Apparatus and method for controlling vehicular velocity of host vehicle to follow preceding vehicle running ahead of host vehicle

• US 6,597,981 B2
• Filed: 10/23/2001
• Issued: 07/22/2003
• Est. Priority Date: 11/02/2000
• Status: Active Grant

• Current Assignee: Nissan Motor Co., Ltd.
• Original Assignee: Nissan Motor Co., Ltd.
• Inventors: Nishira, Hikaru, Kawabe, Taketoshi
• Primary Examiner(s): Zanelli, Michael J.
• Assistant Examiner(s): GIBSON, ERIC M
• Application Number:
  US09/983,283
• Publication Number:
  US 20020069010A1
• Time in Patent Office: 637 Days
• Field of Search: 701/93, 701/94, 701/96, 180/170, 180/167, 180/169, 180/176, 180/179, 340/903
• US Class Current: 701/96
• CPC Class Codes: B60K 31/0008 including means for detecting potential obstacles in vehicle path
• CPC Class Codes: B60T 2201/04 Hill descent control
• CPC Class Codes: B60W 2050/0025 Transfer function weighting factor
• CPC Class Codes: B60W 2050/0031 Mathematical model of the vehicle
• CPC Class Codes: B60W 2552/15 Road slope, i.e. the inclination of a road segment in the longitudinal direction
• CPC Class Codes: B60W 2710/105 Output torque
• CPC Class Codes: B60W 30/16 Control of distance between vehicles, e.g. keeping a distance to preceding vehicle

Abstract

In method and apparatus for controlling a vehicular velocity of a host vehicle to follow a preceding vehicle which is running ahead of the host vehicle, a control target is switched between an inter-vehicle distance control in which the vehicular velocity of the host vehicle is controlled to make a detected value of the inter-vehicle distance substantially equal to a target value of the inter-vehicle distance and a vehicular velocity control in which the vehicular velocity of the host vehicle is controlled to make a detected value of the vehicular velocity of the host vehicle substantially equal to a target value of the vehicular velocity of the host vehicle according to a result of a detection of a variation of a gradient of a road segment which is forward of the vehicle and on which the host vehicle is to run.

Claims

1. An apparatus for controlling a vehicular velocity of a host vehicle to follow a preceding vehicle which is running ahead of the host vehicle, comprising:

a vehicular velocity detecting section that detects the vehicular velocity of the host vehicle;

an inter-vehicle distance detecting section that detects an inter-vehicle distance of the host vehicle to the preceding vehicle;

a gradient variation detecting section that detects a variation of a gradient of a road segment forward to the host vehicle on which the host vehicle is to run;

a control target switching section that switches a control target between an inter-vehicle distance control in which the vehicular velocity of the host vehicle is controlled to make a detected value of the inter-vehicle distance substantially equal to a target value of the inter-vehicle distance and a vehicular velocity control in which the vehicular velocity of the host vehicle is controlled to make a detected value of the vehicular velocity of the host vehicle substantially equal to a target value of the vehicular velocity of the host vehicle according to a result of detection of the variation of the gradient of the road segment by the gradient variation detecting section;

a target vehicular driving force calculating section that calculates a target value of a vehicular driving force to be exerted by the host vehicle to achieve the control target; and

a vehicular driving force controlling section that controls the vehicular driving force on the basis of the calculated target value of the vehicular driving force of the host vehicle.

2. An apparatus for controlling a vehicular velocity of a host vehicle to follow a preceding vehicle which is running ahead of the host vehicle as claimed in claim 1, further comprising a target vehicular velocity setting section that sets the target value of the vehicular velocity of the host vehicle during the vehicular velocity control to any one of the detected value of the vehicular velocity of the host vehicle, a vehicular velocity of the preceding vehicle, and an intermediate value between the vehicular velocities of the host vehicle and the preceding vehicle according to vehicular velocity variation rates of both of the host vehicle and the preceding vehicle when the control target switching section switches from the inter-vehicle distance control to the vehicular velocity control.

3. An apparatus for controlling a vehicular velocity of a host vehicle to follow a preceding vehicle which is running ahead of the host vehicle as claimed in claim 1, wherein the control target switching section switches the control target from the vehicular velocity control to the inter-vehicle distance control when a state in which a vehicular velocity control error over the road segment of which the gradient is varied is equal to or lower than a predetermined value is continued for a predetermined duration of time.

4. An apparatus for controlling a vehicular velocity of a host vehicle to follow a preceding vehicle which is running ahead of the host vehicle as claimed in claim 3, further comprising an acceleration estimating section that estimates an acceleration of the preceding vehicle and wherein the control target switching section switches the control target from the vehicular velocity control to the inter-vehicle distance control when a state in which an estimated value of the acceleration of the preceding vehicle falls within a predetermined range is continued for a duration of time equal to or longer than a predetermined duration of time.

