JPH1148825A - Follow-up control device for vehicle - Google Patents
Follow-up control device for vehicleInfo
- Publication number
- JPH1148825A JPH1148825A JP21075597A JP21075597A JPH1148825A JP H1148825 A JPH1148825 A JP H1148825A JP 21075597 A JP21075597 A JP 21075597A JP 21075597 A JP21075597 A JP 21075597A JP H1148825 A JPH1148825 A JP H1148825A
- Authority
- JP
- Japan
- Prior art keywords
- vehicle
- inter
- vehicle speed
- deceleration
- deviation
- 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.)
- Granted
Links
Landscapes
- Control Of Vehicle Engines Or Engines For Specific Uses (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Controls For Constant Speed Travelling (AREA)
- Regulating Braking Force (AREA)
Abstract
Description
【０００１】[0001]
【発明の属する技術分野】本発明は、自車前方の先行車
までの車間距離を検出する車間距離検出手段と、自車速
を検出する車速検出手段と、前記車間距離検出手段で検
出した車間距離ならびに前記車速検出手段で検出した自
車速に基づいて定めた目標加・減速度で自車の走行を制
御して自車を先行車に追従せしめる走行制御手段とを備
える車両用追従制御装置に関する。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an inter-vehicle distance detecting means for detecting an inter-vehicle distance to a preceding vehicle in front of the own vehicle, a vehicle speed detecting means for detecting the own vehicle speed, and an inter-vehicle distance detected by the inter-vehicle distance detecting means. And a travel control means for controlling the travel of the own vehicle at a target acceleration / deceleration determined based on the own vehicle speed detected by the vehicle speed detecting means so that the own vehicle follows the preceding vehicle.
【０００２】[0002]
【従来の技術】従来、かかる装置では、先行車との間の
車間距離と、自車速に基づいて定めた目標車間距離との
偏差に基づいて定めた目標加・減速度となるように自車
の加・減速度を制御するのが一般的である。2. Description of the Related Art Heretofore, in such a device, a target vehicle has a target acceleration / deceleration determined based on a deviation between the following distance between the vehicle and a preceding vehicle and a target following distance determined based on the own vehicle speed. Generally, the acceleration / deceleration of the motor is controlled.
【０００３】[0003]
【発明が解決しようとする課題】ところが、上記従来の
ものでは、瞬間的または車間距離検出手段の検出誤差を
吸収する程度の短い時間の車間距離情報に基づいて自車
の加・減速制御が実行されるので、車速が低く、しかも
車両の流れにむらがある追従制御時には、加速および減
速が頻繁に繰り返され、車両搭乗者の乗心地を損ねる問
題がある。However, in the above-mentioned conventional apparatus, the acceleration / deceleration control of the own vehicle is executed based on the inter-vehicle distance information that is instantaneous or short enough to absorb the detection error of the inter-vehicle distance detection means. Therefore, during a follow-up control in which the vehicle speed is low and the flow of the vehicle is uneven, acceleration and deceleration are frequently repeated, and there is a problem that the ride comfort of the vehicle occupant is impaired.
【０００４】本発明は、かかる事情に鑑みてなされたも
のであり、車速が低く、かつ車両の流れにむらがある追
従制御時にも、自車速の変動を抑えて乗心地を向上させ
るようにした車両用追従制御装置を提供することを目的
とする。[0004] The present invention has been made in view of the above circumstances, and is designed to improve the ride comfort by suppressing fluctuations in the vehicle speed even during follow-up control in which the vehicle speed is low and the flow of the vehicle is uneven. It is an object to provide a vehicle tracking control device.
