System and method for controlling a vehicle speed of an automotive vehicle

• US 4,703,429 A
• Filed: 07/19/1985
• Issued: 10/27/1987
• Est. Priority Date: 07/20/1984
• Status: Expired due to Fees

• Current Assignee: Nissan Motor Co., Ltd.
• Original Assignee: Nissan Motor Co., Ltd.
• Inventors: Sakata, Masao
• Primary Examiner(s): Chin, Gary
• Application Number:
  US06/756,882
• Time in Patent Office: 830 Days
• Field of Search: 364/424, 364/426, 364/460, 364/461, 364/456, 340/901-904, 180/167, 180/169, 180/170, 180/179, 342/70, 342/455
• US Class Current: 701/96
• CPC Class Codes: B60K 31/0008 including means for detecting potential obstacles in vehicle path
• CPC Class Codes: B60K 31/0066 responsive to vehicle path curvature
• 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: G01S 13/582 adapted for simultaneous range and velocity measurements
• CPC Class Codes: G01S 13/931 of land vehicles
• CPC Class Codes: G01S 2013/93185 Controlling the brakes
• CPC Class Codes: G01S 2013/9319 Controlling the accelerator
• CPC Class Codes: G01S 2013/932 using own vehicle data, e.g. ground speed, steering wheel direction
• CPC Class Codes: G01S 2013/9321 Velocity regulation, e.g. cruise control
• CPC Class Codes: G01S 2013/9323 Alternative operation using light waves
• CPC Class Codes: G01S 2013/9325 for inter-vehicle distance regulation, e.g. navigating in platoons
• CPC Class Codes: G01S 2013/93271 in the front of the vehicles

Abstract

A system and method for controlling a vehicle speed to follow a preceding vehicle moving on the same traffic lane of a road as the vehicle. The system comprises: means for transmitting electromagnetic waves toward a vehicle movement direction, receiving the reflected waves from a reflecting object, measuring a distance to the reflecting object on the basis of a propagation delay time on the transmitted and reflected wave, and outputting respective Doppler signals derived from a relative movement of the reflecting object to the vehicle; means for calculating a change rate of the phase difference between the Doppler signals with respect to the measured distance; means for determining whether the reflecting object is the preceding vehicle on the basis of a magnitude of the differentiated phase difference with respect to a reference value associated with the distance and set according a radius of curvature of the traffic lane on which the vehicle moves; and means for controlling the vehicle speed so as to follow the preceding vehicle at a safe intervehicle distance on the basis of the vehicle speed and measured distance.

Claims

1. A system for controlling a vehicle speed, comprising:

(a) first means for monitoring the presence of an object moving relative to the vehicle, measuring a distance from the vehicle to the moving object, and outputting Doppler signals having different directivities based on a movement of the moving object relative to the vehicle;

(b) second means for calculating a change rate of a phase difference between the Doppler signals derived from said first means with respect to the distance measured by said first means;

(c) third means for determining a radius of curvature of a traffic lane on which the vehicle moves;

(d) fourth means for determining whether the moving object monitored by said first means is moving on the same traffic lane as the vehicle on the basis of the magnitude of the change rate of the phase difference derived from said second means with respect to a reference value the reference value being associated with the distance measured by said first means and being set according to the radius of curvature of the traffic lane determined by said third means; and

(e) fifth means for detecting and controlling the vehicle speed so as to follow the moving object on the same traffic lane at a predetermined safe intervehicle distance to the moving object on the basis of the detected vehicle speed and distance detected by said first means when said fourth means determines that the moving object is moving on the same traffic lane.

2. The system according to claim 1, which further comprises (f) sixth means for measuring a steering angle position of the vehicle and wherein said third means determines the radius of curvature of the traffic lane on the basis of the steering angle position derived from said sixth means and vehicle speed derived from said fifth means.

3. The system according to claim 1, wherein said first means comprises a pair of radar units installed at different front ends of the vehicle, each radar unit radiating an electromagnetic wave toward a predetermined range of a movement direction of the vehicle, receiving the electromagnetic wave radiated and reflected on the moving object present in the predetermined range, and outputting the corresponding Doppler signal based on a movement of the moving object relative to the vehicle and the distance to the moving object being measured by at least one of said radar units.

4. The system according to claim 1, wherein said second means differentiates the phase difference between the Doppler signals derived from said first means with respect to the distance measured by said first means.

5. The system according to claim 1, wherein said second means calculates the change rate of the phase difference between the Doppler signals with respect to the distance from each difference between the current phase difference value and preceding phase difference value before a predetermined time.

6. The system according to claim 1, wherein said fifth means adjusts an opening angle of the throttle valve on the basis of the detected vehicle speed and distance to the moving object so that the distance to the moving object approaches the predetermined safe intervehicle distance.

7. The system according to claim 1, which further comprises a set switch connected to said fifth wherein said predetermined intervehicle distance is set according to the vehicle speed when said set switch is operated.

8. The system according to claim 1, wherein said fourth means determines that the moving object moving on the same traffic lane when the change rate of the phase difference calculated by said second means is below the reference value and above a second reference value.

9. The system according to claim 8, wherein said fourth means determines that the moving object moving on a different traffic lane when the change rate of the phase difference is above the reference value but below a third reference value.

10. The system according to claim 9, which further comprises alarm means and means for detecting a failure in said first means and producing an alarm through said alarm means when said fourth means determines that the change rate of the phase difference above the third reference value continues for a time longer than a predetermined time.

11. A method for controlling a vehicle speed comprising the steps of:

(a) monitoring the presence of an object moving relative to the vehicle;

(b) measuring a distance from the vehicle to the moving object if the moving object is present and outputting at least two different directive Doppler signals based on a movement of the moving object relative to the vehicle;

(c) determining a radius of curvature of a traffic lane on which the vehicle moves;

(d) calculating a change rate of a phase difference between the two Doppler signals with respect to the measured distance;

(e) determining whether the moving object monitored in said step (a) is moving on the same traffic lane as the vehicle on the basis of a magnitude of the change rate of the phase difference with respect to a reference value, the reference value being associated with the distance measured in said step (b) and being set according to the radius of curvature of the traffic lane determined in said step (c);

(f) detecting the vehicle speed; and

(g) controlling the vehicle speed so as to follow the moving object at a predetermined safe intervehicle distance to the other vehicle moving on the same traffic lane on the basis of the detected vehicle speed in said step (f) and distance measured in said step (b).