Cruise control system for determining object as target for cruise control

• US 9,481,369 B2
• Filed: 11/26/2007
• Issued: 11/01/2016
• Est. Priority Date: 11/27/2006
• Status: Active Grant

• Current Assignee: DENSO Corporation
• Original Assignee: DENSO Corporation
• Inventors: Oooka, Masao, Isogai, Akira
• Primary Examiner(s): MUSTAFA, IMRAN K
• Application Number:
  US11/986,702
• Publication Number:
  US 20080243351A1
• Time in Patent Office: 3,263 Days
• Field of Search: 701/96, 701/93
• US Class Current: 1/1
• CPC Class Codes: B60W 2552/20 Road profile, i.e. the change in elevation or curvature of a plurality of continuous road segments
• CPC Class Codes: B60W 2552/30 Road curve radius
• CPC Class Codes: B60W 30/16 Control of distance between vehicles, e.g. keeping a distance to preceding vehicle

Abstract

In a cruise control system installed in a vehicle, a monitoring unit monitors a region predetermined in front of the vehicle when the vehicle is located on a lane of a road. An instruction input unit is configured to allow a driver of the vehicle to input an instruction indicative of driver'"'"'s recognized information in front of the vehicle. A target determining unit executes determination of a target for adjusting an interval with respect thereto based on a result of the monitor and on the instruction when the instruction is input from the instruction input unit thereto.

Claims

1. A cruise control system installed in a system vehicle, the cruise control system comprising:

a monitoring unit monitoring a predetermined region in front of the system vehicle when the system vehicle is located on a lane of a road to detect a position and a speed of at least one object;

an instruction input unit allowing a driver of the system vehicle to input an instruction indicating that a stopped vehicle or a cutting vehicle is present in front of the system vehicle; and

a target determining unit executing a determination of a target for adjusting an interval of the system vehicle with respect to the target,

wherein the target determining unit has a first condition and a second condition, the first condition representing that the at least one object has a same-lane probability higher than a preset value, the second condition representing that the at least one object is determined to approach toward the system vehicle based on a shift amount of lateral position of the at least one object,

the target detecting unit being configured to;

determine, based on the position and speed of the at least one object, whether the at least one object meets the first condition to determine whether the at least one object is a forward vehicle as the target; and

when the instruction is input to the instruction input unit by the driver, add the second condition to the first condition to thereby determine, based on the position and speed of the at least one object, whether the at least one object meets one of the first condition and the second condition to determine whether the at least one object is, as the target, one of the forward vehicle and a cutting vehicle cutting into the same lane as the system vehicle.

2. A cruise control system according to claim 1, wherein the at least one object is provided in plurality, the target determining unit further comprising:

a first extracting unit extracting at least one of the plurality of objects that meets the first condition as at least one first candidate for the target;

a target selecting unit selecting the target from the at least one first candidate when the instruction is not input to the target determining unit; and

a second extracting unit extracting at least one of the plurality of objects that meets one of the first condition and the second condition as at least one second candidate for the target when the instruction is input from the instruction input unit, the target selecting unit selecting the target from the at least one second candidate for the target.

3. A cruise control system according to claim 2, further comprising:

a vehicle-speed control unit starting one of deceleration of the system vehicle and holding-down of acceleration in response to the instruction being input from the instruction input unit to the second extracting unit.

4. A cruise control system according to claim 3, further comprising:

an instruction determining unit determining whether the driver'"'"'s recognized information of the instruction input into the instruction input unit represents that the at least one object is a stopped vehicle in the same lane as the system vehicle or the cutting vehicle moving into the same lane as the system vehicle,

wherein the vehicle-speed control unit executes one of the deceleration of the system vehicle and holding-down of acceleration of the system vehicle so as to change a rate of a speed of the system vehicle depending on a result of the determination by the instruction determining unit.

5. A cruise control system according to claim 4, wherein the instruction determining unit:

determines that the driver'"'"'s recognized information of the instruction input into the instruction input unit represents that the at least one object is the cutting vehicle moving into the same lane as the system vehicle upon the instruction being input to the second extracting unit after the target has been selected by the target selecting unit; and

determines that the driver'"'"'s recognized information of the instruction represents that the at least one object is the stopped vehicle on the same lane as the system vehicle upon the instruction being input to the second extracting unit when the target has been unselected by the target selecting unit.

6. A cruise control system according to claim 4, wherein the vehicle-speed control unit executes, when the driver'"'"'s recognized information of the instruction represents that the at least one object is the stopped vehicle on the same lane as the system vehicle, one of the deceleration of the system vehicle and holding-down of acceleration of the system vehicle so as to increase the rate of reduction of the speed of the system vehicle as compared with when the driver'"'"'s recognized information of the instruction represents that the at least one object is the cutting vehicle moving into the same lane as the system vehicle.

