Adaptive cruise control system and method for automotive vehicle with inter-vehicle distance control function

• US 6,856,887 B2
• Filed: 01/11/2002
• Issued: 02/15/2005
• Est. Priority Date: 01/19/2001
• Status: Active Grant

• Current Assignee: Nissan Motor Co., Ltd.
• Original Assignee: Nissan Motor Co., Ltd.
• Inventors: Akabori, Kouichi, Yamamura, Yoshinori, Seto, Yoji
• Primary Examiner(s): Nguyen, Thu V.
• Application Number:
  US10/042,195
• Publication Number:
  US 20020099491A1
• Time in Patent Office: 1,131 Days
• Field of Search: 701 93- 94, 701/96, 701/110, 701118-119, 701300-302, 180/170, 180178-179, 342 70- 71, 342104-107, 342109-112, 123/349
• US Class Current: 701/96
• CPC Class Codes: B60K 31/0008 including means for detecting potential obstacles in vehicle path
• CPC Class Codes: B60W 2050/0042 Transfer function lag; delays
• CPC Class Codes: B60W 2050/0052 Filtering, filters
• CPC Class Codes: B60W 2720/106 Longitudinal acceleration
• CPC Class Codes: B60W 2754/30 Longitudinal distance
• CPC Class Codes: B60W 30/16 Control of distance between vehicles, e.g. keeping a distance to preceding vehicle

Abstract

In adaptive cruise control method for an automotive vehicle, an inter-vehicle distance between the vehicle and a preceding vehicle which is traveling ahead of the vehicle is detected, a velocity of at least one of the vehicle and the preceding vehicle is detected, a traveling state of the vehicle is controlled on the basis of the detected inter-vehicle distance and a target inter-vehicle distance, a delay is provided for one of the detected velocities of the vehicle and the preceding vehicle which is used to set the target inter-vehicle distance at a time of a detection of one of the velocities of the vehicle and the preceding vehicle which is used to set the target inter-vehicle distance, and the target inter-vehicle distance is set on the basis of the detected velocity of one of the vehicle and the preceding vehicle for which the delay is provided.

Claims

1. An adaptive cruise control system for an automotive vehicle, comprising:

an inter-vehicle distance detecting section that detects a presence of a preceding vehicle which is traveling ahead of the vehicle and detects an inter-vehicle distance between the vehicle and the preceding vehicle;

a vehicular velocity detecting section that detects a velocity of at least one of the vehicle and the preceding vehicle;

a target inter-vehicle distance setting section that sets a target inter-vehicle distance on the basis of said velocity of at least one of the vehicle and the preceding vehicle;

a vehicular traveling speed controlling section that controls a traveling state of the vehicle on the basis of the detected inter-vehicle distance and the target inter-vehicle distance; and

a delay providing section that provides a delay independent from any inherent delay in said vehicle velocity detection section for said velocity of at least one of the vehicle and the preceding vehicle, the delay provided detected velocity being used to set the target inter-vehicle distance, the target inter-vehicle distance setting section setting the target inter-vehicle distance on the basis of the detected velocity for which the delay is provided by the delay providing section.

2. An adaptive cruise control system for an automotive vehicle as claimed in claim 1, wherein the delay providing section provides a dead time for said velocity of at least one of the vehicle and preceding vehicle used to set the target inter-vehicle distance.

3. An adaptive cruise control system for an automotive vehicle as claimed in claim 2, wherein the delay providing section provides a larger dead time for said velocity of at least one of the vehicle and preceding vehicle used to set the target inter-vehicle distance as either one of the velocity of the vehicle or the velocity of the preceding vehicle becomes smaller than the other.

4. An adaptive cruise control system for an automotive vehicle as claimed in claim 2, wherein the delay providing section carries out a low-pass filtering for said velocity of at least one of the vehicle and the preceding vehicle used to set the target inter-vehicle distance if said velocity is equal to or lower than a predetermined value.

