Vehicle follow-up control system

• US 6,401,024 B1
• Filed: 06/12/2000
• Issued: 06/04/2002
• Est. Priority Date: 06/15/1999
• Status: Active Grant

• Current Assignee: Nissan Motor Co., Ltd.
• Original Assignee: Nissan Motor Co., Ltd.
• Inventors: Tange, Satoshi, Egawa, Kenichi, Higashimata, Akira, Asada, Tetsuya
• Primary Examiner(s): Cuchlinski, Jr., William A.
• Assistant Examiner(s): Hernandez, Olga
• Application Number:
  US09/592,253
• Time in Patent Office: 722 Days
• Field of Search: 701/96, 701/93, 701/36, 701/53, 180/168, 180/169, 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: B60W 2710/105 Output torque
• CPC Class Codes: B60W 2720/106 Longitudinal acceleration
• CPC Class Codes: B60W 30/16 Control of distance between vehicles, e.g. keeping a distance to preceding vehicle

Abstract

A preceding-vehicle follow-up control system is arranged to calculate a target vehicle speed based on a vehicle-to-vehicle distance and a controlled-vehicle speed, to calculate a target acceleration based on the target vehicle speed and to control driving force and braking force of the controlled vehicle based on the target acceleration. During this control period, the target acceleration is limited by an acceleration limit and a deceleration limit which are varied according the controlled-vehicle speed, respectively. This arrangement enables a follow-up vehicle speed control to be preferably executed without applying a strange feeling to a driver.

Claims

1. A preceding vehicle follow-up control system for a vehicle, comprising:

a vehicle-to-vehicle distance detector that detects a distance between a controlled vehicle and a preceding vehicle and outputs a signal indicative of the vehicle-to-vehicle distance;

a vehicle speed detector that detects a vehicle speed of the controlled vehicle and outputs a signal indicative of the vehicle speed; and

a controller connected to said vehicle-to-vehicle distance detector and said vehicle speed sensor, said controller comprising a vehicle-to-vehicle distance controlling section and a vehicle speed controlling section,

the vehicle-to-vehicle distance controlling section calculating a target vehicle speed for bringing the vehicle-to-vehicle distance closer to a target vehicle-to-vehicle distance, on the basis of the vehicle-to-vehicle distance and the vehicle speed,

the vehicle speed controlling section controlling driving force of the controlled vehicle at a target driving force so as to bring the controlled-vehicle speed closer to the target vehicle speed, the vehicle speed controlling section calculating a target acceleration for the target driving force on the basis of the target vehicle speed, and limiting the target acceleration according to the controlled-vehicle speed.

2. The preceding vehicle follow-up control system as claimed in claim 1, wherein the vehicle speed controlling section of said controller is further arranged to limit the target acceleration so as to be smaller than a predetermined acceleration when the vehicle speed is in a low speed range and to allow the target acceleration to take a second predetermined acceleration greater than the predetermined acceleration when the vehicle speed is in a high speed range.

3. The preceding vehicle follow-up control system as claimed in claim 1, wherein the vehicle speed controlling section of said controller is further arranged to limit the target acceleration so as to be greater than a predetermined deceleration when the vehicle speed is in a high speed range, and to allow the target acceleration to take a second deceleration smaller than the predetermined deceleration when the vehicle speed is in a low speed range.

4. The preceding vehicle follow-up control system as claimed in claim 1, wherein the vehicle speed controlling section of said controller is further arranged to decide whether the preceding vehicle is detected, to limit the target acceleration according to the controlled-vehicle speed when the preceding vehicle is detected, to limit the target acceleration so as to be smaller than an acceleration limit when the decision as to the detection of the preceding vehicle is changed from a detected state to an undetected state and when the controlled vehicle is put in an accelerated condition.

5. The preceding vehicle follow-up control system as claimed in claim 4, wherein the vehicle speed controlling section of said controller is further arranged to increase the acceleration limit according to a demand of a driver of the controlled vehicle.

6. The preceding vehicle follow-up control system as claimed in claim 2, wherein the vehicle speed controlling section of said controller is further arranged to set the target acceleration at a constant value regardless the vehicle speed when the vehicle speed is in the low speed range.

