Inter-vehicle control apparatus

• US 9,511,766 B2
• Filed: 12/18/2014
• Issued: 12/06/2016
• Est. Priority Date: 12/20/2013
• Status: Active Grant

• Current Assignee: DENSO Corporation
• Original Assignee: DENSO Corporation
• Inventors: Sudou, Takuma, Kurumisawa, Jin, Nozawa, Toyohito, Namikiri, Tatsuya
• Primary Examiner(s): TISSOT, ADAM D
• Application Number:
  US14/575,061
• Publication Number:
  US 20150175160A1
• Time in Patent Office: 719 Days
• Field of Search: 701/1, 701/70, 701/93, 701/94, 340/435
• US Class Current: 1/1
• CPC Class Codes: B60W 2554/801 Lateral distance
• CPC Class Codes: B60W 2554/804 Relative longitudinal speed
• CPC Class Codes: B60W 2720/106 Longitudinal acceleration
• CPC Class Codes: B60W 2754/30 Longitudinal distance
• CPC Class Codes: B60W 30/09 Taking automatic action to avoid collision, e.g. braking and steering
• CPC Class Codes: B60W 30/0956 the prediction being responsive to traffic or environmental parameters
• CPC Class Codes: B60W 30/16 Control of distance between vehicles, e.g. keeping a distance to preceding vehicle

Abstract

In an inter-vehicle control apparatus, a controller performs acceleration control of an own vehicle, based on an actual inter-vehicle physical quantity and a target inter-vehicle physical quantity. A limiter sets a limit value for a target jerk during the acceleration control. A detector detects an occurrence of at least one of: an event in which the inter-vehicle distance becomes discontinuously shorter; and an event in which a target inter-vehicle distance corresponding to the target inter-vehicle physical quantity becomes discontinuously longer. A determiner determines a risk of collision with the preceding vehicle, based on an operation state of the preceding vehicle in relation to the own vehicle. When at least one of the events is detected, the limiter sets the limit value to a value based on the risk of collision such that change in deceleration of the own vehicle is kept lower as the risk of collision decreases.

Claims

1. An inter-vehicle control apparatus mounted to an own vehicle, the inter-vehicle control apparatus comprising:

a control unit that performs acceleration control of the own vehicle based on an actual inter-vehicle physical quantity and a target inter-vehicle physical quantity, where the actual inter-vehicle physical quantity is a detected value of a physical quantity corresponding to an inter-vehicle distance between the own vehicle and a preceding vehicle, and the target inter-vehicle physical quantity is a target value of the actual inter-vehicle physical quantity;

a limiting unit that sets a limit value for a target jerk during the acceleration control;

a detection unit that detects an occurrence of at least one of;

(i) a first event in which the inter-vehicle distance becomes discontinuously shorter; and

(ii) a second event in which a target inter-vehicle distance corresponding to the target inter-vehicle physical quantity becomes discontinuously longer; and

a determining unit that determines a risk of collision with the preceding vehicle felt by the driver of the own vehicle, based on an operation state of the preceding vehicle in relation to the own vehicle,

when the detection unit detects the at least one of the first event and the second event, the limiting unit setting the limit value for the target jerk to a value based on the risk of collision determined by the determining unit such that a change in deceleration of the own vehicle is kept lower as the determined risk of collision decreases.

2. The inter-vehicle control apparatus according to claim 1, wherein

the determining unit determines the risk of collision, based on a relative speed between the preceding vehicle and the own vehicle.

3. The inter-vehicle control apparatus according to claim 2, wherein

when the at least one of the first event and the second event is detected, the limiting unit sets, as the limit value for the target jerk, an upper limit value of a target deceleration gradient such that:

(i) the upper limit value gradually increases from an initial value; and

(ii) a slope of the upper limit value is kept lower as the risk of collision determined by the determining unit decreases.

4. The inter-vehicle control apparatus according to claim 3, wherein

when the at least one of the first event and the second event is detected, the limiting unit sets the upper limit value such that:

(i) the upper limit value gradually increases from an initial value to a standard value over time; and

(ii) an amount of time until the upper limit value of the deceleration gradient changes from the initial value to the standard value becomes longer as the risk of collision decreases.

5. The inter-vehicle control apparatus according to claim 4, wherein

the determining unit determines the risk of collision based on:

(i) an inter-vehicle distance between the own vehicle and the preceding vehicle;

(ii) a speed of the own vehicle; and

(iii) a relative speed between the preceding vehicle and the own vehicle.