【０００５】[0005]
【課題を解決するための手段】上記目的を達成するため
に、本発明は、自車前方の先行車までの車間距離を検出
する車間距離検出手段と、自車速を検出する車速検出手
段と、前記車間距離検出手段で検出した車間距離ならび
に前記車速検出手段で検出した自車速に基づいて定めた
目標加・減速度で自車の走行を制御して自車を先行車に
追従せしめる走行制御手段とを備える車両用追従制御装
置において、前記車速検出手段で検出した自車速の履歴
に基づいて平均自車速を求める平均自車速演算手段と、
前記車速検出手段で検出した現在の自車速ならびに前記
平均自車速演算手段で得た平均自車速の偏差を求める偏
差演算手段と、前記車間距離検出手段で検出した車間距
離ならびに前記偏差演算手段で演算した偏差に基づいて
前記走行制御手段による加・減速制御の目標値である目
標加・減速度を決定する目標加・減速度決定手段とを含
むことを特徴とし、好ましくは、前記目標加・減速度決
定手段が、前記前記車間距離検出手段で検出した車間距
離と、前記偏差演算手段で演算した偏差の２乗とに基い
て目標加・減速度を決定するものであり、あるいは前記
目標加・減速度決定手段が、前記前記車間距離検出手段
で検出した車間距離と、前記偏差演算手段で演算した偏
差の履歴または該偏差の２乗の履歴とに基いて目標加・
減速度を決定するものであり、さらに前記目標加・減速
度決定手段が、前記車間距離検出手段で検出した車間距
離および目標車間距離の差に基づいて加・減速度の目標
値を定める加・減速度目標値決定部と、該加・減速度目
標部で定めた目標値を前記偏差演算手段で演算した偏差
に基づいて補正する補正部とを備えるものである。In order to achieve the above object, the present invention provides an inter-vehicle distance detecting means for detecting an inter-vehicle distance to a preceding vehicle ahead of the own vehicle, a vehicle speed detecting means for detecting a self-vehicle speed, Travel control means for controlling the travel of the vehicle at a target acceleration / deceleration determined based on the vehicle distance detected by the vehicle distance detection means and the target vehicle speed detected by the vehicle speed detection means so that the vehicle follows the preceding vehicle. In the vehicle follow-up control device comprising: average vehicle speed calculating means for calculating the average vehicle speed based on the history of the vehicle speed detected by the vehicle speed detection means,
Deviation calculating means for calculating a deviation between the current own vehicle speed detected by the vehicle speed detecting means and the average own vehicle speed obtained by the average own vehicle speed calculating means, and calculating by the inter-vehicle distance detected by the inter-vehicle distance detecting means and the deviation calculating means. And a target acceleration / deceleration determining means for determining a target acceleration / deceleration which is a target value of the acceleration / deceleration control by the traveling control means based on the obtained deviation. Speed determining means for determining the target acceleration / deceleration based on the following distance detected by the following distance detecting means and the square of the deviation calculated by the deviation calculating means; or The deceleration determining means calculates a target addition / deceleration based on the inter-vehicle distance detected by the inter-vehicle distance detecting means and a history of the deviation calculated by the deviation calculating means or a history of the square of the deviation.
The target acceleration / deceleration determining means determines the acceleration / deceleration target value based on the difference between the inter-vehicle distance and the target inter-vehicle distance detected by the inter-vehicle distance detection means. A deceleration target value determination unit; and a correction unit that corrects the target value determined by the acceleration / deceleration target unit based on the deviation calculated by the deviation calculation unit.
【０００６】このような構成によれば、自車速の履歴に
基づいて平均自車速演算手段で求めた平均自車速、なら
びに車速検出手段で検出した瞬間的な自車速との偏差に
基づいて目標加・減速度を決定することにより、車速が
低く、かつ車両の流れにむらがある追従制御時にあって
は、前記偏差が大きくなることはなく、したがって加・
減速制御にハンチングが生じることを極力回避して、乗
員の乗心地を向上することができる。[0006] According to such a configuration, the target addition based on the average own vehicle speed obtained by the average own vehicle speed calculating means based on the history of the own vehicle speed and the instantaneous own vehicle speed detected by the vehicle speed detecting means. -By determining the deceleration, the deviation does not increase during the following control in which the vehicle speed is low and the flow of the vehicle is uneven.
