Constant speed traveling apparatus for vehicle with inter-vehicle distance adjustment function

• US 5,396,426 A
• Filed: 08/25/1993
• Issued: 03/07/1995
• Est. Priority Date: 08/26/1992
• Status: Expired due to Term

• Current Assignee: Nippondenso Co., Ltd. (DENSO Corporation)
• Original Assignee: Nippondenso Co., Ltd. (DENSO Corporation)
• Inventors: Hashimoto, Mitsufumi, Kurahashi, Akira, Hibino, Katsuhiko
• Primary Examiner(s): Chin, Gary
• Application Number:
  US08/111,401
• Time in Patent Office: 559 Days
• Field of Search: 364/426.04, 364/431.07, 364/460, 364/461, 180/167-169, 180/176-179, 123/350, 123/352, 342/454, 342/455, 340/901-904
• US Class Current: 701/96
• CPC Class Codes: B60K 31/0008 including means for detecting potential obstacles in vehicle path
• CPC Class Codes: B60W 2050/0022 Gains, weighting coefficients or weighting functions
• CPC Class Codes: B60W 30/16 Control of distance between vehicles, e.g. keeping a distance to preceding vehicle

Abstract

An apparatus includes an inter-vehicle distance sensor for measuring a distance from a self vehicle to a vehicle traveling ahead, and a relative speed is calculated on the basis of the inter-vehicle distance data detected by the inter-vehicle distance sensor. When a variation of the relative speed is small, it is recognized that a vehicle is present ahead of the self vehicle. An acceleration/deceleration is obtained from a stored acceleration/deceleration basic map on the basis of a difference between the inter-vehicle distance and a target inter-vehicle distance, and the relative speed with the vehicle ahead, and an acceleration/deceleration correction coefficient is calculated from a correction map set with adjustment constants in correspondence with the measured inter-vehicle distance. An acceleration/deceleration is calculated by multiplying the acceleration/deceleration with the correction coefficient. A new target vehicle speed is calculated on the basis of the calculated acceleration/deceleration, and a previously set target vehicle speed.

Claims

1. A constant speed traveling apparatus for a vehicle having an inter-vehicle distance adjustment function, comprising:

inter-vehicle distance measurement means for measuring a distance from a self vehicle to an object present ahead;

relative speed calculation means for calculating a relative speed between the object and the self vehicle by calculating a change in distance data measured by the inter-vehicle distance measurement means;

vehicle recognition means for recognizing based on a change in the relative speed calculated by the relative speed calculation means that the object ahead is a vehicle;

acceleration/deceleration calculation means for, when the vehicle recognition means recognizes that the object ahead is a vehicle, calculating an acceleration/deceleration of the self vehicle on the basis of a difference between the distance data to the object ahead and a target inter-vehicle distance;

target speed calculation means for calculating a target vehicle speed on the basis of the calculated acceleration/deceleration and a previously calculated target vehicle speed; and

vehicle speed control means for performing acceleration/deceleration control which causes a traveling speed of the self vehicle to approach the target vehicle speed of the current processing on the basis of a difference between the calculated target vehicle speed and the current vehicle speed.

2. An apparatus according to claim 1, wherein the acceleration/deceleration calculation means includes acceleration/deceleration storage means for storing acceleration or deceleration data in association with a difference between the inter-vehicle distance corresponding to the distance to the object ahead measured by said inter-vehicle distance measurement means and the target inter-vehicle distance, and the relative speed between the vehicle ahead and the self vehicle.

3. An apparatus according to claim 2, wherein the acceleration/deceleration calculation means include two-dimensional map data in which a value obtained by subtracting the target inter-vehicle distance from the current inter-vehicle distance is set along one axis, and the relative speed between the vehicle ahead and the self vehicle is set along the other axis, and corresponding acceleration/deceleration are set at matrix points of the two axes.

4. An apparatus according to claim 1, wherein the acceleration/deceleration calculation means comprises correction means for correcting the acceleration/deceleration of the vehicle to decrease the acceleration/deceleration as the inter-vehicle distance is larger, on the basis of the inter-vehicle distance corresponding to the distance to the object ahead measured by the inter-vehicle distance measurement means.

5. An apparatus according to claim 4, wherein the correction means comprises correction coefficient storage means set with correction coefficients in accordance with the inter-vehicle distance.

6. An apparatus according to claim 5, wherein the correction coefficient storage means comprises a control map for storing the correction coefficients which decrease in accordance with an increase in the inter-vehicle distance, thereby permitting the calculated acceleration/deceleration to decrease in accordance with an increase in the inter-vehicle distance.

7. An apparatus according to claim 1, wherein the vehicle recognition means comprises means for discriminating a variation of the change in the relative speed detected by the relative speed detection means, and when the discriminating means discriminates that the variation is small, the vehicle recognition means recognizes that the object ahead is a vehicle.

8. An apparatus according to claim 1, wherein the acceleration/deceleration calculation means includes second acceleration/deceleration calculation means selected when the vehicle recognition means discriminates that the object ahead is not a vehicle, and the second acceleration/deceleration calculation means comprises means for storing data set with acceleration/deceleration corresponding to distance data to the object.