6. The inter-vehicle control apparatus according to claim 5, wherein

the determining unit calculates the risk of collision to be a higher value, as the speed of the own vehicle in relation to the inter-vehicle distance increases, and as the relative speed in relation to the inter-vehicle distance becomes a larger value in a direction in which the preceding vehicle nears the own vehicle.

7. The inter-vehicle control apparatus according to claim 6, wherein

the detection unit detects, as the occurrence of the first event in which the inter-vehicle distance becomes discontinuously shorter, an occurrence of an event in which a new preceding vehicle enters the area ahead of the own vehicle.

8. The inter-vehicle control apparatus according to claim 7, wherein

the detection unit detects, as the occurrence of the second event in which a target inter-vehicle distance corresponding to the target inter-vehicle physical quantity becomes discontinuously longer, an occurrence of an event in which the target inter-vehicle distance is changed to a value larger than a current value, as a result of change in operating mode of the vehicle.

9. The inter-vehicle control apparatus according to claim 1, wherein

when the at least one of the first event and the second event is detected, the limiting unit sets, as the limit value for the target jerk, an upper limit value of a target deceleration gradient such that:

(i) the upper limit value gradually increases from an initial value; and

(ii) a slope of the upper limit value is kept lower as the risk of collision determined by the determining unit decreases.

10. The inter-vehicle control apparatus according to claim 9, wherein

when the at least one of the first event and the second event is detected, the limiting unit sets the upper limit value such that:

(i) the upper limit value gradually increases from an initial value to a standard value over time; and

(ii) an amount of time until the upper limit value of the deceleration gradient changes from the initial value to the standard value becomes longer as the risk of collision decreases.

11. The inter-vehicle control apparatus according to claim 1, wherein

the determining unit determines the risk of collision based on:

(i) an inter-vehicle distance between the own vehicle and the preceding vehicle;

(ii) a speed of the own vehicle; and

(iii) a relative speed between the preceding vehicle and the own vehicle.

12. The inter-vehicle control apparatus according to claim 11, wherein

the determining unit calculates the risk of collision to be a higher value, as the speed of the own vehicle in relation to the inter-vehicle distance increases, and as the relative speed in relation to the inter-vehicle distance becomes a larger value in a direction in which the preceding vehicle nears the own vehicle.

13. The inter-vehicle control apparatus according to claim 1, wherein

the detection unit detects, as the occurrence of the first event in which the inter-vehicle distance becomes discontinuously shorter, an occurrence of an event in which a new preceding vehicle enters the area ahead of the own vehicle.

14. The inter-vehicle control apparatus according to claim 1, wherein

the detection unit detects, as the occurrence of the second event in which a target inter-vehicle distance corresponding to the target inter-vehicle physical quantity becomes discontinuously longer, an occurrence of an event in which the target inter-vehicle distance is changed to a value larger than a current value, as a result of change in operating mode of the vehicle.

15. An inter-vehicle control method comprising:

performing, by a control apparatus of an inter-vehicle control apparatus mounted to an own vehicle, acceleration control of the own vehicle based on an actual inter-vehicle physical quantity and a target inter-vehicle physical quantity, where the actual inter-vehicle physical quantity is a detected value of a physical quantity corresponding to an inter-vehicle distance between the own vehicle and a preceding vehicle, and the target inter-vehicle physical quantity is a target value of the actual inter-vehicle physical quantity;

setting, by a limiting unit of the inter-vehicle control apparatus, a limit value for a target jerk during the acceleration control;

detecting, by a detection unit of the inter-vehicle control apparatus, an occurrence of at least one of;

(i) a first event in which the inter-vehicle distance becomes discontinuously shorter; and

(ii) a second event in which a target inter-vehicle distance corresponding to the target inter-vehicle physical quantity becomes discontinuously longer;

determining, by a determining unit of the inter-vehicle control apparatus, a risk of collision with the preceding vehicle felt by the driver of the own vehicle, based on an operation state of the preceding vehicle in relation to the own vehicle; and

when the detection unit detects the at least one of the first event and the second event, setting, by the limiting unit, the limit value of the target jerk to a value based on the determined risk of collision such that change in deceleration of the own vehicle is kept lower as the determined risk of collision decreases.