Patent US2386628A successfully refreshed from Google Patents.
Patent EP0982172A2 successfully refreshed from Google Patents.
EP0982172A2
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EP
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Automatic velocity and spacing control apparatus for automotive vehicle
Assignee: Nissan Motor Co Ltd
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Filing: 1999-08-24
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Granted: —
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Expires: 2019-08-24
Abstract
Abstract In an automatic vehicular velocity control apparatus for an automotive vehicle, a relative velocity detector is provided to detect a relative velocity of a preceding vehicle to the vehicle, an inter-vehicle distance command value calculator is provided to calculate an inter-vehicle distance command value, a control response characteristic determinator is provided to determine a control response characteristic of the inter-vehicle distance control system according to a deviation from the inter-vehicle distance command value to a detected value of the inter-vehicle distance and a detected value of the relative velocity, a vehicular velocity command value calculator is provided to calculate a vehicular velocity command value on the basis of the determined control response characteristic of the inter-vehicle distance control system, and a vehicular velocity control section is provided to control at least one of a driving force of the vehicle, a braking force of the vehicle, and a gear ratio of a transmission in such a manner that a detected value of the vehicular velocity is made coincident with the vehicular velocity command value. The control response characteristic determinator includes maps representing a relationships of a specific angular frequency ω M (or ωc) with respect to the relative velocity ΔV and an inter-vehicle distance deviation ΔL and a damping factor ζM (or ζc) with respect to the relative velocity and the inter-vehicle distance deviation.
Inventors
- 👤 Kazutaka Imperiaruyokohamabeibyu 402 Adachi
- 👤 Takenori Hashizume
- 👤 Hideo Iwamoto
Bibliographic Details
Application Number
—
Jurisdiction
EP
Data Source
google_patents
Last Synchronized
2026-10-24 16:25
CPC Classifications
B; B60; B60W; B60W30/00; B60W30/14; B60W30/16; B60K; B60K31/00; B60K31/0008; G; G05; G05D; G05D1/00; G05D1/02; G05D1/021; G05D1/0212; G05D1/0223; B60W50/00; B60W2050/0001; B60W2050/0002; B60W2050/0008; B60W2050/001; B60W2050/0019; B60W2050/0022; B60W2050/0028; B60W2050/0031; B60W2050/0043; B60W2050/0052; B60W2720/00; B60W2720/10; B60W2720/106; B60W2754/00; B60W2754/10; B60W2754/30; G05D1/0231; G05D1/0238; G05D1/024; G05D1/0255; G05D1/0257
Claims Analysis
Total Claims: 18
Claim 1
Independent Claim
206 words
An automatic vehicular velocity control apparatus
for an automotive vehicle, comprising: an inter-vehicle distance detector to detect an
inter-vehicle distance from the vehicle to a preceding
vehicle which is running ahead of the vehicle; a vehicular velocity detector to detect a vehicular
velocity of the vehicle; a relative velocity detector to detect a relative
velocity of the preceding vehicle to the vehicle; an inter-vehicle distance command value calculator
to calculate a command value of the inter-vehicle distance; a control response characteristic determinator to
determine a control response characteristic of an
inter-vehicle distance control system in accordance with
to a deviation between the command value of the inter-vehicle
distance and a detected value thereof and a
detected value of the relative velocity; a vehicular velocity command value calculator to
calculate a command value of the vehicular velocity on the
basis of the determined control response characteristic
of the inter-vehicle distance control system; and a vehicular velocity control section to control at
least one of a driving force of the vehicle, a braking force
of the vehicle, and a gear ratio of a vehicular transmission
in such a manner that a detected value of the vehicular
velocity is made equal to the command value of the vehicular
velocity.
Claim 2
Dependent Claim
63 words
An automatic vehicular velocity control apparatus
for an automotive vehicle as claimed in claim 1, wherein
the control response characteristic determinator includes
a memory in which a plurality of control modes and control
response characteristics corresponding to the respective
control modes are previously stored on the basis of signs
and magnitudes of the deviation and of the detected value
of the relative velocity.
