| CPC B60W 30/17 (2013.01) [B60W 2520/10 (2013.01); B60W 2554/4042 (2020.02); B60W 2554/802 (2020.02); B60W 2754/30 (2020.02)] | 9 Claims |
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1. A method for controlling a regulating system for regulating a distance between a target vehicle and a follower vehicle, the regulating system being on board the follower vehicle, the method comprising:
implementing a control law for regulating the distance which computes, for a plurality of possible combinations of travel speeds of the follower vehicle and of the target vehicle, at least potential setpoint distances, including:
a first distance computed on a basis of a predetermined time interval, corresponding to a distance covered by said follower vehicle in said time interval depending on a travel speed of the follower vehicle,
a second distance computed depending on respective travel speeds of the follower and target vehicles and on predetermined deceleration values for said vehicles, said predetermined deceleration values corresponding to the deceleration which said vehicles undergo during emergency braking,
a third distance established on a basis of a predefined speed of collision with a preceding stationary vehicle, defined with respect to a specified maximum speed for such a collision, said third distance being computed depending on the travel speed of the follower vehicle, on the specified maximum speed and on the predetermined deceleration value for the follower vehicle, and
a fourth distance corresponding to a minimum stationary distance of the follower vehicle with respect to the target vehicle, said minimum stationary distance corresponding to a distance in which the follower vehicle is stoppable when an autonomous drive mode of the follower vehicle is unavailable;
determining, for a given combination of travel speeds of the follower and target vehicles from among the plurality of possible combinations, a final setpoint distance from among setpoint distances previously computed by said control law; and
controlling the regulating system that is on board the follower vehicle based on the determined final setpoint distance.
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