Data processing: vehicles – navigation – and relative location – Vehicle control – guidance – operation – or indication – Indication or control of braking – acceleration – or deceleration
Reexamination Certificate
1999-01-28
2001-02-06
Zanelli, Michael J. (Department: 3661)
Data processing: vehicles, navigation, and relative location
Vehicle control, guidance, operation, or indication
Indication or control of braking, acceleration, or deceleration
C701S208000
Reexamination Certificate
active
06185496
ABSTRACT:
BACKGROUND OF THE INVENTION
This invention relates to a vehicle dynamic control system, which carries out vehicle dynamic control according to road data recognized thereby.
Currently developed are a variety of vehicle dynamic control techniques, utilizing a navigator or the like. Vehicle dynamic controls, such as warning control, deceleration control and so on, are carried out according to road data of the route in front of the vehicle, which are obtained by processing road map data inputted from the navigator.
In order to carry out such vehicle dynamic controls properly, it is required to accurately detect road data relating to the actual road in front of the vehicle. But road data fidelity can not be guaranteed when detecting road data by processing road map data from the navigator only.
Other technology, as disclosed by Japanese Patent Laid-Open No. 287395/1996, is presented, wherein cameras are installed for determining a road pattern, which is then transformed into road data. The road pattern is determined by projecting and transforming images taken by cameras, which are corrected by road inclination angle and radius curvature data, inputted from the navigator. Then, according to the road data, vehicle dynamic control is carried out.
Image data detected by sensors such as cameras are, however, subject to limitations due to weather and vehicle running conditions. Therefore, the system disclosed in Japanese Patent Laid-Open No. 287395/1996 may become remarkably degraded in its ability to, or can not, obtain precise road data, when the image data suddenly change depending on weather and vehicle running conditions.
In such a case, road data become discontinuous, bringing about difficulties in vehicle dynamic control, so that smooth control can not be carried out, resulting in not only an uncomfortable feeling for a driver, but also a risk due to strained control.
SUMMARY OF THE INVENTION
The present invention provides a vehicle dynamic control system which can carry out smooth and natural control even when road data become discontinuous.
In order to achieve the object, a vehicle dynamic control system according to the invention comprises: road data recognizing means for recognizing road data of a traveling route in front of a vehicle and vehicle dynamic control value calculating means for calculating vehicle dynamic control values to control vehicle movement based on the road data and the running conditions of the vehicle. The vehicle dynamic control value calculating means is characterized in that, once road data recognition becomes unreliable, vehicle dynamic control values are calculated for a predetermined time based on road data recognized just before the time when road data recognition became unreliable.
The vehicle dynamic control system according to another aspect of the invention includes the feature that the road data recognizing means judges that road data recognition becomes unreliable when road data is not available or the road data change suddenly.
The vehicle dynamic control system according to another aspect of the invention includes the feature that the road data recognizing means comprises a 1
st
(first) road data detecting means for detecting 1
st
(first) road data based on road map data, a 2
nd
(second) road data detecting means for detecting 2
nd
(second) road data based on road conditions which are detected, as the vehicle runs along the road, and a road data determining means for determining final road data based on the 1
st
road data and the 2
nd
road data when the 1
st
road data and the 2
nd
road data are about the same.
The vehicle dynamic control system according to another aspect of the invention includes the feature that the vehicle dynamic control value calculating means stops vehicle movement control when the road data recognizing means judges that the 1
st
road data and the 2
nd
road data are not same.
The vehicle dynamic control system according to another aspect of the invention includes the feature that the vehicle dynamic control value calculating means changes gradually the vehicle dynamic control values so that vehicle movement control is restrained when the road data recognizing means judges that the 1
st
road data and the 2
nd
road data are not the same.
The vehicle dynamic control system according to another aspect of the invention includes the feature that the vehicle dynamic control value calculating means gradually returns the vehicle dynamic control values to proper values corresponding to the road data and the vehicle running conditions when road data are recognized again by the road data recognizing means after the vehicle dynamic control value calculating means changes the vehicle dynamic control values so that vehicle movement control is restrained.
The vehicle dynamic control system according to another aspect of the invention includes the feature that the vehicle dynamic control value calculating means calculates at least an aimed deceleration of the vehicle.
The vehicle dynamic control system according to another aspect of the invention includes the feature that the road data comprises at least a distance to the nearest curve.
The vehicle dynamic control system according to another aspect of the invention includes the feature that the road data comprises at least a radius of curvature of the nearest curve.
The vehicle dynamic control system according to another aspect of the invention includes the feature that the road data comprises at least a road width of the nearest curve.
REFERENCES:
patent: 5315295 (1994-05-01), Fujii
patent: 5752214 (1998-05-01), Minowa et al.
patent: 5832400 (1998-11-01), Takahashi et al.
patent: 5902345 (1999-05-01), Minowa et al.
patent: 5925087 (1999-07-01), Ohnishi et al.
patent: 5978731 (1999-11-01), Matsuda
patent: 738946 (1996-10-01), None
Fuji Jukogyo Kabushiki Kaisha
Smith , Gambrell & Russell, LLP
Zanelli Michael J.
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