5. An adaptive cruise control system for an automotive vehicle as claimed in claim 4, wherein the delay providing section provides a largest dead time for said velocity of at least one of the vehicle and the preceding vehicle used to set the target inter-vehicle distance when either one of the velocity of the vehicle or the velocity of the preceding vehicle is equal to or lower than a first predetermined velocity value, provides a second largest dead time for said velocity of at least one of the vehicle and the preceding vehicle used to set the target inter-vehicle distance when either one of the velocity of the vehicle or the velocity of the preceding vehicle is higher than the first predetermined velocity value but is equal to or lower then a second predetermined velocity value, provides a third largest dead time for said velocity at least one of the vehicle and the preceding vehicle used to set the target inter-vehicle distance when either one of the velocity of the vehicle or the velocity of the preceding vehicle is higher than the second predetermined velocity value but is equal to or lower than a third predetermined velocity value, provides a fourth largest dead time for said velocity of at least one of the vehicle and the preceding vehicle used to set the target inter-vehicle distance when either one of the velocity of the vehicle or the velocity of the preceding vehicle is higher than the third predetermined velocity value but is equal to or lower than a fourth predetermined velocity value, and provides a fifth largest dead time for said velocity of at least one of the vehicle and the preceding vehicle used to set the target inter-vehicle distance when either one of the velocity of the vehicle or the velocity of the preceding vehicle is higher than the fourth predetermined velocity value but is equal to or lower than a fifth predetermined velocity value.

6. An adaptive cruise control system for an automotive vehicle as claimed in claim 5, wherein the delay providing section provides a fifth control number of times previously detected velocity of the preceding vehicle V_F5 for a detected velocity of the preceding vehicle V_FF used to set the target inter-vehicle distance when a presently detected velocity of the preceding vehicle V_F is equal to or lower than the first predetermined velocity value, provides a fourth control number of times previously detected velocity of the preceding vehicle V_F4 for the detected velocity of the preceding vehicle V_FF used to set the target inter-vehicle distance when the presently detected velocity of the preceding vehicle V_F is higher than the first predetermined velocity value but is equal to or lower than the second predetermined velocity value, provides a third control number of times previously detected velocity of the preceding vehicle V_F3 for the detected velocity of the preceding vehicle V_FF used to set the target inter-vehicle distance when the presently detected velocity of the preceding vehicle V_F is higher than the second predetermined velocity value but is equal to or lower than the third predetermined velocity value, provides a second control number of times previously detected velocity of the preceding vehicle V_F2 for the detected velocity of the preceding vehicle V_FF used to set the target inter-vehicle distance when the presently detected velocity of the preceding vehicle V_F is higher than the third predetermined velocity value but is equal to or lower than the fourth predetermined velocity value, and provides a once control number of time previously detected preceding vehicle V_F1 for the detected velocity of the preceding vehicle V_FF used to set the target inter-vehicle distance when the detected velocity of the preceding vehicle is higher than the, fourth predetermined velocity value but is equal to or lower than the fifth predetermined velocity value.

7. An adaptive cruise control system for an automotive vehicle as claimed in claim 6, wherein the target inter-vehicle distance setting section sets the target inter-vehicle distance D* as follows:

D* =α

·

V_FF+β

, wherein

V_FF denotes the detected velocity of the preceding vehicle for which the delay is processed, α

denotes a predetermined inter-vehicle time duration, and β

denotes a predetermined distance at a time of a stop of the vehicle to reach to a position of the preceding vehicle and wherein the adaptive cruise control system further comprises;

a difference value calculating section that calculates a difference of the set target inter-vehicle distance D* from the detected inter-vehicle distance D as follows;

Δ

D=D−

D*;

an inter-vehicle distance priority target acceleration/deceleration G_D as follows;

