DE69925211D1 - Abstandsbezogenes Fahrgeschwindigkeitsregelsystem für Kraftfahrzeuge - Google Patents
Abstandsbezogenes Fahrgeschwindigkeitsregelsystem für KraftfahrzeugeInfo
- Publication number
- DE69925211D1 DE69925211D1 DE69925211T DE69925211T DE69925211D1 DE 69925211 D1 DE69925211 D1 DE 69925211D1 DE 69925211 T DE69925211 T DE 69925211T DE 69925211 T DE69925211 T DE 69925211T DE 69925211 D1 DE69925211 D1 DE 69925211D1
- Authority
- DE
- Germany
- Prior art keywords
- distance
- control system
- vehicle speed
- speed control
- motor vehicles
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Lifetime
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- 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
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/14—Adaptive cruise control
- B60W30/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K31/00—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator
- B60K31/0008—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator including means for detecting potential obstacles in vehicle path
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- 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
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W2050/0001—Details of the control system
- B60W2050/0002—Automatic control, details of type of controller or control system architecture
- B60W2050/0008—Feedback, closed loop systems or details of feedback error signal
- B60W2050/001—Proportional integral [PI] controller
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- 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
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W2050/0001—Details of the control system
- B60W2050/0019—Control system elements or transfer functions
- B60W2050/0022—Gains, weighting coefficients or weighting functions
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- 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
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W2050/0001—Details of the control system
- B60W2050/0019—Control system elements or transfer functions
- B60W2050/0028—Mathematical models, e.g. for simulation
- B60W2050/0031—Mathematical model of the vehicle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- 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
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W2050/0001—Details of the control system
- B60W2050/0043—Signal treatments, identification of variables or parameters, parameter estimation or state estimation
- B60W2050/0052—Filtering, filters
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- 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
- B60W2720/00—Output or target parameters relating to overall vehicle dynamics
- B60W2720/10—Longitudinal speed
- B60W2720/106—Longitudinal acceleration
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- 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
- B60W2754/00—Output or target parameters relating to objects
- B60W2754/10—Spatial relation or speed relative to objects
- B60W2754/30—Longitudinal distance
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
- G05D1/024—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors in combination with a laser