Hunting can be avoided as much as possible in the deceleration control, and the ride comfort of the occupant can be improved.
【０００７】[0007]
【発明の実施の形態】以下、本発明の実施の形態を、添
付図面に示した本発明の一実施例に基づいて説明する。DESCRIPTION OF THE PREFERRED EMBODIMENTS The embodiments of the present invention will be described below based on one embodiment of the present invention shown in the accompanying drawings.
【０００８】図１および図２は本発明の一実施例を示す
ものであり、図１は追従制御装置の構成を示すブロック
図、図２は目標加・減速度を決定するための演算処理手
順を示すフローチャートである。FIGS. 1 and 2 show an embodiment of the present invention. FIG. 1 is a block diagram showing a configuration of a follow-up control device, and FIG. 2 is an arithmetic processing procedure for determining a target acceleration / deceleration. It is a flowchart which shows.
【０００９】先ず図１において、自車の前方に存在する
先行車１までの距離が、レーザレーダや撮像手段を用い
た車間距離検出手段２で検出され、この車間距離検出手
段２で検出された車間距離がマイクロコンピュータ３に
入力される。またマイクロコンピュータ３には、自車速
Ｖを検出する車速検出手段４の検出値が入力されてお
り、マイクロコンピュータ３で定められた目標加・減速
度が走行制御手段５に入力される。而して走行制御手段
５は、前記目標加・減速度となるように自車の走行を制
御して自車を先行車に追従せしめる働きをするものであ
り、走行制御手段５によって、エンジン出力を変化せし
めるスロットル駆動用アクチュエータや、ブレーキ圧を
変化せしめるアクチュエータ等の作動が走行制御手段５
によって制御される。First, in FIG. 1, the distance to a preceding vehicle 1 existing in front of the own vehicle is detected by an inter-vehicle distance detecting means 2 using a laser radar or an image pickup means, and detected by the inter-vehicle distance detecting means 2. The inter-vehicle distance is input to the microcomputer 3. Further, the microcomputer 3 receives the detection value of the vehicle speed detecting means 4 for detecting the own vehicle speed V, and inputs the target acceleration / deceleration determined by the microcomputer 3 to the traveling control means 5. The traveling control means 5 functions to control the traveling of the own vehicle so as to achieve the target acceleration / deceleration so that the own vehicle follows the preceding vehicle. The operation of a throttle drive actuator for changing the brake pressure, an actuator for changing the brake pressure, etc.
Is controlled by
【００１０】マイクロコンピュータ３は、目標車間距離
設定手段６、平均自車速演算手段７、偏差演算手段８お
よび目標加・減速度決定手段９の機能を果すものであ
る。The microcomputer 3 functions as a target inter-vehicle distance setting means 6, an average vehicle speed calculating means 7, a deviation calculating means 8, and a target acceleration / deceleration determining means 9.
【００１１】平均自車速演算手段７では、車速検出手段
４で検出された自車速Ｖの履歴に基づいて平均自車速Ｖ
Ａが演算され、偏差演算手段８では、車速検出手段４で
検出された現在の自車速Ｖならびに前記平均自車速演算
手段７で演算された平均自車速ＶＡの偏差ΔＶが求めら
れる。The average vehicle speed calculating means 7 calculates the average vehicle speed V based on the history of the vehicle speed V detected by the vehicle speed detecting means 4.
A is calculated, and the deviation calculating means 8 calculates a deviation ΔV between the current own vehicle speed V detected by the vehicle speed detecting means 4 and the average own vehicle speed VA calculated by the average own vehicle speed calculating means 7.