5. An apparatus for controlling a vehicular velocity of a host vehicle to follow a preceding vehicle which is running ahead of the host vehicle as claimed in claim 1, wherein the control target is switched from the vehicular velocity control to the inter-vehicle distance control when the inter-vehicle distance to the preceding vehicle falls out of an allowable range with respect to a preset inter-vehicle distance during the vehicular velocity control.

6. An apparatus for controlling a vehicular velocity of a host vehicle to follow a preceding vehicle which is running ahead of the host vehicle as claimed in claim 5, wherein, when the road segment is an ascending slope, the allowable range is expanded toward a shorter inter-vehicle distance according to a gradient angle of the ascending slope with respect to a horizontal plane and, when the road segment is a descending slope, the allowable range is expanded toward a longer inter-vehicle distance according to the gradient angle of the descending slope with respect to the horizontal plane.

7. An apparatus for controlling a vehicular velocity of a host vehicle to follow a preceding vehicle which is running ahead of the host vehicle as claimed in claim 1, wherein, when the control target switching section switches the control target from the vehicular velocity control to the inter-vehicle distance control, the target driving force calculating section carries out a weighted mean between the target driving forces to achieve the vehicular velocity control and the inter-vehicle distance control to calculate the target value of the vehicular driving force, continuously varies a weight value to the target driving force to achieve the vehicular velocity control, and continuously varies another weight value to the target driving force to achieve the inter-vehicle distance control from 0 to 1.

8. An apparatus for controlling a vehicular velocity of a host vehicle to follow a preceding vehicle which is running ahead of the host vehicle as claimed in claim 1, wherein, when the control target is switched from the inter-vehicle distance control to the vehicular velocity control, a virtual vehicle which continues to run at the target value of the vehicular velocity of the host vehicle is generated at the same position as the preceding vehicle and the inter-vehicle distance control with respect to the virtual vehicle is carried out to achieve the inter-vehicle distance control.

9. An apparatus for controlling a vehicular velocity of a host vehicle to follow a preceding vehicle which is running ahead of the host vehicle as claimed in claim 8, wherein, when the control target switching section switches the control target from the vehicular velocity control to the inter-vehicle distance control, the target driving force calculating section carries out a weighted mean between the inter-vehicle distance to the virtual vehicle and the actual inter-vehicle distance to the preceding vehicle to calculate a provisional inter-vehicle distance measured value, continuously varies a weight value for the inter-vehicle distance to the virtual vehicle from 1 to 0, and continuously varies another weight value for the actual inter-vehicle distance from 0 to 1.

10. An apparatus for controlling a vehicular velocity of a host vehicle to follow a preceding vehicle which is running ahead of the host vehicle, comprising:

a vehicular velocity detecting section that detects the vehicular velocity of the host vehicle;

an inter-vehicle distance detecting section that detects an inter-vehicle distance of the host vehicle to the preceding vehicle;

a gradient variation detecting section that detects a variation of a gradient of a road segment forward to the host vehicle on which the host vehicle is to run;

a control target switching section that switches a control target between an inter-vehicle distance control in which the vehicular velocity of the host vehicle is controlled to make a detected value of the inter-vehicle distance substantially equal to a target value of the inter-vehicle distance and a vehicular velocity control in which the vehicular velocity of the host vehicle is controlled to make a detected value of the vehicular velocity of the host vehicle substantially equal to a target value of the vehicular velocity of the host vehicle according to a result of detection of the variation of the gradient of the road segment by the gradient variation detecting section;

a target vehicular driving force calculating section that calculates a target value of a vehicular driving force to be exerted by the host vehicle to achieve the control target; and

a vehicular driving force controlling section that controls the vehicular driving force on the basis of the calculated target value of the vehicular driving force of the host vehicle,

wherein the control target switching section switches the control target from the inter-vehicle distance control to the vehicular velocity control when the preceding vehicle has reached a spot which is a predetermined distance ahead of another spot at which the gradient of the road segment is varied.