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
Applications Claiming Priority (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP24018098 | 1998-08-26 | ||
JP24018098 | 1998-08-26 | ||
JP16682899A JP3661495B2 (ja) | 1998-08-26 | 1999-06-14 | 先行車追従制御装置 |
JP16682899 | 1999-06-14 |
Publications (2)
Publication Number | Publication Date |
---|---|
DE69925211D1 true DE69925211D1 (de) | 2005-06-16 |
DE69925211T2 DE69925211T2 (de) | 2005-10-06 |
Family
ID=26491074
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
DE69925211T Expired - Lifetime DE69925211T2 (de) | 1998-08-26 | 1999-08-24 | Abstandsbezogenes Fahrgeschwindigkeitsregelsystem für Kraftfahrzeuge |
Country Status (4)
Country | Link |
---|---|
US (2) | US6330507B1 (de) |
EP (1) | EP0982172B1 (de) |
JP (1) | JP3661495B2 (de) |
DE (1) | DE69925211T2 (de) |
Families Citing this family (52)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP3661495B2 (ja) * | 1998-08-26 | 2005-06-15 | 日産自動車株式会社 | 先行車追従制御装置 |
US6233515B1 (en) | 1998-12-07 | 2001-05-15 | Jaguar Car, Limited | Adaptive vehicle cruise control system and methodology |
JP3690185B2 (ja) * | 1999-05-25 | 2005-08-31 | 日産自動車株式会社 | 先行車追従制御装置 |
JP3661496B2 (ja) * | 1999-06-15 | 2005-06-15 | 日産自動車株式会社 | 先行車追従制御装置 |
DE10015301A1 (de) * | 2000-03-28 | 2001-10-04 | Bosch Gmbh Robert | Verfahren zur Unterbrechnung einer Geschwindigkeits- oder Abstandsregelung eines Regelsystems eines Kraftfahrzeugs |
US6526346B2 (en) | 2000-05-16 | 2003-02-25 | Nissan Motor Co., Ltd. | System and method for controlling vehicle velocity and inter-vehicle distance |
WO2001087660A1 (en) | 2000-05-16 | 2001-11-22 | Nissan Motor Co., Ltd. | System and method for controlling vehicle velocity and inter-vehicle distance |
JP4254936B2 (ja) | 2000-06-27 | 2009-04-15 | 日産自動車株式会社 | 車両の警報発生装置 |
JP3817412B2 (ja) * | 2000-08-02 | 2006-09-06 | ジヤトコ株式会社 | 無段変速機の変速制御装置 |
JP2004506906A (ja) | 2000-08-16 | 2004-03-04 | レイセオン・カンパニー | 自動車用レーダ・システムおよび方法 |
JP5063851B2 (ja) | 2000-08-16 | 2012-10-31 | ヴァレオ・レイダー・システムズ・インコーポレーテッド | 近接物体検出システム |
EP1310018B1 (de) | 2000-08-16 | 2018-07-25 | Valeo Radar Systems, Inc. | Antennenarchitektur mit geschalteten strahlungskeulen |
US6577269B2 (en) | 2000-08-16 | 2003-06-10 | Raytheon Company | Radar detection method and apparatus |
US6675094B2 (en) | 2000-09-08 | 2004-01-06 | Raytheon Company | Path prediction system and method |
JP3649108B2 (ja) * | 2000-09-14 | 2005-05-18 | 日産自動車株式会社 | 車両用追従走行制御装置 |
JP3797115B2 (ja) * | 2001-02-15 | 2006-07-12 | 日産自動車株式会社 | 車速制御装置 |
US6708100B2 (en) | 2001-03-14 | 2004-03-16 | Raytheon Company | Safe distance algorithm for adaptive cruise control |
US6737963B2 (en) * | 2001-03-30 | 2004-05-18 | Koninklijke Philips Electronics N.V. | Driver tailgating and following aid |
JP3788266B2 (ja) * | 2001-05-11 | 2006-06-21 | 日産自動車株式会社 | 車両用走行制御装置 |
US20030022681A1 (en) * | 2001-07-24 | 2003-01-30 | Ruppel Christopher D. | Adaptive dynamic technique for multi-path signal processing |
JP2003039980A (ja) * | 2001-07-31 | 2003-02-13 | Nissan Motor Co Ltd | 車両用走行制御装置 |
AU2002333320A1 (en) * | 2001-08-02 | 2003-02-17 | Siemens Aktiengesellschaft | Material handling systems with high frequency radio location devices |
