Automatic deceleration control system, vehicle-to-obstacle distance control system, and system program storage medium for vehicle

An automatic deceleration control method for a vehicle comprising:

• determining a brake pressure control command when decelerating the vehicle based on a deceleration difference between a target deceleration value determined according to driving conditions of the vehicle and an actual measured deceleration value of the vehicle, the brake pressure control command causing the actual deceleration value of the vehicle to change towards the target deceleration;
• correcting said brake pressure control command by modifying the deceleration difference based on advancing a phase of the deceleration difference between the target deceleration value and the actual deceleration value to compensate for a time delay between output of the brake pressure control command and actual deceleration in response to the brake pressure control command;
• and
• adjusting brake pressure acting on a wheel of the vehicle in response to said corrected brake pressure control command to decelerate the vehicle.

A storage medium storing therein a program to be executed by a computer for automatic deceleration control of a vehicle said program comprising the logical steps:

• determining a brake pressure control command when decelerating the vehicle based on a deceleration difference between a target deceleration value determined according to driving conditions of the vehicle and an actual measured deceleration value of the vehicle, the brake pressure control command causing the actual deceleration of the vehicle to change towards the target deceleration;
• correcting said brake pressure control command by modifying the deceleration difference based on advancing a phase of the target deceleration value to compensate for a time delay between output of the brake pressure control command and actual deceleration of the vehicle in response to the brake pressure control command;
• and
• adjusting brake pressure acting on a wheel of the vehicle in response to said corrected brake pressure control command to decelerate the vehicle.

A storage medium storing therein a program to be executed by a computer for automatic deceleration control of a vehicle, said program comprising the logical steps:

• determining a brake pressure control command when decelerating the vehicle based on a deceleration difference between a target deceleration signal determined according to driving conditions of the vehicle and an actual measured deceleration of the vehicle, the brake pressure control command causing the actual deceleration of the vehicle to change towards the target deceleration;
• correcting said brake pressure control command by modifying the deceleration difference based on advancing a phase of the deceleration difference between the target deceleration and the actual deceleration value to compensate for a time delay between output of the brake pressure control command and actual deceleration in response to the brake pressure control command;
• and
• adjusting brake pressure acting on a wheel of the vehicle in response to said corrected brake pressure control command to decelerate the vehicle.

An automatic deceleration control apparatus for a vehicle comprising:

• a deceleration detecting sensor detecting an actual deceleration of the vehicle;
• driving condition determining means for determining driving conditions of the vehicle;
• target deceleration determining means for determining a target deceleration according to the driving conditions of the vehicle determined by said driving condition determining means;
• deceleration difference determining means for determining a deceleration difference between the target deceleration and the actual deceleration detected by said deceleration detecting sensor;
• brake pressure control command determining means for determining a brake pressure control command to use in decelerating the vehicle based on the deceleration difference determined by said deceleration difference determining means;
• correcting means for correcting said brake pressure control command by modifying the deceleration difference based on advancing a phase of the target deceleration so as to compensate for a time delay between output of the brake pressure control command and actual detection of the vehicle in response to the brake pressure control command;
• and
• a brake actuator adjusting brake pressure acting on a wheel of the vehicle in response to said corrected brake pressure control command to thereby decelerate the vehicle.

An automatic deceleration control apparatus for a vehicle comprising:

• a deceleration detecting sensor detecting an actual deceleration of the vehicle;
• driving condition determining means for determining driving conditions of the vehicle;
• target deceleration determining means for determining a tar get deceleration according to the driving conditions of the vehicle determined by said driving condition determining means;
• deceleration difference determining means for determining a deceleration difference between the target deceleration and the actual deceleration detected by said deceleration detecting sensor;
• brake pressure control command determining means for determining a brake pressure control command to use in decelerating the vehicle based on the deceleration difference determined by said deceleration difference determining means;
• correcting means for correcting said brake pressure control command by modifying the deceleration difference based on advancing a phase of the deceleration difference between the target deceleration and the actual deceleration so as to compensate for a time delay between output of the brake pressure control command and actual detection of the vehicle in response to the brake pressure control command;
• and
• a brake actuator adjusting a brake pressure acting on a wheel of the vehicle in response to said corrected brake pressure control command to thereby decelerate the vehicle.

A distance control apparatus for controlling a distance between a vehicle and an obstacle present ahead of the vehicle comprising:

• a deceleration detecting sensor detecting an actual deceleration of the i vehicle;
• driving condition determining means for determining driving conditions of the vehicle;
• target deceleration determining means for determining a target deceleration according to the driving conditions of the vehicle determined said driving condition determining means;
• deceleration difference determining means for determining a deceleration difference between the target deceleration of the vehicle and the actual deceleration of the vehicle detected by said deceleration detecting sensor;
• brake pressure control command determining means for determining a brake pressure control command to use in decelerating the vehicle based on the deceleration difference determined by said deceleration difference determining means;
• correcting means for correcting said brake pressure control command by modifying the deceleration difference based on advancing a phase of the target deceleration so as to compensate for a time delay between output of the brake pressure control command and the actual deceleration of the vehicle in response to the brake pressure control command;
• and
• a brake actuator adjusting a brake pressure acting on a wheel of the vehicle in response to said corrected brake pressure control command to decelerate the vehicle to thereby bring the distance between the vehicle and the obstacle into agreement with a preselected target distance.

A distance control apparatus for controlling a distance between a vehicle and an obstacle present ahead of the vehicle comprising:

• a deceleration detecting sensor detecting an actual deceleration of the vehicle;
• driving condition determining means for determining driving conditions of the vehicle;
• target deceleration determining means for determining a target deceleration according to the driving conditions of the vehicle determined by said driving condition determining means;
• deceleration difference determining means for determining a deceleration difference between the target deceleration of the vehicle and the actual deceleration of the vehicle detected by said deceleration detecting sensor;
• brake pressure control command determining means for determining a brake pressure control command to use in decelerating the vehicle based on the deceleration difference determined by said deceleration difference determining means;
• correcting means for correcting said brake pressure control command by modifying the deceleration difference based on advancing a phase of the deceleration difference between the target deceleration and the actual deceleration so as to compensate for a time delay between output of the brake pressure control command and the actual deceleration of the vehicle in response to the brake pressure control command;
• and
• a brake actuator adjusting a brake pressure acting on a wheel of the vehicle in response to said corrected brake pressure control command to decelerate the vehicle to thereby bring the distance between the vehicle and the obstacle into agreement with a preselected target distance.