Claim 3
Dependent Claim
57 words
An automatic vehicular velocity control apparatus
for an automotive vehicle as claimed in claim 2, wherein
the memory includes two-dimensional arrays, each two-dimensional
array having a longitudinal axis of the
deviation and a lateral axis of the detected value of the
relative velocity each of which a coefficient to determine
the control response characteristic is previously stored.
Claim 4
Dependent Claim
43 words
An automatic vehicular velocity control apparatus
for an automotive vehicle as claimed in claim 3, wherein
each coefficient to determine the control response
characteristic is a specific angular frequency ω M and a
damping factor ζ M of the inter-vehicle distance control
system.
Claim 5
Dependent Claim
114 words
An automatic vehicular velocity control apparatus
for an automotive vehicle as claimed in claim 4, wherein
the inter-vehicle distance control system includes a
target value calculator to calculate a target value of the
inter-vehicle distance and a target value of the relative
velocity from the inter-vehicle distance command value
using a first filter prescribed by the specific angular
frequency ω M and the damping factor ζ M selected from the
memory and the vehicular velocity command value calculator
calculates the vehicular velocity command value on the
basis of the detected values of the inter-vehicle distance,
the relative velocity, and the vehicular velocity and the
target values of the inter-vehicle distance and the
relative velocity.
Claim 6
Dependent Claim
24 words
An automatic vehicular velocity control apparatus
for an automotive vehicle as claimed in claim 5, wherein
the first filter is a second order filter.
Claim 7
Dependent Claim
51 words
An automatic vehicular velocity control apparatus
for an automotive vehicle as claimed in claim 6, wherein
a transfer function of the second order filter is expressed
as ω M 2 /(s 2 + 2ζ M ω M s + ω M 2 ) , wherein s denotes a Laplace
transform operator.
Claim 8
Dependent Claim
98 words
An automatic vehicular velocity control apparatus
for an automotive vehicle as claimed in claim 7, further
comprising: a correction value calculator to calculate a
correction value for the vehicular velocity command value
calculated by the vehicular velocity command value
calculator using a second filter having a transfer function
prescribed by the transfer function of the first filter.
an inverse of a transfer function of the vehicular velocity
control system, and an integration element; and a vehicular
velocity command value correction section to correct the
vehicular velocity command value using the correction
value calculated by the correction value calculator.
Claim 9
Dependent Claim
65 words
An automatic vehicular velocity control apparatus
for an automotive vehicle as claimed in claim 8, wherein
the transfer function of the second filter is expressed
as ω M 2 s(s + ωv)/ωv(s 2 + 2ζ M ω M s + ω M 2 ) ,wherein ωv denotes
a break point angular frequency in a vehicular velocity
control system constituted by the vehicular velocity
control section.
Claim 10
Dependent Claim
38 words
An automatic vehicular velocity control apparatus
for an automotive vehicle as claimed in claim 9, wherein
the correction value calculator is a feedforward system
connected between the control response characteristic
determinator and the vehicular velocity command value
calculator.
Claim 11
Dependent Claim
32 words
An automatic vehicular velocity control apparatus
for an automotive vehicle as claimed in claim 1, wherein
the relative velocity detector comprises a differentiator
to differentiate the detected value of the inter-vehicle
distance.
Claim 12
Dependent Claim
276 words
An automatic vehicular velocity control apparatus
for an automotive vehicle, comprising: an inter-vehicle distance detector to detect an
inter-vehicle distance from the vehicle to a preceding
vehicle which is running ahead of the vehicle; a vehicular velocity detector to detect a vehicular
velocity of the vehicle; a relative velocity detector to detect a relative
velocity of the preceding vehicle to the vehicle; an inter-vehicle distance command value calculator
to calculate a command value of an inter-vehicle distance; a target value determinator to determine a target
value of the inter-vehicle distance prescribing a
variation of the inter-vehicle distance with time until
the detected value of the inter-vehicle distance has
reached to the command value of the inter-vehicle distance; a gain determinator to determine a first gain by
which a deviation between the target value of the
inter-vehicle distance and the detected value of the
inter-vehicle distance is multiplied in accordance with
the detected value of the relative velocity; a vehicular velocity command value calculator to
calculate a command value of the vehicular velocity to make
the detected value of the inter-vehicle distance equal to
the target value of the inter-vehicle distance on the basis
of the detected value of the vehicular velocity, the
detected value of the relative velocity, and the deviation
between the target value of the inter-vehicle distance and
the detected value thereof: and a vehicular velocity control section to control at
least one of a driving force of the vehicle, a braking force
of the vehicle, and a gear ratio of a vehicular
transmission in such a manner that the detected value of
the vehicular velocity is made equal to the command value
thereof.