G_D=F₁·

Δ

D, wherein F₁ denotes a predetermined feedback gain;

a target vehicular velocity calculating section that calculates a target velocity of the vehicle Vc* on the basis of a set vehicle speed Vs;

a vehicular velocity priority target acceleration/deceleration calculating section that calculates a vehicular velocity priority target acceleration/deceleration G_v on the basis of a difference between the target velocity of the vehicle Vc* and the detected velocity of the vehicle Vc;

a target acceleration/deceleration calculating section that calculates a target acceleration/deceleration G* on the basis of the target inter-vehicle distance priority acceleration/deceleration G_D, the vehicular velocity priority acceleration/deceleration G_v, and whether the inter-vehicle distance detecting section detects the presence of the preceding vehicle; and

an acceleration controlling section that performs an acceleration control of the vehicle on the basis of the target acceleration/deceleration G*.

8. An adaptive cruise control system for an automotive vehicle as claimed in claim 1, wherein the delay providing section carries out a low-pass filtering for said velocity of at least one of the vehicle and the preceding vehicle used to set the target inter-vehicle distance.

9. An adaptive cruise control system for an automotive vehicle as claimed in claim 8, wherein a time constant of the low-pass filter is set to become larger as said velocity of at least one of the vehicle and the preceding vehicle used to set the target inter-vehicle distance becomes lower.

10. An adaptive cruise control system for an automotive vehicle as claimed in claim 9, wherein the time constant T of the low-pass filter is set to give a maximum value T0 for the velocity of the vehicle used to set the target inter-vehicle distance when said velocity of the vehicle Vc is zero, is set to becomes smaller as the velocity of the vehicle Vc is increased, and is set to zero when the velocity of the vehicle Vc becomes equal to the predetermined value.

11. An adaptive cruise control system for an automotive vehicle as claimed in claim 8, wherein the delay providing section carries out a low-pass filtering for said velocity of at least one of the vehicle and the preceding vehicle used to set the target inter-vehicle distance if said velocity is equal to or lower than a predetermined value.

12. An adaptive cruise control system for an automotive vehicle as claimed in claim 1, wherein the velocity detecting section comprises:

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

a preceding vehicle velocity detecting section that detects the velocity of the preceding vehicle on the basis of a relative velocity of the vehicle to the preceding vehicle and the velocity of the vehicle.

13. An adaptive cruise control method for an automotive vehicle, comprising:

detecting a presence of a preceding vehicle which is traveling ahead of the vehicle;

detecting an inter-vehicle distance between the vehicle and the preceding vehicle;

detecting a velocity of at least one of the vehicle and the preceding vehicle;

controlling a traveling state of the vehicle on the basis of the detected inter-vehicle distance and a target inter-vehicle distance;

providing a delay for said velocity of at least one of the vehicle and the preceding vehicle used to set the target inter-vehicle distance at a time of a detection of said velocity, said delay being independent from any inherent delay in said vehicle velocity detection section; and

setting the target inter-vehicle distance on the basis of said velocity of at least one of the vehicle and the preceding vehicle for which the delay is provided.

14. An adaptive cruise control system for an automotive vehicle, comprising:

inter-vehicle distance detecting means for detecting a presence of a preceding vehicle which is traveling ahead of the vehicle and detecting an inter-vehicle distance between the vehicle and the preceding vehicle;

vehicular velocity detecting means for detecting a velocity of at least one of the vehicle and the preceding vehicle;

target inter-vehicle distance setting means for setting a target inter-vehicle distance on the basis of said velocity of at least one of the vehicle and the preceding vehicle;

vehicular traveling speed controlling means for controlling a traveling state of the vehicle on the basis of the detected inter-vehicle distance and the target inter-vehicle distance; and

delay providing means for providing a delay independent from any inherent delay in said vehicle velocity detection section for said velocity of at least one of the vehicle and the preceding vehicle used to set the target inter-vehicle distance at a time of a detection of said velocity, the target inter-vehicle distance setting means setting the target inter-vehicle distance on the basis of said velocity for which the delay is provided by the delay providing means.