Vehicle speed control system

• US 5,529,139 A
• Filed: 03/02/1994
• Issued: 06/25/1996
• Est. Priority Date: 03/03/1993
• Status: Expired due to Term

• Current Assignee: Nippondenso Co., Ltd. (DENSO Corporation)
• Original Assignee: Nippondenso Co., Ltd. (DENSO Corporation)
• Inventors: Hashimoto, Mitsufumi, Kurahashi, Akira, Shimamoto, Mamoru, Hibino, Katsuhiko
• Primary Examiner(s): Focarino, Margaret A.
• Assistant Examiner(s): MAR, MICHAEL Y
• Application Number:
  US08/204,572
• Time in Patent Office: 846 Days
• Field of Search: 180/167, 180/169, 180/170, 364/426.04, 364/426.01, 340/903, 318/587
• US Class Current: 180/169
• CPC Class Codes: B60K 31/0008 including means for detecting potential obstacles in vehicle path
• CPC Class Codes: B60W 2540/18 Steering angle
• CPC Class Codes: B60W 2554/801 Lateral distance
• CPC Class Codes: B60W 30/146 Speed limiting
• CPC Class Codes: B60W 30/16 Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
• CPC Class Codes: B60W 30/18145 Cornering
• CPC Class Codes: G01S 17/931 of land vehicles
• CPC Class Codes: G01S 2013/9321 Velocity regulation, e.g. cruise control

Abstract

A vehicle speed control system for controlling the speed of a controlled vehicle to follow a preceding vehicle detected at a constant interval is provided. In this system, when a preceding vehicle traveling ahead of the controlled vehicle is detected, it is checked if the preceding vehicle detected meets a given tracking condition. When the tracking condition is encountered, it is reported to a driver. The system is responsive to a manual operation of the driver after the driver has perceived that the preceding vehicle can be tracked to initiate constant inter-vehicle distance control.

Claims

1. A system for controlling vehicle speed comprising:

preceding vehicle detecting means for detecting whether a preceding vehicle is present ahead of a controlled vehicle, and for providing a first signal indicative thereof;

preceding vehicle identifying means, responsive to said first signal from said preceding vehicle detecting means, for identifying whether the preceding vehicle meets a preselected tracking condition allowing the controlled vehicle to track the preceding vehicle, and for providing a second signal indicative thereof;

informing means, responsive to said second signal from said preceding vehicle identifying means, for providing a third signal to a driver which informs the driver that the preceding vehicle meets the preselected tracking condition;

control initiating means, responsive to a manual operation of the driver after the driver is informed that the preceding vehicle meets the preselected tracking condition, for providing a control initiating signal;

inter-vehicle distance controlling means for controlling the speed of the controlled vehicle, wherein said controlled vehicle tracks the preceding vehicle at a set constant interval therebetween;

curvature determining means for determining a curvature of a curved road on which the controlled vehicle is traveling; and

probability determining means for determining a probability that the preceding vehicle detected is present on the same traffic lane as the controlled vehicle during cornering on the curved road based on the curvature determined by the curvature determining means.

2. A system as set forth in claim 1, further comprising detected preceding vehicle identifying means for monitoring whether the preceding vehicle is being tracked and for providing a fourth signal indicative thereof, wherein when the preceding vehicle has moved out of a detection area of said preceding vehicle detecting means, said inter-vehicle distance controlling means is deactivated.

3. A system as set forth in claim 2, wherein a current vehicle speed is maintained for a preselected period of time after the preceding vehicle has moved out of the detection area of said preceding vehicle detecting means.

4. A system as set forth in claim 3, wherein the current vehicle speed is maintained for the preselected period of time when another vehicle squeezes between the preceding vehicle being tracked and the controlled vehicle within the detection area of said preceding vehicle detecting means.

5. A system as set forth in claim 2, wherein said preceding vehicle detecting means determines for each periodic control cycle of said system an interval and a relative speed between the controlled vehicle and the preceding vehicle, and wherein when a preceding vehicle was not detected in a control cycle immediately before a current control cycle, said detected preceding vehicle identifying means determines an interval difference between an interval to a last preceding vehicle identified in a last control cycle and an interval to a current preceding vehicle detected in the current control cycle, and when the interval difference is smaller than a preselected interval difference threshold value, said detected preceding vehicle identifying means considers said last preceding vehicle to exist in a front detection area of said preceding vehicle detecting means.

6. A system as set forth in claim 2, wherein when another vehicle squeezes between the preceding vehicle being tracked and the controlled vehicle within the detection area of said preceding vehicle detecting means, said inter-vehicle distance controlling means is deactivated.

7. A system as set forth in claim 1, wherein said preceding vehicle detecting means determines an interval and a relative speed between the controlled vehicle and the preceding vehicle, and wherein said preceding vehicle detecting means concludes that the preceding vehicle is detected when variations in the interval and the relative speed are smaller than first and second threshold values, respectively.

8. A system as set forth in claim 1, wherein said preceding vehicle detecting means determines an interval and a relative speed between the controlled vehicle and the preceding vehicle, and wherein said system further comprises an inter-vehicle distance setting switch responsive to the manual operation of the driver, for providing a fourth signal indicative of a current interval to the preceding vehicle, said control initiating means being responsive to said fourth signal to provide the control initiating signal.

9. A system as set forth in claim 8, wherein the preselected tracking condition is defined according to a relation between the interval and the relative speed between the controlled vehicle and the preceding vehicle.

10. A system as set forth in claim 1, wherein when a plurality of vehicles exist in a front detection area of said preceding vehicle detecting means, said preceding vehicle detecting means identifies one of the plurality of vehicles traveling at the shortest interval as the preceding vehicle.

11. A system as set forth in claim 1, wherein said preceding vehicle detecting means determines an interval and a relative speed between the controlled vehicle and the preceding vehicle, and wherein said inter-vehicle distance controlling means determines a target rate of change in speed of the controlled vehicle based on the relative speed and the interval between the controlled vehicle and the preceding vehicle, and a target interval to the preceding vehicle selected by the driver, said inter-vehicle distance controlling means also determining a target vehicle speed for maintaining the set constant interval to the preceding vehicle on the target rate of change in speed of the controlled vehicle.

12. A system as set forth in claim 11, wherein said inter-vehicle distance controlling means controls the speed of the controlled vehicle with the aid of at least one of modification of a throttle valve opening degree, control of a transmission, and control of a brake.

13. A system as set forth in claim 1, wherein said curvature determining means determines a radius of curvature of the curved road based on a steered angle of the controlled vehicle and a speed of the controlled vehicle.

14. A system as set forth in claim 1, said preceding vehicle detecting means further including a distance detector radiating a first electromagnetic wave in a left direction, a second electromagnetic wave in a frontal direction, and a third electromagnetic wave in a right direction.

15. A system as set forth in claim 14, wherein when said second wave is reflected from said frontal direction, said probability determining means indicates a higher probability that said preceding vehicle is present on the same traffic lane as the controlled vehicle, than when a first wave is reflected from said left direction or when a third wave is reflected from said right direction.

16. A system as set forth in claim 1, said preceding vehicle detecting means further including a distance detector radiating a first electromagnetic wave having a first radiation type and a second electromagnetic wave having a second radiation type, said first wave having a wider detection area than said second wave, said second wave overlapping said first wave in a central portion corresponding to a central direction.

17. A system as set forth in claim 1, said preceding vehicle detecting means further including a stereo-type distance detector having a CCD camera, wherein an interval between said controlled vehicle and said preceding vehicle is determined using triangulation according to an image provided by said CCD camera.