US6535808B1 (en) * | 2001-12-19 | 2003-03-18 | Delphi Technologies, Inc. | Deceleration control for automatic automotive speed control apparatus |
US6611227B1 (en) | 2002-08-08 | 2003-08-26 | Raytheon Company | Automotive side object detection sensor blockage detection system and related techniques |
US6870468B2 (en) * | 2002-09-27 | 2005-03-22 | Nissan Motor Co., Ltd. | Adaptive cruise speed controlling apparatus and method for automotive vehicle |
US7272482B2 (en) * | 2002-09-30 | 2007-09-18 | Nissan Motor Co., Ltd. | Preceding-vehicle following control system |
US6778897B2 (en) * | 2002-11-27 | 2004-08-17 | Visteon Global Technologies, Inc. | Adaptive cruise control system and strategy |
SE525479C2 (sv) * | 2003-07-10 | 2005-03-01 | Volvo Lastvagnar Ab | Metod för optimering av bromsförlopp i fordon |
JP4379199B2 (ja) | 2004-05-17 | 2009-12-09 | 日産自動車株式会社 | 車線変更支援装置および方法 |
JP2005339241A (ja) | 2004-05-27 | 2005-12-08 | Nissan Motor Co Ltd | モデル予測制御装置および車両用推奨操作量生成装置 |
JP4400418B2 (ja) | 2004-10-29 | 2010-01-20 | 日産自動車株式会社 | 車間距離制御装置及び車間距離制御方法並びに運転操作支援装置及び運転操作支援方法 |
JP4451315B2 (ja) * | 2005-01-06 | 2010-04-14 | 富士重工業株式会社 | 車両の運転支援装置 |
FR2880591B1 (fr) * | 2005-01-11 | 2008-08-22 | Renault Sas | Systeme de controle longitudinal d'une voiture |
US20060289216A1 (en) * | 2005-06-16 | 2006-12-28 | Ryoji Kato | Relative speed computing apparatus and inter-vehicle distance control apparatus |
KR101191293B1 (ko) | 2008-03-31 | 2012-10-16 | 발레오 레이더 시스템즈, 인크. | 차량용 레이더 센서 방해 감지 장치 및 방법 |
EP2404804B1 (de) * | 2009-03-04 | 2019-04-24 | Toyota Jidosha Kabushiki Kaisha | Folgedurchlaufs-steuervorrichtung |
US8577579B2 (en) * | 2010-02-01 | 2013-11-05 | Bendix Commercial Vehicle Systems Llc | Engine control request from adaptive control with braking controller |
JP5126336B2 (ja) * | 2010-05-13 | 2013-01-23 | 株式会社デンソー | 車両用速度制御装置 |
US9403532B2 (en) * | 2010-07-09 | 2016-08-02 | Allison Transmission, Inc. | Closed-loop transmission integration with forward and/or reverse assist system |
JP5494332B2 (ja) * | 2010-07-27 | 2014-05-14 | トヨタ自動車株式会社 | 車両制御システム |
US8907774B2 (en) | 2011-03-01 | 2014-12-09 | Bendix Commercial Vehicle Systems Llc | System and method for monitoring tire condition |
US8643505B2 (en) | 2011-06-01 | 2014-02-04 | Nissan North America, Inc. | Host vehicle with externally perceivable cruise control indicating device |
CN103287427A (zh) * | 2013-06-05 | 2013-09-11 | 苏州惠瑞自动化集成有限公司 | 自动化车速控制系统 |
CN105355087A (zh) * | 2015-11-19 | 2016-02-24 | 深圳前海达闼云端智能科技有限公司 | 一种车联网中车辆的控制方法、装置、系统及车辆 |
DE102017203739A1 (de) | 2017-03-07 | 2018-09-13 | Continental Teves Ag & Co. Ohg | Automatisches Notbremssystem |
US10737695B2 (en) * | 2017-07-01 | 2020-08-11 | Tusimple, Inc. | System and method for adaptive cruise control for low speed following |
US10493988B2 (en) * | 2017-07-01 | 2019-12-03 | TuSimple | System and method for adaptive cruise control for defensive driving |
US10752246B2 (en) | 2017-07-01 | 2020-08-25 | Tusimple, Inc. | System and method for adaptive cruise control with proximate vehicle detection |
CN109753056B (zh) * | 2017-11-07 | 2022-12-20 | 北京图森未来科技有限公司 | 一种车辆自动巡航的速度动态控制方法和装置 |
JP6541848B1 (ja) | 2018-06-21 | 2019-07-10 | 三菱電機株式会社 | 車間距離制御装置 |
JP7109602B2 (ja) * | 2019-02-14 | 2022-07-29 | 三菱電機株式会社 | 車間距離制御装置 |
