Adaptive cruise control apparatus and method of operating adaptive cruise control in consideration of traffic condition
An adaptive cruise control apparatus includes a sensor device for acquiring information on vehicles around a subject vehicle including information on a distance between a forward vehicle and the subject vehicle, and a controller for calculating an acceleration of the subject vehicle based on the information on vehicles around the subject vehicle, determining a traffic condition around the subject vehicle based on the information on vehicles around the subject vehicle, limiting the acceleration of the subject vehicle according to the determined traffic condition, and controlling a power train of the subject vehicle according to the limited acceleration.
1. An adaptive cruise control apparatus, comprising:
a sensor device for acquiring information on vehicles around a subject vehicle including information on a distance between a forward vehicle and the subject vehicle, and information on a speed of the forward vehicle and a speed of a nearby vehicle traveling in an adjacent lane to a lane of travel of the subject vehicle; and
a controller for calculating an acceleration of the subject vehicle based on the information on vehicles around the subject vehicle, determining a traffic condition around the subject vehicle based on the information on vehicles around the subject vehicle, limiting the acceleration of the subject vehicle according to the determined traffic condition, and controlling a power train of the subject vehicle according to the limited acceleration,
wherein the controller determines that the traffic condition around the subject vehicle is congested according to at least one method of a first method and a second method,
wherein the first method is based on an average speed of the forward vehicle, a predetermined first reference speed, a number of times the forward vehicle stops, and a predetermined number of stops during a predetermined reference time, and
wherein the second method is based on an average speed of the nearby vehicles around the subject vehicle and a first predetermined percentage of an average speed of the forward vehicle during the predetermined reference time.
2. The adaptive cruise control apparatus according to claim 1 , wherein the controller determines that the traffic condition around the subject vehicle is congested according to the first method when the average speed of the forward vehicle is equal to or less than a predetermined first reference speed and the forward vehicle stops more than the predetermined number of times during the predetermined reference time.
3. The adaptive cruise control apparatus according to claim 2 , wherein the controller determines that the congested traffic condition is resolved when the average speed of the forward vehicle exceeds a predetermined second reference speed and the forward vehicle stops less than the predetermined number of times during the predetermined reference time.
4. The adaptive cruise control apparatus according to claim 1 , wherein the controller determines that the traffic condition around the subject vehicle is congested according to the second method when the average speed of the nearby vehicles around the subject vehicle exceeds the first predetermined percentage of the average speed of the forward vehicle.
5. The adaptive cruise control apparatus according to claim 4 , wherein the controller determines that the congested traffic condition around the subject vehicle is resolved when the average speed of the nearby vehicle does not exceed a second predetermined percentage of the average speed of the forward vehicle.
6. The adaptive cruise control apparatus according to claim 1 , wherein the controller limits the acceleration of the subject vehicle by limiting the acceleration of the subject vehicle to zero when the speed of the subject vehicle exceeds the speed of the forward vehicle by a predetermined value or by limiting the acceleration of the subject vehicle to a preset maximum allowed acceleration when the calculated acceleration of the subject vehicle is greater than the preset maximum allowed acceleration.
7. An adaptive cruise control method, comprising:
acquiring information on vehicles around a subject vehicle including information on a distance between a forward vehicle and the subject vehicle, and information on a speed of the forward vehicle and a speed of a nearby vehicle traveling in an adjacent lane to a lane of travel of the subject vehicle;
calculating an acceleration of the subject vehicle based on the information on vehicles around the subject vehicle;
determining a traffic condition around the subject vehicle based on the information on vehicles around the subject vehicle, limiting the acceleration of the subject vehicle according to the determined traffic condition; and
controlling a power train of the subject vehicle according to the limited acceleration,
wherein the determining includes determining that the traffic condition around the subject vehicle is congested according to at least one method of a first method and a second method,
wherein the first method is based on an average speed of the forward vehicle, a predetermined first reference speed, a number of times the forward vehicle stops, and a predetermined number of stops during a predetermined reference time, and
wherein the second method is based on an average speed of the nearby vehicles around the subject vehicle and a first predetermined percentage of an average speed of the forward vehicle during the predetermined reference time.
8. The adaptive cruise control method according to claim 7 , wherein the traffic condition around the subject vehicle is determined to be congested according to the first method when the average speed of the forward vehicle is equal to or less than a predetermined first reference speed and the forward vehicle stops more than the predetermined number of times during the predetermined reference time.
9. The adaptive cruise control method according to claim 8 , wherein the congested traffic condition is determined to be resolved when the average speed of the forward vehicle exceeds a predetermined second reference speed and the forward vehicle stops less than the predetermined number of times during the predetermined reference time.
10. The adaptive cruise control method according to claim 7 , wherein the traffic condition around the subject vehicle is determined to be congested according to the second method when the average speed of the nearby vehicle around the subject vehicle exceeds the first predetermined percentage of the average speed of the forward vehicle.
11. The adaptive cruise control method according to claim 10 , wherein the congested traffic condition around the subject vehicle is determined to be resolved when the average speed of the nearby vehicle does not exceed a second predetermined percentage of the average speed of the forward vehicle.
12. The adaptive cruise control method according to claim 7 , wherein the acceleration of the subject vehicle is limited by limiting the acceleration of the subject vehicle to zero when the speed of the subject vehicle exceeds the speed of the forward vehicle by a predetermined value or by limiting the acceleration of the subject vehicle to a preset maximum allowed acceleration when the calculated acceleration of the subject vehicle is greater than the preset maximum allowed acceleration.