AI-based adaptive vehicle control system

• US 5,189,619 A
• Filed: 08/02/1990
• Issued: 02/23/1993
• Est. Priority Date: 09/05/1989
• Status: Expired due to Term

• Current Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Original Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Inventors: Miyakoshi, Hironori, Adachi, Kunihiko, Endo, Norikazu
• Primary Examiner(s): Lall, Parshotam S.
• Assistant Examiner(s): PARK, COLLIN
• Application Number:
  US07/561,827
• Time in Patent Office: 936 Days
• Field of Search: 364/424.05, 364/426.04, 364/151, 364/160, 364/157, 395/903, 395/905, 395/913, 340/901, 340/902, 340/903, 340/904, 180/170
• US Class Current: 701/96
• CPC Class Codes: B60K 31/0008 including means for detecting potential obstacles in vehicle path
• CPC Class Codes: B60T 2220/02 Driver type; Driving style; Driver adaptive features
• CPC Class Codes: B60W 2050/0057 Frequency analysis, spectral techniques or transforms
• CPC Class Codes: B60W 2530/00 Input parameters relating to vehicle conditions or values, not covered by groups B60W2510/00 or B60W2520/00
• CPC Class Codes: B60W 2540/30 Driving style
• CPC Class Codes: B60W 2720/106 Longitudinal acceleration
• CPC Class Codes: B60W 40/09 Driving style or behaviour
• CPC Class Codes: G01S 17/931 of land vehicles
• CPC Class Codes: G08G 1/166 for active traffic, e.g. moving vehicles, pedestrians, bikes
• CPC Class Codes: Y10S 706/90 Fuzzy logic

Abstract

An AI-based adaptive vehicle control system which controls the speed of a vehicle in accordance with the driving characteristics of the driver. In effecting the follow-up driving which corresponds to the driving characteristics of the driver, the vehicle environment such as the distance between the vehicle and the vehicle in front, the relative speed, and the relative position, and the running state such as the speed and the steering angle of the vehicle itself are detected, and a danger index is calculated from the detected vehicle environment and running state in accordance with the driver'"'"'s sense of driving. The danger index is calculated by the fuzzy induction from the membership functions which are determined in advance in accordance with a general driver'"'"'s sense of driving. The running state of the vehicle such as the speed is controlled in accordance with the danger index. When the manipulated variable is changed by the driving operation of the driver, the danger index is adjusted in accordance with the amount of change. The change by the driving operation of the driver is reflected as the change in the membership functions. Thus, the calculated danger index gradually agrees with the driving characteristic of the driver.

Claims

1. An AI-based adaptive vehicle control system which is capable of controlling a driving condition of a vehicle by adapting said control system of the vehicle itself to driving characteristics of a driver, said control system comprising:

an environment judging means for judging a vehicle external environment;

a state judging means for judging a running state of said vehicle;

a danger index calculating means for calculating a danger index from said vehicle external environment and said running state of said vehicle in accordance with said driver'"'"'s sense of driving;

a control means for optimizing said running state by controlling the running state in accordance with the calculated danger index such that the running state corresponds to an optimized running state; and

an adjusting means for detecting a change in the running state controlled by the control means, due to an override driving operation by said driver for overriding the optimized running state controlled by the control means, such that the running state becomes different from the optimized running state, and for adjusting the danger index in accordance with said change.

2. An AI-based adaptive vehicle control system according to claim 1, wherein said danger index calculating means calculates said danger index from said vehicle environment and said running state by fuzzy induction from membership functions which are determined in advance in accordance with a general driver'"'"'s sense of driving.

3. An AI-based adaptive vehicle control system according to claim 2, wherein said adjusting means adjusts said danger index by changing said membership functions in accordance with said change in said optimized running state.

4. An AI-based adaptive vehicle control system according to claim 3, wherein

said environment judging means includes a means for measuring the distance between said vehicle and a vehicle immediately in front, and a means for measuring the relative speed of said vehicle and the vehicle immediately in front;

said state judging means includes a means for measuring the speed of said vehicle itself;

said control means includes a distance calculating means for calculating the appropriate distance between said vehicle and the vehicle immediately in front in accordance with said danger index, and a manipulated variable calculating means for calculating the manipulated variable for acceleration or deceleration for setting the speed of said vehicle at the appropriate value from said appropriate distance between said vehicle and the vehicle immediately in front, said relative speed of said vehicle and the vehicle immediately in front and said speed of said vehicle itself; and

said adjusting means includes a means for detecting said change by comparing the calculated appropriate speed and the current speed of said vehicle.

5. An AI-based adaptive vehicle control system according to claim 4, wherein said manipulated variable calculating means calculates said manipulated value for acceleration or deceleration from said appropriate distance between said vehicle and the vehicle immediately in front, said relative speed of said vehicle and said vehicle immediately in front and the speed of said vehicle itself by fuzzy induction from membership functions which are determined in advance.

6. An AI-based adaptive vehicle control system according to claim 4, wherein

said environment judging means includes a means for measuring the relative position of said vehicle and the vehicle immediately in front, and

said state judging means includes a means for measuring the steering angle of said vehicle.