【００１２】目標加・減速度決定手段９では、車間距離
検出手段２で検出された車間距離、目標車間距離設定手
段６で設定された目標車間距離、ならびに前記偏差演算
手段８で演算された偏差ΔＶに基づいて目標加・減速度
が決定されるものであり、該目標加・減速度決定手段９
は、車間距離検出手段２で検出された車間距離ならびに
目標車間距離設定手段６で設定される目標距離の差に基
づいて加・減速度の目標値を定める加・減速度目標値決
定部１０と、該加・減速度目標部１０で定められた目標
値を前記偏差演算手段８で演算された偏差ΔＶに基づい
て補正する補正部１１とから成るものである。In the target acceleration / deceleration determining means 9, the inter-vehicle distance detected by the inter-vehicle distance detecting means 2, the target inter-vehicle distance set by the target inter-vehicle distance setting means 6, and the deviation calculated by the deviation calculating means 8. The target acceleration / deceleration is determined based on ΔV.
An acceleration / deceleration target value determination unit 10 for determining an acceleration / deceleration target value based on a difference between the inter-vehicle distance detected by the inter-vehicle distance detection means 2 and a target distance set by the target inter-vehicle distance setting means 6; And a correction unit 11 for correcting the target value determined by the acceleration / deceleration target unit 10 based on the deviation ΔV calculated by the deviation calculation means 8.
【００１３】このような目標車間距離設定手段６、平均
自車速演算手段７、偏差演算手段８および目標加・減速
度決定手段９の機能を有するマイクロコンピュータ３で
は目標加・減速度を決定するための演算処理手順が図２
で示すように設定されており、この演算処理は、たとえ
ば１０ｍ秒程度の短い演算周期で実行される。The microcomputer 3 having the functions of the target inter-vehicle distance setting means 6, the average host vehicle speed calculating means 7, the deviation calculating means 8, and the target acceleration / deceleration determining means 9 determines the target acceleration / deceleration. The calculation procedure of
This calculation process is executed in a short calculation cycle of, for example, about 10 msec.
【００１４】ステップＳ１では、自車速Ｖを読取り、ス
テップＳ２では、平均自車速演算手段７での演算すなわ
ち自車速Ｖの履歴を求めるために時間平均値をとる演算
ＶＡ＝Σｘi Ｖi を実行する。この際、Σｘi ＝１であ
り、ｘi のとり方により移動平均および自己回帰等の演
算を行なうことができる。[0014] In step S1, reads the host vehicle speed V, the step S2, performs operations VA =? X i V i in order to determine the history of the calculation i.e. vehicle speed V of an average vehicle speed calculating means 7 taking the time average value I do. At this time, Σx i = 1, and calculations such as moving average and autoregression can be performed depending on how to take x i .
【００１５】ステップＳ３では、偏差演算手段８での演
算すなわち（ΔＶ＝Ｖ−ＶＡ）を実行し、その後のステ
ップＳ４では、偏差ΔＶの２乗値ΔＶ2 の履歴による評
価関数ｆ（ΔＶ2 ）を、前記２乗値ΔＶ2 の時間積分Σ
ｙj ΔＶ2 によって得る処理を実行する。この際、Σｙ
i ＝１であり、ｙi のとり方により移動平均および自己
回帰等の演算を行なうことができ、ｉ＞ｊである。In step S3, the calculation by the deviation calculating means 8, that is, (ΔV = V−VA) is executed. In step S4, the evaluation function f (ΔV 2 ) based on the history of the square value ΔV 2 of the deviation ΔV is executed. Is the time integral of the squared value ΔV 2 Σ
The processing obtained by y j ΔV 2 is executed. At this time,
Since i = 1, calculations such as moving average and autoregression can be performed depending on how y i is obtained, and i> j.
