Data processing: vehicles – navigation – and relative location – Vehicle control – guidance – operation – or indication – Indication or control of braking – acceleration – or deceleration
Reexamination Certificate
1998-10-21
2001-07-03
Louis-Jacques, Jacques H. (Department: 3661)
Data processing: vehicles, navigation, and relative location
Vehicle control, guidance, operation, or indication
Indication or control of braking, acceleration, or deceleration
C701S093000, C701S300000, C180S167000, C180S170000, C340S903000, C340S435000, C340S436000, C342S069000
Reexamination Certificate
active
06256573
ABSTRACT:
The contents of the Application No. Heisei 9-290795, with a filing date of Oct. 23, 1997 in Japan, are herein incorporated by reference.
BACKGROUND OF THE INVENTION
a) Field of the Invention
The present invention relates to system and method for controlling an inter-vehicle distance to a vehicle traveling ahead (viz., a preceding vehicle) applicable to an automotive vehicle (hereinafter, referred to as a system vehicle) equipped with the system and method which can follow the preceding vehicle while maintaining a constant(safety) inter-vehicle distance.
b) Description of the Related Art:
A Japanese Patent Application First Publication No. Heisei 8-282330 published on Oct. 29, 1996 exemplifies a previously proposed system for controlling the inter-vehicle distance to the preceding vehicle for the system vehicle in which a feedback control gain of an inter-vehicle distance controller in the inter-vehicle distance controlling system is reduced so as to moderately accelerate the system vehicle when a detected inter-vehicle distance is relatively long (large) and is increased so as to decelerate the system vehicle when the detected inter-vehicle distance is relatively short (small).
SUMMARY OF THE INVENTION:
However, in the previously proposed inter-vehicle distance controlling system, if a general time duration, on order of one second or two seconds, for which the system vehicle is running to follow behind the preceding vehicle at the short inter-vehicle distance, the system vehicle responds to a motion of the preceding vehicle with an excessive sensitivity so as to become uncomfortable for the system vehicle occupants since the large (relatively high) control gain is set when the system vehicle is running under a preceding vehicle follow-up condition.
It is, therefore, an object of the present invention to provide improved system and method for controlling the inter-vehicle distance to the preceding vehicle for the system vehicle equipped with the system and method in which a control gain is modified so as to provide a moderate responsive characteristic, with an appropriate sensitivity, to the motion of the preceding vehicle for the system vehicle when the system vehicle enters the preceding vehicle follow up condition, viz., the system vehicle is running on a traffic lane to follow up the preceding vehicle at a target value of the inter-vehicle distance to the preceding vehicle which is even at the relatively short inter-vehicle distance.
The above-described object can be achieved by providing a system for an automotive vehicle equipped with the system and defined as a system vehicle. The system comprises: a first detector for detecting an inter-vehicle distance from the system vehicle to a preceding vehicle traveling ahead of the system vehicle; a second detector for detecting a velocity of the system vehicle; a determinator for determining whether the system vehicle is running to follow up the preceding vehicle at a target value of the inter-vehicle distance; an inter-vehicle distance controller having a control system for performing a feedback control of the detected value of the inter-vehicle distance to the target value thereof and for outputting a target value of the velocity of the system vehicle, a control gain of the feedback control system being modified according to the detected value of the inter-vehicle distance and a result of a determination by the determinator; and a vehicle velocity controller for controlling a braking force and a driving force of the system vehicle so as to make a detected value of the system vehicle velocity coincident with the target value of the velocity of the system vehicle.
The above-described object can also be achieved by providing a method for an automotive vehicle equipped with the system and defined as a system vehicle. The method comprises the steps of: a) detecting an inter-vehicle distance from the system vehicle to a preceding vehicle traveling ahead of the system vehicle; b) detecting a velocity of the system vehicle; c) determining whether the system vehicle is running to follow up the preceding vehicle at a target value of the inter-vehicle distance; d) providing a control system for performing a feedback control of the detected value of the inter-vehicle distance to the target value thereof; e) outputting a target value of the velocity of the system vehicle, a control gain of the feedback control system being modified according to the detected value of the inter-vehicle distance and a result of a determination at the step c); and f) controlling a braking force and a driving force of the system vehicle so as to make a detected value of the system vehicle velocity coincident with the target value of the velocity of the system vehicle.
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Foley & Lardner
Louis-Jacques Jacques H.
Nissan Motor Co,. Ltd.
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