Claim 13
Dependent Claim
143 words
An automatic vehicular velocity control apparatus
for an automotive vehicle as claimed in claim 12, wherein
the target value determinator further determines a target
value of the relative velocity prescribing the variation
of the relative velocity with time until the detected value
of the inter-vehicle distance has reached to the command
value of the inter-vehicle distance, the gain determinator
further determines a second gain by which another deviation
between the target value of the relative velocity and the
detected value thereof is multiplied in accordance with
the detected value of the relative velocity, and the
vehicular velocity command value calculator calculates the
command value of the vehicular velocity to make the
detected value of the vehicular velocity equal to the
target value thereof on the basis of the deviation
multiplied by the first gain and the other deviation
multiplied by the second gain.
Claim 14
Dependent Claim
124 words
An automatic vehicular velocity control apparatus
for an automotive vehicle as claimed in claim 13, further
comprising a correction value calculator to calculate a
correction value Vc of the vehicular velocity from the
inter-vehicle distance command value determined by the
target value determinator using a filter having a transfer
function including a transfer characteristic from the
command value of the inter-vehicle distance determined by
the target value determinator to the target value of the
inter-vehicle distance and an inverse transfer
characteristic of the transfer characteristic of the
vehicular velocity control system to which an integration
element is added and a vehicular velocity command value
correction section to correct the command value of the
vehicular velocity according to the corrected value of the
vehicular velocity.
Claim 15
Dependent Claim
33 words
An automatic vehicular velocity control apparatus
for an automotive vehicle as claimed in claim 14, wherein
the gain determinator increases the first gain as the
detected value of the relative velocity becomes large.
Claim 16
Dependent Claim
134 words
An automatic vehicular velocity control apparatus
for an automotive vehicle as claimed in claim 13, wherein
the gain determinator determines the first gain fL and the
second gain fv as follows: fL = ωc 2 /ωnv;fv = 1 - 2ζcω
c/ωnv , wherein ωc denotes a specific angular frequency,
ζc denotes a damping factor, both of the specific angular
frequency and the damping factor being parameters to
determine a response characteristic of an inter-vehicle
distance feedback control system and being stored in a
memory of the automatic vehicular velocity control
apparatus in forms of respective maps in accordance with
the detected value of the relative velocity and ωnv denotes
a specific angular frequency of the vehicular velocity
control system to make the detected value of the vehicular
velocity equal to the command value thereof.
Claim 17
Dependent Claim
124 words
An automatic vehicular velocity control apparatus
for an automotive vehicle as claimed in claim 16, wherein
the vehicular velocity command value calculator calculates
the command value V*(t) of the vehicular velocity as
follows: V*(t) = {V(t) + ΔV(t)} - [fv x {ΔV T (t)- ΔV(t)}+
fL x {L T (t) - L(t)}] , wherein V(t) denotes the detected
value of the vehicular velocity, ΔV(t) denotes the
detected value of the relative velocity, fv denotes the
second gain. ΔV T (t) denotes the target value of the
relative velocity and ΔV(t) denotes the detected value of
the relative velocity, fL denotes the first gain. L T (t)
denotes the target value of the inter-vehicle distance,
and L(t) denotes the detected value of the inter-vehicle
distance.
Claim 18
Dependent Claim
65 words
An automatic vehicular velocity control apparatus
for an automotive vehicle as claimed in claim 17, wherein
the specific angular frequency ωc in the inter-vehicle
distance feedback control system is stored in the
corresponding one of the maps such that the value of the
specific angular frequency ωc is increased in proportion
to the increase in a magnitude of the detected value of
the relative velocity.
References Cited (Backward Citations)
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