Adaptive cruise control system for automotive vehicle

• US 7,337,055 B2
• Filed: 04/22/2005
• Issued: 02/26/2008
• Est. Priority Date: 04/23/2004
• Status: Expired due to Fees

• Current Assignee: Nissan Motor Co., Ltd.
• Original Assignee: Nissan Motor Co., Ltd.
• Inventors: Suzuki, Tatsuya, Matsumoto, Shinji, Tange, Satoshi, Yoshizawa, Hiroyuki
• Primary Examiner(s): Black; Thomas
• Assistant Examiner(s): Marc; McDieunel
• Application Number:
  US11/111,766
• Publication Number:
  US 20050240334A1
• Time in Patent Office: 1,040 Days
• Field of Search: 701/93, 701/96, 701/218, 701/213, 701/208, 340/905, 340/332, 340/932, 340/933, 340/934, 455/450
• US Class Current: 701/93
• CPC Class Codes: B60K 31/0083 responsive to centrifugal force acting on vehicle due to the path it is following
• CPC Class Codes: B60W 2050/0025 Transfer function weighting factor
• CPC Class Codes: B60W 2552/20 Road profile, i.e. the change in elevation or curvature of a plurality of continuous road segments
• CPC Class Codes: B60W 2552/30 Road curve radius
• CPC Class Codes: B60W 40/08 related to drivers or passengers
• CPC Class Codes: B60W 50/0097 Predicting future conditions

Abstract

An adaptive control system for an automotive vehicle, which warns of a driver and/or reduces the vehicle speed in consideration of a future trajectory. Receiving from a navigation system node information about nodes within a preview section, a control unit calculates a path radius at each of the nodes within the preview section, and identifies curve sections in accordance with the path radius of the preview section. Subsequently, the control unit estimates a lateral acceleration based on the current vehicle speed and the path radius. Subsequently, the control unit determines an estimated total driver load in accordance with the estimated lateral acceleration. Subsequently, the control unit determines a reference total driver load which is applied to the driver during the host vehicle traveling at an allowable cornering speed. Subsequently, the control unit calculates a driver load deviation between the estimated total driver load and the reference total driver load.

Claims

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

a trajectory determination section to collect trajectory information used to determine a future trajectory of the vehicle;

a driving state determination section to collect vehicle information used to determine a driving state of the vehicle;

an output section to change an operating condition of the vehicle; and

a control unit in operative communication with the trajectory determination section, the driving state determination section, and the output section, the control unit being configured to perform the following;

determining the vehicle future trajectory;

determining the vehicle driving state;

estimating in accordance with the vehicle future trajectory and the vehicle driving state a future driver load imposed on a driver of the vehicle during the vehicle traveling through a target section of the vehicle future trajectory; and

changing the vehicle operating condition in accordance with the estimated future driver load, so that the future driver load decreases.

2. The adaptive cruise control system as claimed in claim 1, wherein the output section comprises a warning system to provide a warning to the driver, and wherein the control unit is configured to issue the warning in accordance with the estimated future driver load.

3. The adaptive cruise control system as claimed in claim 1, wherein the output section comprises an actuator to change a dynamic condition of the vehicle, and wherein the control unit is configured to control the vehicle dynamic condition in accordance with the estimated future driver load, so that the future driver load decreases.

4. The adaptive cruise control system as claimed in claim 3, wherein the output section comprises a warning system to provide a warning to the driver, and wherein the control unit is configured to issue the warning in advance of the operation of controlling the vehicle dynamic condition.

5. The adaptive cruise control system as claimed in claim 3, wherein the control unit is configured to reduce a speed of the vehicle in accordance with the estimated future driver load, so that the future driver load decreases.

6. The adaptive cruise control system as claimed in claim 1, wherein the control unit is configured to perform the following:

identifying an upcoming curve section as a target section;

estimating a dynamic quantity indicative of the driver load in the curve section;

integrating the estimated dynamic quantity; and

estimating the future driver load in accordance with the integrated dynamic quantity.

7. The adaptive cruise control system as claimed in claim 6, wherein the control unit is configured to perform the following:

integrating the estimated dynamic quantity from a start point of the curve section to an end point of the curve section; and

estimating the future driver load in accordance with the integrated dynamic quantity.

8. The adaptive cruise control system as claimed in claim 6, wherein the control unit is configured to perform the following:

integrating the estimated dynamic quantity from a start point of the curve section to a point of minimum radius of curvature of the curve section; and

estimating the future driver load in accordance with the integrated dynamic quantity.

9. The adaptive cruise control system as claimed in claim 6, wherein the dynamic quantity is a lateral acceleration of the vehicle.

