| CPC B60W 30/16 (2013.01) [B60W 40/10 (2013.01); B60W 2520/10 (2013.01); B60W 2554/802 (2020.02); B60W 2554/804 (2020.02); B60W 2754/30 (2020.02)] | 12 Claims |
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1. A vehicle-to-vehicle distance control device that includes a vehicle velocity command calculator configured to calculate a vehicle velocity command for an own vehicle on the basis of a vehicle-to-vehicle distance between the own vehicle and a leading vehicle, a relative velocity to the leading vehicle, and a velocity of the own vehicle, the velocity of the own vehicle being controlled by a vehicle velocity controller according to the vehicle velocity command calculated by the vehicle velocity command calculator so that the vehicle-to-vehicle distance is controlled, the vehicle-to-vehicle distance control device comprising:
a leading vehicle velocity calculator configured to calculate a velocity of the leading vehicle on the basis of the velocity of the own vehicle and the relative velocity to the leading vehicle;
a target vehicle interval setter configured to set, on the basis of the velocity of the leading vehicle, a target vehicle-to-vehicle distance which is a target value according to which the vehicle-to-vehicle distance is controlled;
a delay distance calculator configured to calculate, on the basis of the velocity of the leading vehicle calculated by the leading vehicle velocity calculator, a delay distance which is a variation amount, of the vehicle-to-vehicle distance, that is based on a response delay in the vehicle velocity controller;
a target track generator including
a first filter configured to define a response characteristic from an initial value of the vehicle-to-vehicle distance until convergence to the target vehicle-to-vehicle distance, and
a second filter configured to define a response characteristic until the delay distance is compensated for and caused to converge to zero,
the target track generator being configured to generate a target track which is a vehicle-to-vehicle distance temporal record from the initial value of the vehicle-to-vehicle distance until arrival at the target vehicle-to-vehicle distance;
an FB controller configured to calculate a feedback vehicle velocity command by using a deviation between the vehicle-to-vehicle distance and the target track;
an FF controller configured to calculate a feedforward vehicle velocity command corresponding to the target vehicle-to-vehicle distance by using a transfer function of the response characteristic defined by the first filter of the target track generator and a transfer function of a response characteristic of the vehicle velocity controller; and
a delay distance compensator configured to calculate a delay distance compensation vehicle velocity command corresponding to the delay distance by using a transfer function of the response characteristic defined by the second filter of the target track generator and the transfer function of the response characteristic of the vehicle velocity controller, wherein
the vehicle velocity command calculator calculates the vehicle velocity command on the basis of the velocity of the leading vehicle, the feedback vehicle velocity command, the feedforward vehicle velocity command, and the delay distance compensation vehicle velocity command.
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