Vehicle running control apparatus, vehicle running control method, and computer program product having the method stored therein

A vehicle running control apparatus comprising:

• detection means for detecting the change of a difference in frequency between an electromagnetic wave signal transmitted from a vehicle and an electromagnetic wave signal having a Doppler shift reflected from an object and generating information inclusive of a distance between said object and said vehicle and a relative speed of one of said object and said vehicle to the other on the basis of said change in frequency difference;
• desired speed generation means for generating a desired speed on the basis of said information generated by said detection means and information of the running of said vehicle so that said change in frequency difference is generated;
• speed control means for generating a signal for control of the speed of said vehicle on the basis of said desired speed;
• wherein said desired speed generation means sets said desired speed so that the detected relative speed takes a value in a predetermined range unequal to zero;
• and
• wherein said desired speed generation means includes means for setting a time-dependent changing desired speed when a difference between said distance between said object and said vehicle and a predetermined required distance becomes smaller than a reference value.

A vehicle running control apparatus comprising:

• detection means for detecting the change of a difference in frequency between an electromagnetic wave signal transmitted from a vehicle and an electromagnetic wave signal having a Doppler shift reflected from an object and generating information inclusive of a distance between said object and said vehicle and a relative speed of one of said object and said vehicle to the other on the basis of said change in frequency difference;
• desired speed generation means for generating a desired speed on the basis of said information generated by said detection means and information of the running of said vehicle so that said change in frequency difference is generated;
• speed control means for generating a signal for control of the speed of said vehicle on the basis of said desired speed;
• and
• further comprising means for setting a required distance between said object and said vehicle from at least the speed of said vehicle, said desired speed generation means including means for setting a first desired speed and a desired speed for correction on the basis of the speed of said vehicle, the detected relative speed, said required distance and the detected distance between said object and said vehicle, and said speed control means controlling the speed of said vehicle on the basis of said first desired speed when the absolute value of said detected relative speed is larger than a reference value and on the basis of the sum of said first desired speed and said desired speed for correction when the absolute value of said detected relative speed is not larger than said reference value.

A vehicle running control apparatus comprising:

• detection means for detecting the change of a difference in frequency between an electromagnetic wave signal transmitted from a vehicle and an electromagnetic wave signal having a Doppler shift reflected from an object and generating information inclusive of a distance between said object and said vehicle and a relative speed of one of said object and said vehicle to the other on the basis of said change in frequency difference;
• desired speed generation means for generating a desired speed on the basis of said information generated by said detection means and information of the running of said vehicle so that said change in frequency difference is generated;
• speed control means for generating a signal for control of the speed of said vehicle on the basis of said desired speed;
• and
• further comprising means for setting a required distance between said object and said vehicle from at least the speed of said vehicle, said desired speed generation means including means for setting a first desired speed and a desired speed for correction on the basis of the speed of said vehicle, the detected relative speed, said required distance and the detected distance between said object and said vehicle, and said speed control means controlling the speed of said vehicle on the basis of said first desired speed when the absolute value of a difference between said detected distance and said required distance is larger than a reference value on the basis of the sum of said first desired speed and said desired speed for correction when the absolute value of said difference is not larger than said reference value.

A vehicle running control apparatus comprising:

• detection means for detecting the change of a difference in frequency between an electromagnetic wave signal transmitted from a vehicle and an electromagnetic wave signal having a Doppler shift reflected from an object and generating information inclusive of a distance between said object and said vehicle and a relative speed of one of said object and said vehicle to the other on the basis of said change in frequency difference;
• desired speed generation means for generating a desired speed on the basis of said information generated by said detection means and information of the running of said vehicle so that said change in frequency difference is generated;
• speed control means for generating a signal for control of the speed of said vehicle on the basis of said desired speed;
• and
• further comprising means for setting a required distance between said object and said vehicle from at least the speed of said vehicle and means for setting a required distance for correction, said desired speed generation means including means for setting said desired speed on the basis of the speed of said vehicle, the detected relative speed, and a deviation between said required distance and the detected distance between said object and said vehicle so that when the absolute value of said detected relative speed is not larger than a reference value, said desired speed is set taking as said deviation a difference between the sum of said required distance and said required distance for correction and said detected distance.