CN113200038B (zh) * | 2021-06-17 | 2022-11-01 | 清华大学 | 一种适用于电动车的增量式速度控制方法 |
Family Cites Families (23)
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US3820622A (en) * | 1973-07-30 | 1974-06-28 | Bendix Corp | Model referenced speed control for automobiles |
JPS61146644A (ja) * | 1984-12-19 | 1986-07-04 | Nissan Motor Co Ltd | 車両走行制御装置 |
JP2646146B2 (ja) * | 1990-03-28 | 1997-08-25 | 三菱電機株式会社 | 車間距離制御装置 |
DE4209060C2 (de) * | 1992-03-20 | 1994-12-15 | Daimler Benz Ag | Verfahren zur Regelung des Abstandes zwischen fahrenden Kraftfahrzeugen |
JPH06227280A (ja) * | 1993-02-02 | 1994-08-16 | Mitsubishi Electric Corp | 車間距離制御装置 |
GB9303434D0 (en) * | 1993-02-20 | 1993-04-07 | Lucas Ind Plc | Method of and apparatus for cruise control |
JP3569926B2 (ja) * | 1993-03-03 | 2004-09-29 | 株式会社デンソー | 車両走行制御装置 |
US5493302A (en) * | 1993-10-01 | 1996-02-20 | Woll; Jerry | Autonomous cruise control |
US5839534A (en) * | 1995-03-01 | 1998-11-24 | Eaton Vorad Technologies, Llc | System and method for intelligent cruise control using standard engine control modes |
DE19624615C2 (de) * | 1996-06-20 | 2001-09-20 | Volkswagen Ag | Verfahren zur Abstandsregelung für ein Kraftfahrzeug |
DE19654769A1 (de) * | 1996-12-30 | 1998-07-02 | Teves Gmbh Alfred | Verfahren und Vorrichtung zur Fahrzeugsteuerung bzw. -regelung |
JPH10240180A (ja) | 1997-02-21 | 1998-09-11 | Kouji Suitsu | 張紙固定具 |
JP3736017B2 (ja) | 1997-03-31 | 2006-01-18 | 日産自動車株式会社 | 先行車追従制御装置 |
JP3677959B2 (ja) | 1997-08-27 | 2005-08-03 | 日産自動車株式会社 | 先行車追従制御装置 |
US5959572A (en) * | 1997-03-31 | 1999-09-28 | Nissan Motor Co., Ltd. | Vehicle follow-up control apparatus |
FR2770016B1 (fr) * | 1997-10-17 | 1999-12-10 | Renault | Procede de regulation de la distance entre deux vehicules mobiles |
JP3518286B2 (ja) * | 1997-10-23 | 2004-04-12 | 日産自動車株式会社 | 先行車追従制御装置 |
DE19750338A1 (de) * | 1997-11-13 | 1999-05-20 | Siemens Ag | Fahrtregelungssystem für Fahrzeuge, insbesondere für Kraftfahrzeuge |
JPH11166828A (ja) | 1997-12-05 | 1999-06-22 | Takao Sugimoto | 連段型層別沈下素子 |
JP3402173B2 (ja) * | 1998-01-08 | 2003-04-28 | 日産自動車株式会社 | 自動速度制御装置 |
JP3395623B2 (ja) * | 1998-01-19 | 2003-04-14 | 株式会社日立製作所 | 車両の走行制御装置 |
JP3690126B2 (ja) * | 1998-07-23 | 2005-08-31 | 日産自動車株式会社 | 車両用追従走行制御装置 |
JP3661495B2 (ja) * | 1998-08-26 | 2005-06-15 | 日産自動車株式会社 | 先行車追従制御装置 |
-
1999
- 1999-06-14 JP JP16682899A patent/JP3661495B2/ja not_active Expired - Fee Related
- 1999-08-24 DE DE69925211T patent/DE69925211T2/de not_active Expired - Lifetime
- 1999-08-24 EP EP99116561A patent/EP0982172B1/de not_active Expired - Lifetime
- 1999-08-26 US US09/384,292 patent/US6330507B1/en not_active Expired - Lifetime
-
2001
- 2001-11-16 US US09/987,891 patent/US6473686B2/en not_active Expired - Lifetime
Also Published As
Publication number | Publication date |
---|---|
EP0982172B1 (de) | 2005-05-11 |
US6330507B1 (en) | 2001-12-11 |
EP0982172A3 (de) | 2000-06-21 |
EP0982172A2 (de) | 2000-03-01 |
JP2000135934A (ja) | 2000-05-16 |
US6473686B2 (en) | 2002-10-29 |
DE69925211T2 (de) | 2005-10-06 |
US20020055813A1 (en) | 2002-05-09 |
JP3661495B2 (ja) | 2005-06-15 |
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Legal Events
Date | Code | Title | Description |
---|---|---|---|
8364 | No opposition during term of opposition |