11. An apparatus for controlling a vehicular velocity of a host vehicle to follow a preceding vehicle which is running ahead of the host vehicle, comprising:

a vehicular velocity detecting section that detects the vehicular velocity of the host vehicle;

an inter-vehicle distance detecting section that detects an inter-vehicle distance of the host vehicle to the preceding vehicle;

a gradient variation detecting section that detects a variation of a gradient of a road segment forward to the host vehicle on which the host vehicle is to run;

a control target switching section that switches a control target between an inter-vehicle distance control in which the vehicular velocity of the host vehicle is controlled to make a detected value of the inter-vehicle distance substantially equal to a target value of the inter-vehicle distance and a vehicular velocity control in which the vehicular velocity of the host vehicle is controlled to make a detected value of the vehicular velocity of the host vehicle substantially equal to a target value of the vehicular velocity of the host vehicle according to a result of detection of the variation of the gradient of the road segment by the gradient variation detecting section;

a target vehicular driving force calculating section that calculates a target value of a vehicular driving force to be exerted by the host vehicle to achieve the control target;

a target vehicular velocity setting section that sets the target value of the vehicular velocity of the host vehicle during the vehicular velocity control to any one of the detected value of the vehicular velocity of the host vehicle, a vehicular velocity of the preceding vehicle, and an intermediate value between the vehicular velocities of the host vehicle and the preceding vehicle according to vehicular velocity variation rates of both of the host vehicle and the preceding vehicle when the control target switching section switches from the inter-vehicle distance control to the vehicular velocity control; and

a vehicular driving force controlling section that controls the vehicular driving force on the basis of the calculated target value of the vehicular driving force of the host vehicle,

wherein the target vehicular velocity setting section sets the target value of the vehicular velocity of the host vehicle in such a manner that, when the road segment is an ascending slope, the target value of the vehicular velocity of the host vehicle is reduced and, when the road segment is a descending slope, the target value of the vehicular velocity of the host vehicle is increased.

12. A method for controlling a vehicular velocity of a host vehicle to follow a preceding vehicle which is running ahead of the host vehicle, comprising:

detecting the vehicular velocity of the host vehicle;

detecting an inter-vehicle distance of the host

vehicle to the preceding vehicle;

detecting a variation of a gradient of a road segment forward to the host vehicle on which the host vehicle is to run;

switching a control target between an inter-vehicle distance control in which the vehicular velocity of the host vehicle is controlled to make a detected value of the inter-vehicle distance substantially equal to a target value of the inter-vehicle distance and a vehicular velocity control in which the vehicular velocity of the host vehicle is controlled to make a detected value of the vehicular velocity of the host vehicle substantially equal to a target value of the vehicular velocity of the host vehicle according to a result of detection of the variation of the gradient of the road segment;

calculating a target value of a vehicular driving force to be exerted by the host vehicle to achieve the control target; and

controlling the vehicular driving force on the basis of the calculated target value of the vehicular driving force of the host vehicle.

13. A method for controlling a vehicular velocity of a host vehicle to follow a preceding vehicle which is running ahead of the host vehicle as claimed in claim 12, wherein, when the control target is switched from the inter-vehicle distance control to the vehicular velocity control, the target value of the vehicular velocity of the host vehicle is set to any one of the detected value of the vehicular velocity of the host vehicle, a vehicular velocity of the preceding vehicle, and an intermediate value between the vehicular velocities of the host vehicle and the preceding vehicle according to vehicular velocity variation rates of both of the host vehicle and the preceding vehicle.

14. A method for controlling a vehicular velocity of a host vehicle to follow a preceding vehicle which is running ahead of the host vehicle as claimed in claim 13, wherein, when the road segment is an ascending slope, the target value of the vehicular velocity of the host vehicle is reduced and, when the road segment is a descending slope, the target value of the vehicular velocity of the host vehicle is increased.

15. A method for controlling a vehicular velocity of a host vehicle to follow a preceding vehicle which is running ahead of the host vehicle as claimed in claim 12, wherein the control target is switched from the vehicular velocity control to the inter-vehicle distance control when a state in which a vehicular velocity control error over the road segment of which the gradient is varied is equal to or lower than a predetermined value is continued for a predetermined duration of time.

16. A method for controlling a vehicular velocity of a host vehicle to follow a preceding vehicle which is running ahead of the host vehicle as claimed in claim 15, further comprising estimating an acceleration of the preceding vehicle and wherein the control target is switched from the vehicular velocity control to the inter-vehicle distance control when a state in which an estimated value of the acceleration of the preceding vehicle falls within a predetermined range is continued for a duration of time equal to or longer than a predetermined duration of time.

17. A method for controlling a vehicular velocity of a host vehicle to follow a preceding vehicle which is running ahead of the host vehicle as claimed in claim 12, wherein the control target is switched from the vehicular velocity control to the inter-vehicle distance control when the inter-vehicle distance to the preceding vehicle-falls out of an allowable range with respect to a preset inter-vehicle distance during the vehicular velocity control.

18. A method for controlling a vehicular velocity of a host vehicle to follow a preceding vehicle which is running ahead of the host vehicle as claimed in claim 17, wherein, when the road segment is an ascending slope, the allowable range is expanded toward a shorter inter-vehicle distance according to a gradient angle of the ascending slope with respect to a horizontal plane and, when the road segment is a descending slope, the allowable range is expanded toward a longer inter-vehicle distance according to the gradient angle of the descending slope with respect to the horizontal plane.