A vehicle running control apparatus comprising:

• detection means for detecting the change of a difference in frequency between an electromagnetic wave signal transmitted from a vehicle and an electromagnetic wave signal having a Doppler shift reflected from an object and generating information inclusive of a distance between said object and said vehicle and a relative speed of one of said object and said vehicle to the other on the basis of said change in frequency difference;
• desired speed generation means for generating a desired speed on the basis of said information generated by said detection means and information of the running of said vehicle so that said change in frequency difference is generated;
• speed control means for generating a signal for control of the speed of said vehicle on the basis of said desired speed;
• and
• further comprising means for setting a required distance between said object and said vehicle from at least the speed of said vehicle and means for setting a required distance for correction, said desired speed generation means including means for setting said desired speed on the basis of the speed of said vehicle, the detected relative speed, and a deviation between said required distance and the detected distance between said object and said vehicle so that when the absolute value of said deviation is not larger than a reference value, said desired speed is set taking as said deviation a difference between the sum of said required distance and said required distance for correction and said detected distance.

A vehicle running control method comprising:

• detecting the change of a difference in frequency between an electromagnetic wave signal transmitted from a vehicle and an electromagnetic wave signal having a Doppler shift reflected from an object;
• generating speed/distance information inclusive of a distance between said object and said vehicle and a relative speed of one of said object and said vehicle to the other on the basis of said change in frequency difference;
• generating a desired speed on the basis of said speed/distance information and information of said vehicle so that said change in frequency difference is generated;
• generating a signal for control of the speed of said vehicle on the basis of said desired speed;
• wherein said desired speed is generated so that the detected relative speed takes a value in a predetermined range unequal to zero;
• and
• wherein a time-dependent changing desired speed is set when the detected relative speed comes to the value in the predetermined range unequal to zero.

A vehicle running control method comprising:

• detecting the change of a difference in frequency between an electromagnetic wave signal transmitted from a vehicle and an electromagnetic wave signal having a Doppler shift reflected from an object;
• generating speed/distance information inclusive of a distance between said object and said vehicle and a relative speed of one of said object and said vehicle to the other on the basis of said change in frequency difference;
• generating a desired speed on the basis of said speed/distance information and information of said vehicle so that said change in frequency difference is generated;
• generating a signal for control of the speed of said vehicle on the basis of said desired speed;
• wherein said desired speed is generated so that the detected relative speed takes a value in a predetermined range unequal to zero;
• and
• wherein a time-dependent changing desired speed is set when a difference between said distance between said object and said vehicle and a predetermined required distance becomes smaller than a reference value.

A computer program product comprising a computer usable medium having computer readable program code means embodied in said medium for controlling the running of a vehicle, said computer readable program code means comprising:

• means for detecting the change of a difference in frequency between an electromagnetic wave signal transmitted from a vehicle and an electromagnetic wave signal having a Doppler shift reflected from an object;
• means for generating speed/distance information inclusive of a distance between said object and said vehicle and a relative speed of one of said object and said vehicle to the other on the basis of said change in frequency difference;
• means for generating a desired speed on the basis of said speed/distance information and information of said vehicle so that said change in frequency difference is generated;
• means for generating a signal for control of the speed of said vehicle on the basis of said desired speed;
• wherein said desired speed generating means includes means for determining said desired speed so that the detected relative speed takes a value in a predetermined range unequal to zero;
• and
• wherein said desired speed generating means includes means for generating a time-dependent changing desired speed signal when the detected relative speed comes to the value in the predetermined range unequal to zero.

A computer program product comprising a computer usable medium having computer readable program code means embodied in said medium for controlling the running a vehicle, said computer readable program code means comprising:

• means for detection the change of a difference in frequency between an electromagnetic wave signal transmitted from a vehicle and an electromagnetic wave signal having a Doppler shift reflected from an object;
• means for generating speed/distance information inclusive of a distance between said object and said vehicle and a relative speed of one of said object and said vehicle to the other on the basis of said change in frequency difference;
• means for generating a desired speed on the basis of said speed/distance information and information of said vehicle so that said change in frequency difference is generated;
• means for generating a signal for control of the speed of said vehicle on the basis of said desired speed;
• wherein said desired speed generating means includes means for determining said desired speed so that the detected relative speed takes a value in a predetermined range unequal to zero;
• and
• wherein said desired speed generating means includes means for generating a time-dependent changing desired speed signal when a difference between said distance between said object and said vehicle and a predetermined required distance becomes smaller than a reference value.