【００１６】ステップＳ５では、評価関数ｆ（ΔＶ2 ）
が、予め定められているしきい値ｈよりも大きいか否か
を判定し、大きくなかったときにはステップＳ６に進
み、補正部１１での補正を行なうことなく、目標加速度
Ｇａおよび目標減速度Ｇｄをそのまま走行制御手段５に
入力する。また評価関数ｆ（ΔＶ2 ）がしきい値ｈより
も大きいときには、ステップＳ７に進み、補正部１１に
おいて、目標加速度ＧＡおよび目標減速度Ｇｄのゲイン
を低減率Ｒで低減する処理を行ない、補正後の目標加速
度Ｇａおよび目標減速度Ｇｄを走行制御手段５に入力す
る。In step S5, the evaluation function f (ΔV 2 )
Is determined to be greater than or equal to a predetermined threshold value h. If not, the process proceeds to step S6, and the target acceleration Ga and the target deceleration Gd are calculated without performing correction by the correction unit 11. It is input to the traveling control means 5 as it is. When the evaluation function f (ΔV 2 ) is larger than the threshold value h, the process proceeds to step S7, in which the correction unit 11 performs a process of reducing the gains of the target acceleration GA and the target deceleration Gd by the reduction rate R, and performs correction. The subsequent target acceleration Ga and target deceleration Gd are input to the travel control means 5.
【００１７】このようにして、自車速Ｖの履歴に基づい
て平均自車速演算手段７で求めた平均自車速ＶＡと、車
速検出手段４で検出した瞬間的な自車速Ｖとの偏差ΔＶ
に基づいて目標加速度Ｇａおよび目標減速度Ｇｄを決定
するので、車速Ｖが低く、かつ車両の流れにむらがある
追従制御時に前記偏差ΔＶが大きくなることはなく、し
たがって評価関数ｆ（ΔＶ2 ）がしきい値ｈよりも大き
くなることはめったになく、走行制御手段５による加・
減速制御にハンチングが生じることを極力回避して、乗
員の乗心地を向上することができる。In this manner, the deviation ΔV between the average host vehicle speed VA obtained by the average host vehicle speed calculating means 7 based on the history of the host vehicle speed V and the instantaneous host vehicle speed V detected by the vehicle speed detecting means 4 is shown.
, The deviation ΔV does not increase during the follow-up control in which the vehicle speed V is low and the flow of the vehicle is uneven, so that the evaluation function f (ΔV 2 ) Rarely becomes larger than the threshold value h.
Hunting can be avoided as much as possible in the deceleration control, and the ride comfort of the occupant can be improved.
【００１８】上記実施例では、偏差ΔＶの２乗値ΔＶ2
の履歴による評価関数に基づいて目標加速度Ｇａおよび
目標減速度Ｇｄを定めるようにしたが、偏差ΔＶの絶対
値、該絶対値の２乗値または前記２乗値ΔＶ2 の評価関
数に基づいて目標加速度Ｇａおよび目標減速度Ｇｄを定
めるようにしてもよい。In the above embodiment, the square value ΔV 2 of the deviation ΔV is used.
Although the target acceleration Ga and the target deceleration Gd are determined based on the evaluation function based on the history of the above, the target acceleration Ga and the target deceleration Gd are determined based on the absolute value of the deviation ΔV, the square value of the absolute value, or the evaluation function of the square value ΔV 2. The acceleration Ga and the target deceleration Gd may be determined.
【００１９】以上、本発明の実施例を詳述したが、本発
明は上記実施例に限定されるものではなく、特許請求の
範囲に記載された本発明を逸脱することなく種々の設計
変更を行なうことが可能である。Although the embodiments of the present invention have been described in detail above, the present invention is not limited to the above embodiments, and various design changes can be made without departing from the present invention described in the appended claims. It is possible to do.