7. A cruise control system according to claim 4, wherein the vehicle-speed control unit continuously executes, when the driver'"'"'s recognized information of the instruction represents that the at least one object is the cutting vehicle moving into the same lane as the system vehicle, one of the deceleration of the system vehicle and holding-down of acceleration of the system vehicle until the target has been selected by the target selecting unit.

8. A cruise control system according to claim 7, further comprising:

an accelerator-pedal operation detecting unit detecting operation of an accelerator pedal of the system vehicle by the driver,

wherein, during execution of one of the deceleration of the system vehicle and holding-down of acceleration of the system vehicle, the vehicle-speed control unit terminates the executed one of the deceleration of the system vehicle and holding-down of acceleration of the system vehicle when the accelerator-pedal operation detecting unit detects operation of the accelerator pedal by the driver.

9. A cruise control system according to claim 2, wherein the instruction input unit comprises a lever switch arranged at least close to a steering wheel of the system vehicle to be movable by the driver in a first direction and a second direction different from the first direction, the instruction input unit:

sending the instruction to the second extracting unit when the driver operates the lever switch in any one of the first and second directions and keeps the operated state of the lever switch during the first period; and

sending an other instruction to the second extracting unit when the driver operates the lever switch in any one of the first and second directions and keeps the operated state of the lever switch during a second period lower than the first period, and the second extracting unit further comprises;

a driver'"'"'s operation determining unit determining whether information being input thereto from the instruction input unit represents the instruction indicative of the driver'"'"'s recognized information based on the first period and a duration of the lever switch being kept operated by the driver.

10. A cruise control system according to claim 4, further comprising:

an obtaining unit obtaining a same-lane probability of each of the plurality of objects on the same lane as the system vehicle and at least one of a lateral position of each of the plurality of objects with respect to the system vehicle in a lateral direction of the lane and a shift amount of each of the plurality of objects with respect to the system vehicle in the lateral direction of the lane based on the monitored information detected by the monitored unit,

the second extracting unit;

extracting, as the at least one second candidate for the target, at least one of the plurality of objects that meets one of the first condition and the second condition based on the same-lane probability of each of the plurality of objects; and

extracting, as the at least one second candidate for the target, at least one of the plurality of objects that meets one of the first condition and the second condition based on the same-lane probability and at least one of the lateral direction and the amount of lateral movement of each of the plurality of objects when receiving the instruction indicative of the driver'"'"'s recognized information representing that the at least one object is one of the stopped vehicle in the same lane as the system vehicle and the cutting vehicle moving into the same lane as the system vehicle.

11. A cruise control system according to claim 10, wherein, when the instruction is input from the instruction input unit, the second extracting unit extracts, as a number of the second candidates for the target, a corresponding number of the plurality of objects that meet one of the first condition and the second condition, and

the target selecting unit selects, as the target, one of the number of the extracted second candidates, the one of the number of the second candidates having the smallest distance with respect to the system vehicle in the number of the extracted second candidates.

12. A cruise control system according to claim 11, wherein the vehicle-speed control unit continuously executes one of the deceleration of the system vehicle and holding-down of acceleration of the system vehicle until the target selecting unit changes to select, as the target, from a previous one of the number of the extracted second candidates to a new one of the number of the extracted second candidates, a distance of the new one of the number of the extracted second candidates being smaller than that of the previous one of the number of the extracted second candidates.

13. A cruise control system according to claim 10, further comprising:

an accelerator-pedal operation detecting unit detecting operation of an accelerator pedal of the system vehicle by the driver,

wherein, during execution of one of the deceleration and holding-down of acceleration of the system vehicle, the vehicle-speed control unit terminates the executed one of the deceleration and holding-down of acceleration of the system vehicle when the accelerator-pedal operation detecting unit detects operation of the accelerator pedal by the driver.

14. A cruise control system according to claim 1, wherein the target determining unit has a third condition, the third condition representing that the at least one object has the same-lane probability higher than the preset value as long as the instruction indicative of the at least one object being a stopped vehicle has been input from the instruction unit,

when the instruction is input from the instruction input unit, add the second condition and the third condition to the first condition to thereby determine, based on the position and speed of the at least one object, whether the at least one object meets one of the first condition, the second condition, and the third condition to determine whether the at least one object is, as the target, one of the forward vehicle, the cutting vehicle to the same lane as the system vehicle, and a stopped vehicle in the same lane as the system vehicle.

15. The cruise control system according to claim 1, wherein only when the instruction is input from the instruction input unit, the target detection unit adds the second condition to the first condition to thereby determine, based on the position and speed of the at least one object, whether the at least one object meets one of the first condition and the second condition to determine whether the at least one object is, as the target, one of the forward vehicle and a cutting vehicle to the same lane as the system vehicle.