicle has an acceleration determined based on the control region and is used to control operation of the host vehicle.
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Citations
19 Claims
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1. Method for controlling vehicle speed in a host vehicle operating with a target vehicle following control system in relation to a target vehicle, the method comprising:
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monitoring a range between the host vehicle and the target vehicle; monitoring a speed of the host vehicle; determining a rate of change of the range between the host vehicle and the target vehicle; determining a speed of the target vehicle based upon the rate of change of the range between the host vehicle and the target vehicle and the speed of the host vehicle; determining a control region of the host vehicle by; comparing the range between the host vehicle and the target vehicle and the speed of the host vehicle to a simple sliding surface line defining a minimum range between the host vehicle and the target vehicle based upon a time headway; and comparing the range between the host vehicle and the target vehicle and the speed of the host vehicle to a modified sliding surface line defined by an increasing margin to the simple sliding surface line as the speed of the host vehicle increases; determining an acceleration command based upon the determined control region; and utilizing the acceleration command to control operation of the vehicle comprising one of, utilizing the acceleration command to change the speed of the vehicle until the speed of the vehicle is coincident with the simple sliding surface line and subsequently changing the speed of the vehicle upon the simple sliding surface line until the speed of the target vehicle is reached, and utilizing the acceleration command to change the speed of the vehicle until the speed of the vehicle is coincident with the modified sliding surface line and subsequently changing the speed of the vehicle upon the modified sliding surface line until the simple sliding surface line is reached and subsequently changing the speed of the vehicle upon the simple sliding surface line until the speed of the target vehicle is reached. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14)
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15. Method for controlling vehicle speed in a host vehicle operating with adaptive cruise control in relation to a target vehicle, the method comprising:
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monitoring a range between the host vehicle and the target vehicle; monitoring a speed of the host vehicle; determining a rate of change of the range between the host vehicle and the target vehicle; determining a speed of the target vehicle based upon the rate of change of the range between the host vehicle and the target vehicle and the speed of the host vehicle; defining a simple sliding surface line determined by a desired range between the host vehicle and the target vehicle based upon a time headway; defining a modified sliding surface line adjacent to the simple sliding surface line, defined by an increasing difference between the simple sliding surface line and the modified sliding surface line indicating an increased range buffer between the host vehicle and the target vehicle as the speed of the host vehicle increases; determining a control region of the host vehicle by comparing the range between the host vehicle and the target vehicle and the speed of the host vehicle to the simple sliding surface line and modified sliding surface line; determining an acceleration command based upon the determined control region; and utilizing the acceleration command to control operation of the vehicle comprising one of, utilizing the acceleration command to change the speed of the vehicle until the speed of the vehicle is coincident with the simple sliding surface line and subsequently changing the speed of the vehicle upon the simple sliding surface line until the speed of the target vehicle is reached, and utilizing the acceleration command to change the speed of the vehicle until the speed of the vehicle is coincident with the modified sliding surface line and subsequently changing the speed of the vehicle upon the modified sliding surface line until the simple sliding surface line is reached and subsequently changing the speed of the vehicle upon the simple sliding surface line until the speed of the target vehicle is reached.
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16. Apparatus for controlling vehicle speed in a host vehicle based upon a tracked target vehicle in front of the host vehicle, the apparatus comprising:
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a sensor monitoring a speed of the host vehicle; a sensing device monitoring a range between the host vehicle and the target vehicle monitoring a rate of change of the range between the host vehicle and the target vehicle; a target object following control module; monitoring the sensor; monitoring the sensing device; determining a speed of the target vehicle based upon the rate of change of the range between the host vehicle and the target vehicle and the speed of the host vehicle; determining a control region of the host vehicle by comparing the range between the host vehicle and the target vehicle and the speed of the host vehicle to a simple sliding surface line and a modified sliding surface line; and generating an acceleration command based upon the determined control region comprising one of, generating the acceleration command to change the speed of the vehicle until the speed of the vehicle is coincident with the simple sliding surface line and subsequently changing the speed of the vehicle upon the simple sliding surface line until the speed of the target vehicle is reached, and generating the acceleration command to change the speed of the vehicle until the speed of the vehicle is coincident with the modified sliding surface line and subsequently changing the speed of the vehicle upon the modified sliding surface line until the simple sliding surface line is reached and subsequently changing the speed of the vehicle upon the simple sliding surface line until the speed of the target vehicle is reached; wherein the simple sliding surface line is determined by a desired range between the host vehicle and the target vehicle based upon a time headway; wherein the modified sliding surface line is adjacent to the simple sliding surface line and is defined by an increasing headway as the speed of the host vehicle increases; wherein the modified sliding surface line and the simple sliding surface line are coincident at a threshold speed; and wherein three control regions are defined by a region between the sliding surfaces lines, regions to either side of the sliding surfaces lines, and a region wherein the range between the host vehicle and the target vehicle are less than a threshold range based upon the threshold speed. - View Dependent Claims (17, 18, 19)
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Specification