19. A method for controlling a vehicular velocity of a host vehicle to follow a preceding vehicle which is running ahead of the host vehicle, comprising:

detecting the vehicular velocity of the host vehicle;

detecting an inter-vehicle distance of the host vehicle to the preceding vehicle;

detecting a variation of a gradient of a road segment forward to the host vehicle on which the host vehicle is to run;

switching a control target between an inter-vehicle distance control in which the vehicular velocity of the host vehicle is controlled to make a detected value of the inter-vehicle distance substantially equal to a target value of the inter-vehicle distance and a vehicular velocity control in which the vehicular velocity of the host vehicle is controlled to make a detected value of the vehicular velocity of the host vehicle substantially equal to a target value of the vehicular velocity of the host vehicle according to a result of detection of the variation of the gradient of the road segment;

calculating a target value of a vehicular driving force to be exerted by the host vehicle to achieve the control target; and

controlling the vehicular driving force on the basis of the calculated target value of the vehicular driving force of the host vehicle,

wherein the control target is switched from the inter-vehicle distance control to the vehicular velocity control when the preceding vehicle has reached a spot which is a predetermined distance ahead of another spot at which the gradient of the road segment is varied.

20. An apparatus for controlling a vehicular velocity of a host vehicle to follow a preceding vehicle which is running ahead of the host vehicle, comprising:

vehicular velocity detecting means for detecting the vehicular velocity of the host vehicle;

inter-vehicle distance detecting means for detecting an inter-vehicle distance of the host vehicle to the preceding vehicle;

gradient variation detecting means for detecting a variation of a gradient of a road segment forward to the host vehicle on which the host vehicle is to run;

control target switching means for switching a control target between an inter-vehicle distance control in which the vehicular velocity of the host vehicle is controlled to make a detected value of the inter-vehicle distance substantially equal to a target value of the inter-vehicle distance and a vehicular velocity control in which the vehicular velocity of the host vehicle is controlled to make a detected value of the vehicular velocity of the host vehicle substantially equal to a target value of the vehicular velocity of the host vehicle according to a result of detection of the variation of the gradient of the road segment by the gradient variation detecting means;

target vehicular driving force calculating means for calculating a target value of a vehicular driving force to be exerted by the host vehicle to achieve a content of the control target; and

vehicular driving force controlling means for controlling the vehicular driving force on the basis of the calculated target value of the vehicular driving force of the host vehicle.

21. An apparatus for controlling a vehicular velocity of a host vehicle to follow a preceding vehicle which is running ahead of the host vehicle, comprising:

vehicular velocity detecting means for detecting the vehicular velocity of the host vehicle;

inter-vehicle distance detecting means for detecting an inter-vehicle distance of the host vehicle to the preceding vehicle;

gradient variation detecting means for detecting a variation of a gradient of a road segment forward to the host vehicle on which the host vehicle is to run;

control target switching means for switching a control target between an inter-vehicle distance control in which the vehicular velocity of the host vehicle is controlled to make a detected value of the inter-vehicle distance substantially equal to a target value of the inter-vehicle distance and a vehicular velocity control in which the vehicular velocity of the host vehicle is controlled to make a detected value of the vehicular velocity of the host vehicle substantially equal to a target value of the vehicular velocity of the host vehicle according to a result of detection of the variation of the gradient of the road segment by the gradient variation detecting means;

target vehicular driving force calculating means for calculating a target value of a vehicular driving force to be exerted by the host vehicle to achieve the control target; and

vehicular driving force controlling means for controlling the vehicular driving force on the basis of the calculated target value of the vehicular driving force of the host vehicle, wherein the control target switching means switches the control target from the inter-vehicle distance control to the vehicular velocity control when the preceding vehicle has reached a spot which is a predetermined distance ahead of another spot at which the gradient of the road segment is varied.

22. A cruise control device for a vehicle, comprising:

a controller configured to adjust a velocity of a host vehicle at least based on a road gradient of a road segment preceding the vehicle, the controller switching between at least an inter-vehicle distance control mode and a vehicle velocity control mode,

wherein a target velocity is reduced when the road gradient has an ascending gradient, and

wherein the target velocity is increased when the road gradient has a descending gradient.

23. A cruise control device for a vehicle, comprising:

a controller configured to adjust a velocity of a host vehicle at least based on a road gradient of a road segment preceding the vehicle, the controller switching between at least an inter-vehicle distance control mode and a vehicle velocity control mode,

wherein the controller switches from the vehicle velocity control mode to the inter-vehicle distance control mode at least when a vehicular velocity error over the road segment is equal to or lower than a predetermined value for a predetermined amount of time.