Adaptive cruise control system for vehicle using V2V communication and control method thereof

• US 9,333,971 B1
• Filed: 01/22/2015
• Issued: 05/10/2016
• Est. Priority Date: 10/29/2014
• Status: Active Grant

• Current Assignee: Hyundai Mobis Co., Ltd.
• Original Assignee: Hyundai Mobis Co., Ltd.
• Inventors: Han, Sang Oh
• Primary Examiner(s): Black, Thomas G
• Assistant Examiner(s): PAIGE, TYLER D
• Application Number:
  US14/602,314
• Publication Number:
  US 20160121890A1
• Time in Patent Office: 474 Days
• Field of Search: 701/93, 701/96, 701/301
• US Class Current: 1/1
• CPC Class Codes: B60W 2050/0075 Automatic parameter input, automatic initialising or calibrating means
• CPC Class Codes: B60W 2552/40 Coefficient of friction
• CPC Class Codes: B60W 2556/65 Data transmitted between vehicles
• CPC Class Codes: B60W 2754/30 Longitudinal distance
• CPC Class Codes: B60W 30/16 Control of distance between vehicles, e.g. keeping a distance to preceding vehicle

Abstract

Disclosed is an adaptive cruise control system using v2v communication and a control method thereof. The adaptive cruise control system for a vehicle using V2V communication includes: a relative distance/speed input unit receiving a relative distance and a relative speed between a recognized preceding vehicle and an own vehicle; a communication unit receiving road surface information from the recognized preceding vehicle; a constant changing unit comparing the received road surface information with road surface information received at a previous time and changing a V2V distance constant when the road surface information is changed in accordance with a result of the comparison; a target V2V distance calculation unit calculating a target V2V distance between the recognized preceding vehicle and the own vehicle based on the changed V2V distance constant; and a target acceleration calculation unit calculating the target acceleration of the own vehicle by using the received road surface information.

Claims

1. An adaptive cruise control system for a vehicle using vehicle-to-vehicle (V2V) communication, the system comprising:

a relative distance/speed input receiver configure to receive a relative distance and a relative speed between a recognized preceding vehicle and an own vehicle;

a communication receiver configure to receive road surface information from the recognized preceding vehicle;

a constant changer configured to compare the received road surface information with road surface information received at a previous time and change a V2V distance constant when the road surface information is changed in accordance with a result of the comparison;

a target V2V distance calculator configured to calculate a target V2V distance between the recognized preceding vehicle and the own vehicle based on a summation of a minimum V2V distance and a product of a V2V distance constant; and

a target acceleration calculator configured to calculate the target acceleration of the own vehicle by using the received road surface information.

2. The system of claim 1, wherein the road surface information includes a road surface friction coefficient calculated in the preceding vehicle from a relationship between acting force that acts on a tire of the recognized preceding vehicle on a vertical axis and acting force that acts on the tire on a horizontal axis.

3. The system of claim 1, wherein the relative distance/speed input receiver selects an object positioned within a shortest distance among one or more objects recognized by a distance sensing means mounted on the own vehicle as the preceding vehicle, and receives a relative distance and a relative speed between the selected preceding vehicle and the own vehicle.

4. The system of claim 1, wherein the constant changer outputs a V2V distance constant mapped to the road surface friction coefficient by using predetermined relationship information between a road surface friction coefficient and the V2V distance constant.

5. The system of claim 1, wherein the target V2V distance calculator calculates a target V2V distance of the own vehicle by using Equation 1 given below:

C_des=τ

v_x+C₀ 

 

[Equation 1]

Where, the C_des represents a target V2V distance, τ

represents a V2V distance constant, and C₀ represents a minimum V2V distance.

6. The system of claim 1, wherein the target acceleration calculator calculates a target acceleration of the own vehicle by using Equation 2 given below:

a_des=−

k₁(C_des−

c)−

k₂(v_τ

−

v_s) 

 

[Equation 2]

Where, the a_des represents the target acceleration, the k₁, k₂ represents a gain value depending on the road surface friction coefficient, C_des represents the target V2V distance, c represents a current V2V distance, v_τ

represents the speed of the preceding vehicle, and v_s represents the speed of the own vehicle.

7. The system of claim 1, further comprising:

a vehicle control calculator configured to calculate an error between the target acceleration and a current acceleration and to calculate a control value for compensating for the acceleration error.

8. The system of claim 1, further comprising:

a display configured to display the changed content of the road surface information.

9. An adaptive cruise control method for a vehicle using a vehicle-to-vehicle (V2V) communication, the method comprising:

(a) receiving a relative distance and a relative speed between a recognized preceding vehicle and an own vehicle;

(b) receiving road surface information from the recognized preceding vehicle;

(c) comparing the received road surface information with road surface information received at a previous time and changing a V2V distance constant when the road surface information is changed in accordance with a result of the comparison;

(d) calculating a target V2V distance between the recognized preceding vehicle and the own vehicle based on a summation of a minimum V2V distance and a product of a V2V distance; and

(e) calculating the target acceleration of the own vehicle by using the received road surface information.

10. The method of claim 9, wherein step (a) includes selecting an object positioned within a shortest distance among one or more objects recognized by a distance sensing means mounted on the own vehicle as the preceding vehicle and receiving a relative distance and a relative speed between the selected preceding vehicle and the own vehicle.

11. The method of claim 9, wherein the road surface information includes a road surface friction coefficient calculated in the preceding vehicle from a relationship between acting force that acts on a tire of the recognized preceding vehicle on a vertical axis and acting force that acts on the tire on a horizontal axis.

12. The method of claim 9, wherein step (c) includes outputting a V2V distance constant mapped to the road surface friction coefficient by using predetermined relationship information between a road surface friction coefficient and the V2V distance constant.

13. The method of claim 9, wherein in step (d),

a target V2V distance of the own vehicle is calculated by using Equation 1 given below:

C_des=τ

v_x+C₀ 

 

[Equation 1]

Where, the C_des represents a target V2V distance, τ

represents a V2V distance constant, and C₀ represents a minimum V2V distance.

14. The method of claim 9, wherein in step (e),

a target acceleration of the own vehicle is calculated by using Equation 2 given below:

a_des=−

k₁(C_des−

c)−

k₂(v_τ

−

v_s) 

 

[Equation 2]

Where, the a_des represents the target acceleration, the k₁, k₂ represents a gain value depending on the road surface friction coefficient, C_des represents the target V2V distance, c represents a current V2V distance, v_τ

represents the speed of the preceding vehicle, and v_s represents the speed of the own vehicle.

15. The method of claim 9, further comprising:

(f) calculating an error between the target acceleration and a current acceleration and calculating a control value for compensating for the acceleration error.

16. The method of claim 9, further comprising:

(g) displaying the changed contents of the road surface information.