7. The preceding vehicle follow-up control system as claimed in claim 1, wherein the vehicle-to-vehicle distance controlling section of said controller calculates a relative speed which is a difference between a vehicle speed of the preceding vehicle and the controlled-vehicle speed.

8. The preceding vehicle follow-up control system as claimed in claim 1, wherein the target acceleration is limited so as to be within a range ranging from a deceleration limit to an acceleration limit.

9. The preceding vehicle follow-up control system as claimed in claim 8, wherein the acceleration limit takes a first constant value when the controlled-vehicle speed is in a low speed range, increases according to an increase of the controlled-vehicle speed when the controlled-vehicle speed is in an intermediate speed range, and takes a second constant value greater than the first constant value when the controlled-vehicle speed is in a high speed range.

10. The preceding vehicle follow-up control system as claimed in claim 8, where the acceleration limit linearly increases according to an increase of the controlled-vehicle speed.

11. The preceding vehicle follow-up control system as claimed in claim 8, wherein the deceleration limit takes a third constant value when the controlled-vehicle speed is in a low or intermediate speed range, and linearly approaches zero according to an increase of the controlled-vehicle speed when the controlled-vehicle speed is in a high speed range.

12. The preceding vehicle follow-up control system as claimed in claim 8, wherein the deceleration limit linearly decreases its absolute value according to an increase of the controlled-vehicle speed.

13. A preceding vehicle follow-up control system for a vehicle, comprising:

vehicle-to-vehicle distance detecting means for detecting a distance between a controlled vehicle and a preceding vehicle;

controlled-vehicle speed detecting means for detecting a vehicle speed of the controller vehicle;

vehicle-to-vehicle distance controlling means for calculating a target vehicle speed for bringing the detected vehicle-to-vehicle distance closer to a target vehicle-to-vehicle distance on the basis of the vehicle-to-vehicle distance detected and the controlled-vehicle speed detected; and

controlled-vehicle speed controlling means for controlling the controlled-vehicle speed to bring the controlled-vehicle speed closer to the target vehicle speed;

wherein said controlled vehicle speed controlling means comprises target acceleration calculating means for calculating a target acceleration on the basis of the target vehicle speed and target acceleration limiting means for limiting the target acceleration on the basis of the controlled vehicle speed.

14. A preceding vehicle follow-up control system for a vehicle, comprising:

vehicle-to-vehicle distance detecting means for detecting a distance between a controlled vehicle and a preceding vehicle;

controlled-vehicle speed detecting means for detecting a vehicle speed of the controller vehicle;

vehicle-to-vehicle distance controlling means for calculating a target vehicle speed for bringing the detected vehicle-to-vehicle distance closer to a target vehicle-to-vehicle distance on the basis of the vehicle-to-vehicle distance detected and the controlled-vehicle speed detected; and

controlled-vehicle speed controlling means for controlling the controlled-vehicle speed to bring the controlled-vehicle speed closer to the target vehicle speed;

wherein said controlled-vehicle speed controlling means comprises preceding-vehicle catch detecting means for detecting whether the preceding vehicle is caught, target acceleration calculating means for calculating a target acceleration on the basis of the target vehicle speed, target acceleration limiting means for limiting the target acceleration on the basis of the controlled-vehicle speed when the preceding vehicle is caught, acceleration limiting means for setting the target acceleration at a predetermined limit when no preceding vehicle is caught and when the controlled vehicle is put in an accelerated condition, and acceleration limit increasing means for increasing the acceleration limit according to a demand of a driver of the controlled vehicle.

15. A method of following-up a preceding vehicle, comprising:

detecting a distance between a controlled vehicle and a preceding vehicle;

detecting a vehicle speed of the controller vehicle;

calculating a target vehicle speed for bringing the detected vehicle-to-vehicle distance closer to a target vehicle-to-vehicle distance on the basis of the vehicle-to-vehicle distance and the controlled-vehicle speed;

controlling the controlled-vehicle speed to bring the controlled-vehicle speed closer to the target vehicle speed;

calculating a target acceleration on the basis of the target vehicle speed; and

limiting the target acceleration on the basis of the controlled vehicle speed.