【００２０】[0020]
【発明の効果】上述のように請求項１ないし４記載の本
発明によれば、自車速の履歴に基づいて平均自車速演算
手段で求めた平均自車速、ならびに車速検出手段で検出
した瞬間的な自車速との偏差が、車速が低く、かつ車両
の流れにむらがある追従制御時に大きくなることはない
ことを利用して、前記偏差に基づいて目標加・減速度を
決定するようにしたことにより、加・減速制御にハンチ
ングが生じることを極力回避して、乗員の乗心地を向上
することができる。As described above, according to the present invention, the average vehicle speed obtained by the average vehicle speed calculating means based on the history of the own vehicle speed and the instantaneous vehicle speed detected by the vehicle speed detecting means are obtained. The target acceleration / deceleration is determined based on the deviation by utilizing the fact that the deviation from the own vehicle speed does not increase during the follow-up control in which the vehicle speed is low and the flow of the vehicle is uneven. As a result, hunting can be avoided as much as possible in the acceleration / deceleration control, and the riding comfort of the occupant can be improved.
【図１】追従制御装置の構成を示すブロック図である。FIG. 1 is a block diagram illustrating a configuration of a tracking control device.
【図２】目標加・減速度を決定するための演算処理手順
を示すフローチャートである。FIG. 2 is a flowchart illustrating an arithmetic processing procedure for determining a target acceleration / deceleration.
１・・・先行車 ２・・・車間距離検出手段 ４・・・車速検出手段 ５・・・走行制御手段 ７・・・平均自車速演算手段 ８・・・偏差演算手段 ９・・・目標加・減速度決定手段 １０・・・加・減速度目標値決定部 １１・・・補正部 DESCRIPTION OF SYMBOLS 1 ... Lead vehicle 2 ... Inter-vehicle distance detection means 4 ... Vehicle speed detection means 5 ... Travel control means 7 ... Average own vehicle speed calculation means 8 ... Deviation calculation means 9 ... Target addition・ Deceleration determining means 10 ・ ・ ・ Acceleration / deceleration target value determination section 11 ・ ・ ・ Correction section
Claims (4)
を検出する車間距離検出手段（２）と、自車速を検出す
る車速検出手段（４）と、前記車間距離検出手段（２）
で検出した車間距離ならびに前記車速検出手段（４）で
検出した自車速に基づいて定めた目標加・減速度で自車
の走行を制御して自車を先行車に追従せしめる走行制御
手段（５）とを備える車両用追従制御装置において、前
記車速検出手段（４）で検出した自車速の履歴に基づい
て平均自車速を求める平均自車速演算手段（７）と、前
記車速検出手段（４）で検出した現在の自車速ならびに
前記平均自車速演算手段（７）で得た平均自車速の偏差
を求める偏差演算手段（８）と、前記車間距離検出手段
（２）で検出した車間距離ならびに前記偏差演算手段
（８）で演算した偏差に基づいて前記走行制御手段
（５）による加・減速制御の目標値である目標加・減速
度を決定する目標加・減速度決定手段（９）とを含むこ
とを特徴とする車両用追従制御装置。An inter-vehicle distance detecting means (2) for detecting an inter-vehicle distance to a preceding vehicle (1) in front of the own vehicle, a vehicle speed detecting means (4) for detecting a self-vehicle speed, and the inter-vehicle distance detecting means (2). )
Traveling control means (5) for controlling the traveling of the own vehicle at a target acceleration / deceleration determined based on the inter-vehicle distance detected by the vehicle speed and the own vehicle speed detected by the vehicle speed detecting means (4) so that the own vehicle follows the preceding vehicle. ), A vehicle speed calculating means (7) for obtaining an average vehicle speed based on a history of the vehicle speed detected by the vehicle speed detecting means (4), and the vehicle speed detecting means (4). A deviation calculating means (8) for calculating a deviation between the current own vehicle speed detected by (1) and the average own vehicle speed obtained by the average own vehicle speed calculating means (7); an inter-vehicle distance detected by the inter-vehicle distance detecting means (2); A target acceleration / deceleration determining means (9) for determining a target acceleration / deceleration which is a target value of the acceleration / deceleration control by the traveling control means (5) based on the deviation calculated by the deviation calculation means (8). Vehicle additional features The control device.
