Methods and systems for assistive action of a vehicle

Patent metadata

Field	Value
Publication number	US-11623640-B2
Application number	US-202117181957-A
Country	US
Kind code	B2
Filing date	Feb 22, 2021
Priority date	Feb 22, 2021
Publication date	Apr 11, 2023
Grant date	Apr 11, 2023

Abstract

Methods and systems are provided for providing assistive action to a driver of a vehicle to increase a following distance between the vehicle and a target lead vehicle. In one example, providing assistive action includes, operating the vehicle manually behind a target lead vehicle on a road, including estimating a following distance between the vehicle and the target lead vehicle, and responsive to the following distance being less than a first threshold following distance, providing an assistive action by adjusting a mapping from a driver demand to a wheel torque of the vehicle to increase a perceived resistance of the vehicle to the driver demand as the following distance decreases.

First claim

The invention claimed is:

1. A method for a vehicle, the vehicle including a brake pedal and an accelerator pedal, the method comprising:
operating, responsive to a depression of the accelerator pedal, the vehicle manually behind a target lead vehicle on a road with positive wheel torque applied via a mapping from a driver demand for torque requested via the accelerator pedal to a wheel torque of the vehicle, including estimating a following distance between the vehicle and the target lead vehicle, and responsive to the following distance being less than a first threshold following distance, providing an assistive action during the manual operation by adjusting the mapping to increase a perceived resistance of the vehicle to the driver demand as the following distance decreases while continuing to apply positive wheel torque.

2. The method of claim 1 , further comprising calculating the first threshold following distance at least partially based on at least one of road condition data, historical driver data, and driver performance data, and wherein providing the assistive action includes adjusting a velocity of the vehicle responsive to the accelerator pedal position as input by the driver.

3. The method of claim 1 , wherein the mapping is adjusted via a first driver demand adjustment, where a nonlinear tailgate resist transfer function is applied to the driver demand to generate the positive wheel torque until the transfer function reduces wheel torque to zero, and then applying wheel brakes.

4. The method of claim 3 , wherein the first driver demand adjustment is further adjusted by multiplying the first driver demand adjustment by a transition factor.

5. The method of claim 3 , wherein the first driver demand adjustment is further adjusted by applying a closing rate modification to the first driver demand adjustment, the closing rate modification based on an estimated rate of change of the following distance of the vehicle.

6. The method of claim 3 , wherein the first driver demand adjustment is further adjusted by applying an energy modification to the first driver demand adjustment, the energy modification based on a kinetic energy of the vehicle.

7. The method of claim 3 , wherein the first driver demand adjustment is further adjusted by applying a slipstream modification to the first driver demand adjustment, the slipstream modification based on a resistance of an air flow around the vehicle.

8. The method of claim 3 , wherein the first driver demand adjustment is adjusted by applying one or more of:
a transition factor;
a closing rate modification to the first driver demand adjustment, the closing rate modification based on an estimated rate of change of the following distance of the vehicle;
an energy modification to the first driver demand adjustment, the energy modification based on an amount of energy in a battery of the vehicle; and
a slipstream modification to the first driver demand adjustment, the slipstream modification based on a resistance of an air flow around the vehicle.

9. The method of claim 3 , further comprising, responsive to the following distance being less than a second threshold following distance, the second threshold following distance less than the first threshold following distance, further adjusting the mapping via a second driver demand adjustment, which includes applying a torque limit to the driver demand for torque, the torque limit based on one of the following distance, an estimated closing rate comprising an estimated rate of change of the following distance, the driver demand for torque, or a mode-based absolute torque of the vehicle.

10. The method of claim 9 , wherein the torque limit is the lesser of a closing rate-based torque limit, a following distance-based torque limit, a driver demand-based torque limit, and a mode-based absolute torque limit of the vehicle.

11. The method of claim 9 , further comprising:
responsive to at least one of the first driver demand adjustment being applied to the driver demand for torque and the second driver demand adjustment being applied to the driver demand for torque, adjusting an amount of fuel delivered to an engine of the vehicle to deliver the adjusted driver demand for torque.

12. The method of claim 3 , wherein the tailgate resist transfer function is a nonlinear function that increases the perceived resistance of the vehicle to the driver demand for torque up to a threshold accelerator pedal position, and decreases the perceived resistance of the vehicle to the driver demand for torque to zero as a position of the accelerator pedal increases from the threshold accelerator pedal position to a maximum pedal position.

13. The method of claim 1 , wherein the following distance is greater than the first threshold following distance, and the assistive action is not applied to the driver demand for torque.

14. A system for controlling an engine of a vehicle, comprising:
a proximity sensing system, including one or more external front-end sensors installed on a front end of the vehicle;
a controller with computer readable instructions stored on non-transitory memory that when executed during operation of the vehicle, cause the controller to:
detect a target lead vehicle travelling ahead of the vehicle on a road in a direction of the vehicle via the one or more external front-end sensors;
estimate a following distance between the vehicle and the target lead vehicle via the proximity sensing system of the vehicle;
estimate a velocity of the vehicle via one or more sensors of the vehicle;
based on the following distance and the velocity of the vehicle, calculate a first threshold following distance and a second threshold following distance;
responsive to a driver demand for torque based on a pedal position of an accelerator pedal of the vehicle, the following distance being within the first threshold following distance, calculate and apply a first driver demand adjustment to the driver demand for torque;
responsive to the driver demand for torque based on the pedal position of the accelerator pedal of the vehicle, the following distance being within the second threshold following distance, calculate and apply a second driver demand adjustment to the driver demand for torque; and
adjust an amount of fuel delivered to the engine to deliver a final driver demand for torque, the final driver demand for torque a result of applying at least one of the first driver demand adjustment and the second driver demand adjustment to the driver demand for torque.

15. The system of claim 14 , wherein calculating and applying the first driver demand adjustment to the driver demand for torque includes:
applying a tailgate resist transfer function to the driver demand for torque to generate an adjusted driver demand; and one or more of:
multiplying the adjusted driver demand by a transition factor;
reducing the adjusted driver demand based on a closing rate of the vehicle, where the closing rate is a rate of decrease of the following distance over time;
reducing the adjusted driver demand based on a kinetic energy of the vehicle; and
reducing the adjusted driver demand based on an amount of slipstream air resistance of the vehicle, where the slipstream air resistance is based on a flow of air around the vehicle caused by the target lead vehicle.

16. The system of claim 14 , wherein calculating and applying the second driver demand adjustment includes:
calculating a closing rate-based torque limit of the vehicle;
calculating a following distance-based torque limit of the vehicle;
calculating a driver demand-based torq

Assignees

• Ford Global Tech Llc

Inventors

• Thompson Scott
• Rollinger John
• Martin Douglas
• Martinez Vincent

Classifications

• B60W2540/10

  Accelerator pedal position · CPC title

• B60W30/09 Primary

  Taking automatic action to avoid collision, e.g. braking and steering · CPC title

• B60W30/16 Primary

  Control of distance between vehicles, e.g. keeping a distance to preceding vehicle · CPC title

• B60W2554/80

  Spatial relation or speed relative to objects · CPC title

• B60W50/087 Primary

  where the control system corrects or modifies a request from the driver · CPC title