10. The adaptive cruise control system as claimed in claim 6, wherein the dynamic quantity is a yaw rate of the vehicle.

11. The adaptive cruise control system as claimed in claim 6, wherein the dynamic quantity is a required steering wheel angular displacement.

12. The adaptive cruise control system as claimed in claim 6, wherein the dynamic quantity is a required steering wheel torque.

13. The adaptive cruise control system as claimed in claim 6, wherein the control unit is configured to perform the following:

determining whether or not a difference between the integrated dynamic quantity and a reference value is larger than a threshold value; and

changing the vehicle operating condition in accordance with the estimated future driver load, so that the future driver load decreases, when the difference is larger than the threshold value.

14. The adaptive cruise control system as claimed in claim 13, wherein the control unit is configured to determine the reference value is determined by integrating a predetermined constant value.

15. The adaptive cruise control system as claimed in claim 6, wherein the control unit is configured to perform the following:

determining whether or not there is a series of upcoming curve sections; and

integrating the estimated dynamic quantity over the series of curve sections when there is a series of upcoming curve sections.

16. The adaptive cruise control system as claimed in claim 15, wherein the control unit is configured to determine that there is a series of upcoming curve sections, in accordance with a distance between a first point of minimum radius of curvature of a first one of the curve sections and a second point of minimum radius of curvature of a second one of the curve sections.

17. The adaptive cruise control system as claimed in claim 15, wherein the control unit is configured to determine the integrated dynamic quantity by varying weights between a first one of the curve sections and a second one of the curve sections which follows the first curve section.

18. The adaptive cruise control system as claimed in claim 17, wherein the weight of the first curve section is larger than that of the second curve section.

19. The adaptive cruise control system as claimed in claim 6, wherein the control unit is configured to reduce a speed of the vehicle in accordance with the estimated future driver load, so that the future driver load decreases.

20. The adaptive cruise control system as claimed in claim 19, wherein the control unit is configured to reduce a speed of the vehicle in accordance with the estimated future driver load, so that the future driver load decreases to be smaller than or equal to a reference value.

21. The adaptive cruise control system as claimed in claim 19, wherein the control unit is configured to perform the following:

determining a desired deceleration of the vehicle in accordance with a difference between the estimated future driver load and a reference value; and

reducing the vehicle speed in accordance with the desired deceleration.

22. The adaptive cruise control system as claimed in claim 19, wherein the vehicle driving state includes a speed of the vehicle, and wherein the control unit is configured to perform the following:

determining a point of minimum radius of curvature of the curve section in accordance with the vehicle future trajectory;

determining a desired deceleration of the vehicle in accordance with a distance between the point of minimum radius of curvature of the curve section and the vehicle, and the vehicle speed;

adjusting the desired vehicle deceleration in accordance with the estimated future driver load; and

reducing the vehicle speed in accordance with the adjusted desired deceleration.

23. The adaptive cruise control system as claimed in claim 19, wherein the vehicle speed reduction is implemented by at least one of reducing a driving force imposed on the vehicle, shifting a gear ratio of a transmission of the vehicle, and increasing a braking force imposed on the vehicle.

24. The adaptive cruise control system as claimed in claim 1, wherein the trajectory determination section comprises a vehicle location determination section to determine a location of the vehicle, and a memory to store road map information, and wherein the vehicle location and the road map information are used to determine the vehicle future trajectory.

25. The adaptive cruise control system as claimed in claim 1, wherein the trajectory determination section comprises a receiver to receive the trajectory information which is externally input from infrastructural equipment.

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

trajectory determination means for collecting trajectory information used to determine a future trajectory of the vehicle;

driving state determination means for collecting vehicle information used to determine a driving state of the vehicle;

output means for changing an operating condition of the vehicle; and

control means in operative communication with the trajectory determination means, the driving state determination means, and the output means, for performing the following;

determining the vehicle future trajectory;

determining the vehicle driving state;

estimating in accordance with the vehicle future trajectory and the vehicle driving state a future driver load imposed on a driver of the vehicle during the vehicle traveling through a target section of the vehicle future trajectory; and

changing the vehicle operating condition in accordance with the estimated future driver load, so that the future driver load decreases.

27. A method of controlling an automotive vehicle, comprising:

determining a future trajectory of the vehicle;

determining a driving state of the vehicle;

estimating in accordance with the vehicle future trajectory and the vehicle driving state a future driver load imposed on a driver of the vehicle during the vehicle traveling through a target section of the vehicle future trajectory; and

changing an operating condition of the vehicle in accordance with the estimated future driver load, so that the future driver load decreases.