前記前記車間距離検出手段（２）で検出した車間距離
と、前記偏差演算手段（８）で演算した偏差の２乗とに
基いて目標加・減速度を決定することを特徴とする請求
項１記載の車両用追従制御装置。2. The target acceleration / deceleration determining means (9),
2. A target acceleration / deceleration is determined based on an inter-vehicle distance detected by the inter-vehicle distance detection means (2) and a square of a deviation calculated by the deviation calculation means (8). The follow-up control device for a vehicle according to any one of the preceding claims.
前記前記車間距離検出手段（２）で検出した車間距離
と、前記偏差演算手段（８）で演算した偏差の履歴また
は該偏差の２乗の履歴とに基いて目標加・減速度を決定
することを特徴とする請求項１記載の車両用追従制御装
置。3. The target acceleration / deceleration determining means (9),
Determining a target acceleration / deceleration based on the inter-vehicle distance detected by the inter-vehicle distance detection means (2) and the history of the deviation calculated by the deviation calculation means (8) or the history of the square of the deviation; The vehicle follow-up control device according to claim 1, wherein:
前記車間距離検出手段（２）で検出した車間距離および
目標車間距離の差に基づいて加・減速度の目標値を定め
る加・減速度目標値決定部（１０）と、該加・減速度目
標部（１０）で定めた目標値を前記偏差演算手段（８）
で演算した偏差に基づいて補正する補正部（１１）とを
備えることを特徴とする請求項１記載の車両用追従制御
装置。4. The target acceleration / deceleration determining means (9)
An acceleration / deceleration target value determining unit (10) for determining a target value of acceleration / deceleration based on a difference between the inter-vehicle distance detected by the inter-vehicle distance detection means (2) and a target inter-vehicle distance; The target value determined by the section (10) is used as the deviation calculating means (8).
2. The vehicle follow-up control device according to claim 1, further comprising a correction unit (11) for correcting based on the deviation calculated in (1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP21075597A JP3433057B2 (en) | 1997-08-05 | 1997-08-05 | Vehicle follow-up control device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP21075597A JP3433057B2 (en) | 1997-08-05 | 1997-08-05 | Vehicle follow-up control device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH1148825A true JPH1148825A (en) | 1999-02-23 |
| JP3433057B2 JP3433057B2 (en) | 2003-08-04 |
Family
ID=16594599
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP21075597A Expired - Fee Related JP3433057B2 (en) | 1997-08-05 | 1997-08-05 | Vehicle follow-up control device |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP3433057B2 (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2005067401A (en) * | 2003-08-25 | 2005-03-17 | Advics:Kk | Electric brake system |
| JP2015051717A (en) * | 2013-09-06 | 2015-03-19 | トヨタ自動車株式会社 | Vehicle travel control apparatus |
| CN110335504A (en) * | 2019-07-04 | 2019-10-15 | 北京交通大学 | Intelligent collision warning system and method based on bus or train route collaboration under vehicle follow gallop state |
-
1997
- 1997-08-05 JP JP21075597A patent/JP3433057B2/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2005067401A (en) * | 2003-08-25 | 2005-03-17 | Advics:Kk | Electric brake system |
| JP2015051717A (en) * | 2013-09-06 | 2015-03-19 | トヨタ自動車株式会社 | Vehicle travel control apparatus |
| US10000211B2 (en) | 2013-09-06 | 2018-06-19 | Toyota Jidosha Kabushiki Kaisha | Vehicle travel control apparatus |
| CN110335504A (en) * | 2019-07-04 | 2019-10-15 | 北京交通大学 | Intelligent collision warning system and method based on bus or train route collaboration under vehicle follow gallop state |
| CN110335504B (en) * | 2019-07-04 | 2021-03-16 | 北京交通大学 | Vehicle-road-cooperation-based collision avoidance early warning system and method in vehicle-following state |
Also Published As
| Publication number | Publication date |
|---|---|
| JP3433057B2 (en) | 2003-08-04 |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| LAPS | Cancellation because of no payment of annual fees |