US 10,884,121 B2Granted

Inter-vehicle distance control device

AssigneeMitsubishi Electric Corporation

InventorsYuji Shimizu, Kazuhiro Nishiwaki, Masahiro Iezawa

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Abstract

An inter-vehicle distance control device that achieves inter-vehicle distance control satisfying the driver includes a preceding vehicle velocity computation part that computes a preceding vehicle velocity on the basis of a host vehicle velocity and a relative velocity of the preceding vehicle, a target inter-vehicle setting art that sets a target inter-vehicle distance from the preceding vehicle on the basis of the preceding vehicle velocity, a target track generator that generates a target track and a target track differential, the target track defining a time history lasting until the initial value of the inter-vehicle distance reaches the target inter-vehicle distance, and a feedback controller that computes a feedback acceleration command by multiplying a deviation of the inter-vehicle distance from the target track and a deviation of the relative velocity from the target track differential value by a gain. The feedback acceleration command is output as an acceleration command.

Claims14

Dependent claims

An inter-vehicle distance control apparatus for controlling an inter-vehicle distance from a preceding vehicle by computing an acceleration command on the basis of the inter-vehicle distance from the preceding vehicle, a relative velocity of the preceding vehicle, and a velocity of a host vehicle, and providing the acceleration command as an input to a vehicle driver that controls a vehicle drive, the inter-vehicle distance control apparatus comprising:

a memory storing instructions;
and
a processor coupled to the memo and configured to execute the instructions to perform:
a preceding vehicle velocity computation routine to compute a velocity of the preceding vehicle on the basis of the velocity of the host vehicle and the relative velocity of the preceding vehicle,
a target inter-vehicle setting routine to set a target inter-vehicle distance from the preceding vehicle on the basis of the velocity of the preceding vehicle,
a target track generation routine to generate a target track and a target track differential value that is a differential value of the target track, the target track defining a time history of the inter-vehicle distance lasting until an initial value of the inter-vehicle distance reaches the target inter-vehicle distance, and
a feedback control routine to compute a feedback acceleration command by multiplying each of a deviation of the inter-vehicle distance from the target track and a deviation of the relative velocity from the target track differential value by a gain,
wherein the feedback acceleration command is output as the acceleration command.

5 more elements

An inter-vehicle distance control apparatus for controlling an inter-vehicle distance from a preceding vehicle by computing an acceleration command on the basis of the inter-vehicle distance from the preceding vehicle, a relative velocity of the preceding vehicle, and a velocity of a host vehicle, and inputting the acceleration command to a vehicle driver that controls vehicle drive, the inter-vehicle distance control apparatus comprising:

a memory storing instructions;
and
a processor coupled to the memory and configured to execute the instructions to perform:
a preceding vehicle velocity computation routine to compute a velocity of the preceding vehicle on the basis of the velocity of the host vehicle and the relative velocity of the preceding vehicle,
a target inter-vehicle setting routine to set a target inter-vehicle distance from the preceding vehicle on the basis of the velocity of the preceding vehicle,
a target track generation routine to generate a deviation track and a target track differential value that is a differential value of the deviation track, the deviation track defining a time history of an inter-vehicle deviation lasting until the inter-vehicle deviation reaches zero, the inter-vehicle deviation being obtained by subtracting the target inter-vehicle distance from the inter-vehicle distance, and
a feedback control routine to compute a feedback acceleration command by multiplying each of a deviation of the inter-vehicle distance from the target track and a deviation of the relative velocity from the target track differential value by a gain, assuming that the target track is a sum of the deviation track and the target inter-vehicle distance,
wherein the feedback acceleration command is output as the acceleration command.

5 more elements

Dependencies are inferred from the claim text.

Facts

Application: 16/396,085Filed 26 Apr 2019
Priority: JP 2018-11757821 Jun 2018
Published: US 2019/0391259 A126 Dec 2019
Granted: 5 Jan 2021
Term ends: Not estimatedThe source records don’t support an estimate.

Classification14 codes

B60W 30/16
Adaptive cruise control: control of distance between vehicles, e.g. keeping a distance to preceding vehicle
B60K 31/0008
Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an…:…
G01S 13/931
For anti-collision purposes: of land vehicles
B60K 2031/0025
Including means for detecting potential obstacles in vehicle path: detecting position of target vehicle, e.g. vehicle driving ahead from host vehicle