Adaptive cruise control method and system

Patent metadata

Field	Value
Publication number	US-12151682-B2
Application number	US-201917628821-A
Country	US
Kind code	B2
Filing date	Jul 29, 2019
Priority date	Jul 29, 2019
Publication date	Nov 26, 2024
Grant date	Nov 26, 2024

Abstract

An adaptive cruise control method for a driving vehicle includes acquiring the speed of the driving vehicle, acquiring the relative distance between the driving vehicle and the preceding vehicle driving in the same lane in front of the driving vehicle, calculating a target time headway, the time headway being the ratio between the relative distance and the driving vehicle speed, on the basis of a relationship linking the target time headway with the driving vehicle speed, and controlling, as a first control mode, the engine and/or the brake of the driving vehicle on the basis of the target time headway.

First claim

The invention claimed is:

1. An adaptive cruise control method for a driving vehicle, comprising the steps of:
acquiring a driving vehicle speed of the driving vehicle,
acquiring a relative distance between the driving vehicle and a preceding vehicle driving in the same lane in front of the driving vehicle,
calculating a target time headway, the target time headway being a ratio between the relative distance and the driving vehicle speed, on the basis of a relationship linking the target time headway with the driving vehicle speed, and
controlling, as a first control mode, an engine and/or a brake of the driving vehicle on the basis of the target time headway, wherein the relationship linking the target time headway with the driving vehicle speed is of the following type:
THW t =a·S −b +c
where THW t is the target time headway,
S is the driving vehicle speed,
a, b and c are positive real numbers, and
wherein, in the relationship THW t =a·S −b +c, the terms a and c are determined on the basis of the following relationships:
a=m 1 ·B+q 1 , and
c=m 2 ·B+q 2
where B is a behaviour factor adjustable between 0 and 100 in accordance with behaviour of a driver,
m 1 and q 1 are positive real numbers, and
m 2 and q 2 are positive real numbers.

2. The method of claim 1 , wherein, in the relationship THW t =a·S −b +c, the term b lies between 0.5 and 1.

3. The method of claim 1 , wherein the relationship linking the target time headway with the driving vehicle speed includes at least a term determined on the basis of a behaviour factor which is adjustable in accordance with behaviour of a driver.

4. The method of claim 1 , further comprising the step of acquiring a preceding vehicle speed of the preceding vehicle, and
wherein the first control mode is selected only if the preceding vehicle speed is substantially equal to the driving vehicle speed.

5. The method of claim 4 , wherein the engine and/or the brake of the driving vehicle are controlled under a third control mode when the preceding vehicle speed is at least 2 km/h higher than the driving vehicle speed or when no preceding vehicle is detected, and
wherein, under the third control mode, the driving vehicle speed is increased then kept constant at a target speed.

6. The method of claim 1 , wherein q 1 is greater than 1 and/or q 2 is greater than 0.1.

7. An adaptive cruise control system for a driving vehicle, comprising:
a driving vehicle speed sensor, configured to determine a driving vehicle speed of the driving vehicle,
a millimeter-wave radar, configured to determine a relative distance between the driving vehicle and a preceding vehicle driving in the same lane in front of the driving vehicle,
an electronic control unit, configured to calculate a target time headway, the target time headway being a ratio between the relative distance and the driving vehicle speed, on the basis of a relationship linking the target time headway with the driving vehicle speed, and
the electronic control unit comprising at least a first control mode wherein an engine and/or a brake of the driving vehicle are controlled on the basis of the target time headway, wherein the relationship linking the target time headway with the driving vehicle speed is of the following type:
THW t =a·S −b +c
where THW t is the target time headway,
S is the driving vehicle speed,
a, b and c are positive real numbers, and
wherein, in the relationship THW t =a·S −b +c, the terms a and c are determined on the basis of the following relationships:
a=m 1 ·β+q 1 , and
c=m 2 ·B+q 2
where B is a behaviour factor adjustable between 0 and 100 in accordance with behaviour of a driver,
m 1 and q 1 are positive real numbers, and
m 2 and q 2 are positive real numbers.

8. A vehicle, comprising the adaptive cruise control system of claim 7 .

9. A non-transitory computer readable medium storing a computer program comprising instructions for executing the steps of the method of claim 1 when the program is executed by a computer.

Assignees

• Toyota Motor Europe
• Toyota Motor Co Ltd

Inventors

• Ferson Niels
• Garnier-Follet Florent
• Pizzigoni Edoardo

Classifications

• B60W2520/10

  Longitudinal speed · CPC title

• B60W40/105

  Speed · CPC title

• B60W40/09

  Driving style or behaviour · CPC title

• B60W40/04

  Traffic conditions · CPC title

• B60W10/18

  including control of braking systems · CPC title