9. An apparatus according to claim 8, wherein the acceleration/deceleration data stored in the second acceleration/deceleration calculation means are arranged to set a large deceleration in a state wherein the distance to the object ahead is equal to or smaller than a setting value, and to decrease the deceleration in a state wherein the distance to the object ahead becomes larger than the setting value.

10. An apparatus according to claim 1, wherein the vehicle speed control means comprises a plurality of vehicle speed adjustment mechanisms for causing the traveling speed of the vehicle to approach the target vehicle speed, the vehicle speed adjustment mechanism being selected based on a plurality of deceleration data which correspond to differences between the target vehicle speed and the travelling vehicle speed upon execution of the acceleration/deceleration control.

11. An apparatus according to claim 10, wherein the plurality of vehicle speed adjustment mechanisms include a throttle mechanism for controlling a rotational speed of an engine, and a transmission mechanism for transmitting a rotational driving force of the engine to wheels, and comprises a region map for selecting an opening degree of the throttle mechanism and a shift range of the transmission mechanism in correspondence with the difference between the target vehicle speed and the current vehicle speed.

12. An apparatus according to claim 1, wherein the vehicle recognition means includes means for discrimination a variation of the distance data to the object ahead, and determining a non-detection state of the object ahead in a state wherein the variation of the distance data is large, and the acceleration/deceleration calculation means includes non-detection state acceleration/deceleration calculation means selected upon determination of the non-detection state of the object.

13. An apparatus according to claim 12, wherein the non-detection state acceleration/deceleration calculation means sets a positive acceleration for increasing the travelling vehicle speed to approach the target vehicle speed.

14. An apparatus according to claim 1, further comprising:

steering angle detection means provided in a steering mechanism for detecting steering angle data; and

acceleration/deceleration changing means for changing the acceleration/deceleration calculated by the acceleration/deceleration calculation means on the basis of the steering angle data detected by the steering angle detection means.

15. An apparatus according to claim 14, wherein the acceleration/deceleration changing means comprises map data set with acceleration/deceleration data in correspondence with the steering angle data detected by the steering angle detection means, and the map data are arranged to increase a deceleration in a state wherein the steering angle data is large.

16. A constant speed traveling apparatus for a vehicle having an inter-vehicle distance adjustment function, comprising:

means for determining a travelling speed of a self vehicle;

means for generating a preset constant travelling speed of the self-vehicle;

front-vehicle detection means for detecting a presence/absence of a front vehicle traveling ahead of the self vehicle;

inter-vehicle distance determination means for determining a target inter-vehicle distance to be set between the self vehicle and the front vehicle;

inter-vehicle distance measurement means for measuring an inter-vehicle distance between the self vehicle and the front vehicle is a state where the front-vehicle detection means detects the presence of the front vehicle;

relative speed calculation means for calculating a relative speed of the self vehicle relative to the front vehicle on the basis of variations in the inter-vehicle distance measured by the inter-vehicle distance measurement means;

first acceleration calculation means for calculating an acceleration/deceleration required for the inter-vehicle distance to become equal to the target inter-vehicle distance, the acceleration/deceleration being calculated based on the measured inter-vehicle distance and the calculated relative speed when the front-vehicle detection means detects the presence of the front vehicle;

second acceleration calculation means for calculating an acceleration/deceleration required for the traveling speed of the self vehicle to become equal to the preset constant traveling speed, in the state where the front-vehicle detection means detects the absence of the front vehicle;

target vehicle speed calculation means for calculating a new target vehicle speed on the basis of the acceleration/deceleration calculated by one of the first and second acceleration calculation means and a target vehicle speed previously calculated by the target vehicle speed calculation means;

vehicle speed control means for controlling the traveling speed of the self vehicle on the basis of a difference between the previously calculated target vehicle speed and the traveling speed of the self vehicle, such that the traveling speed of the self vehicle is made to approach the new target vehicle speed calculated by the target vehicle speed calculation means; and

acceleration changing means for changing the acceleration/deceleration calculated by the first and second acceleration calculation means, on the basis of an operation performed by a driver.

17. An apparatus according to claim 16, further comprising a changeover switch operated by the driver for selecting an acceleration/deceleration-calculating arithmetic method used by the first and second acceleration calculation means.

18. An apparatus according to claim 17, wherein the first acceleration calculation means includes a control map in which data regarding the inter-vehicle distance measured by the inter-vehicle distance measurement means and acceleration data corresponding to the relative speed calculated by the relative speed calculation means are set, the control map including at least two maps in which different acceleration data are set, one of the maps being selected by the changeover switch.

19. An apparatus according to claim 18, further comprising acceleration operation detection means for detecting whether or not an acceleration operation is performed by the driver, wherein

one of the two maps included in the control map is selected based on whether or not the acceleration operation is performed by the driver, and wherein the one map used for setting relatively large accelerations is selected when the acceleration operation detection means detects that the acceleration operation is performed by the driver.