# US 9,751,531 B2 · Cruise controller > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 9,751,531 B2 - Document ID: US9751531B2 - Status: Granted - Kind: B2 - Application number: 14/666,744 - Filed: 2015-03-24 - Published: 2015-12-31 - Granted: 2017-09-05 - Earliest claimed: 2014-06-27 - Assignees: Honda Motor Co., Ltd. - Applicants: Honda Motor Co., Ltd. - Inventors: Daichi Kato; Toru Kokaki - Web page: https://patentgrep.com/patent/US9751531B2 ## CPC - B60W 30/16: Control of distance between vehicles, e.g. keeping a distance to preceding vehicle - B60W 2420/403: Image sensing, e.g. optical camera - B60W 2552/30: Road curve radius - B60W 2554/4041: Position - B60W 2554/801: Lateral distance - B60W 2554/804: Relative longitudinal speed - B60W 2720/10: Longitudinal speed - B60W: CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT ## Abstract When the object detection unit 10 detects the front vehicle X, the speed of the own vehicle 2 is controlled using a detection value of the state of the front vehicle (position, speed) detected by the front vehicle state detection unit 15, and, in the lost state where the front vehicle X is not detected, the speed of the own vehicle 2 is controlled using an estimation value of the state of the front vehicle by the lost front-vehicle state estimation unit 22 based on a condition that a length of the scheduled traveling route of the own vehicle 2 is shorter than a predetermined threshold in the detection target range by the object detection unit 10 as a necessary condition. ## Claims ### Claim 1 A cruise controller installed in a vehicle as an own vehicle that performs cruise control of the own vehicle so as to follow a front vehicle traveling ahead of the own vehicle, comprising: an object detection unit configured to detect, in a predetermined detection target range on a front side of the own vehicle, the front vehicle existing in the predetermined detection target range; a front vehicle state detection unit configured to detect a state of the front vehicle, including at least any one of a position or a speed of the front vehicle that is detected by the object detection unit; a lost front-vehicle state estimation unit configured to, when a lost state occurs where the front vehicle detected by the object detection unit is not detected, estimate a state of the front vehicle in the lost state; a route-length determination unit configured to determine whether or not a length of a scheduled traveling route of the own vehicle in the detection target range is shorter than a predetermined threshold; and a speed control unit configured to control a speed of the own vehicle so as to follow the front vehicle, wherein the speed control unit is configured to, when the object detection unit detects the front vehicle, control the speed of the own vehicle using a detection value of the state of the front vehicle detected by the front vehicle state detection unit, and to, in the lost state, control the speed of the own vehicle using an estimation value of the state of the front vehicle by the lost front-vehicle state estimation unit based on a positive determination result by the route-length determination unit as a necessary condition. ### Claim 2 (depends on 1) The cruise controller according to claim 1, wherein the lost front-vehicle state estimation unit is configured to, when the lost state occurs, estimate a boundary position of the detection target range on the scheduled traveling route of the own vehicle at a time just before the lost state occurs fir as a position of the front vehicle at the time just before the lost state occurs. ### Claim 3 (depends on 1) The cruise controller according to claim 1, further comprising: an own-vehicle stoppable speed determination unit configured to determine an own vehicle stoppable speed being a speed of the own vehicle immediately before braking and more than zero and enabling the own vehicle to stop in the detection target area assuming that the braking is performed in the scheduled traveling route of the own vehicle in the detection target range, the own vehicle stoppable speed being determined in accordance with a length of the scheduled traveling route of the own vehicle at least in the detection target range, wherein in the lost state, the lost front-vehicle state estimation unit is configured to estimate, as the speed of the front vehicle, the speed of the own vehicle that is successively determined by the own-vehicle stoppable speed determination unit. ### Claim 4 (depends on 3) The cruise controller according to claim 3, further comprising: a solo-traveling target speed setting unit configured to set a target speed of the own vehicle assuming that the own vehicle travels solo along the scheduled traveling route, wherein the own-vehicle stoppable speed determination unit is configured to, assuming that braking of the own vehicle is performed with predetermined deceleration/acceleration in the scheduled traveling route of the own vehicle in the detection target range, calculate an upper limit speed of the own vehicle immediately before the braking enabling stopping of the own vehicle in the detection target range based on the deceleration/acceleration and a length of the scheduled traveling route of the own vehicle in the detection target range, and determine, as the own-vehicle stoppable speed, a smaller speed between the upper limit speed and a target speed set by the solo-traveling target speed setting unit. ### Claim 5 (depends on 3) The cruise controller according to claim 3, wherein in the lost state, the lost front-vehicle state estimation unit is configured to estimate a position of the front vehicle so as to move the position of the front vehicle with a speed agreeing with an estimation value of the speed of the front vehicle. ### Claim 6 (depends on 1) The cruise controller according to claim 1, wherein the object detection unit includes a camera that is installed in the own vehicle so as to shoot an image in front of the own vehicle, and the predetermined detection target range is a range specified by an angle of view of the camera.