DE102007036417A1 - Distance regulating system operating method for vehicle, involves activating event mode during target loss that occurs within event region, and determining event region for ahead-lying route region - Google Patents

Abstract

The method involves regulating distance between a vehicle and a target object located before the vehicle by accelerating or retarding system interferences under consideration of predictive route data. The consideration of the predictive route data takes place in such a manner that event regions (31, 41, 51) are determined for an ahead-lying route region, where event region corresponds to a definite distance region before topological events (30, 40, 50). An event mode is activated during a target loss that occurs within the event region. An independent claim is also included for a vehicle with a distance regulating system.

Description

The The present invention relates to a method for operating a Distance control system for vehicles according to the Preamble of claim 1.

From the DE 199 31 161 A1 a method is known in which, depending on a distance between a vehicle and a target object, which may be formed in particular by a preceding vehicle, using a distance sensor system automatically accelerates and decelerates the vehicle. In this case, potential danger spots from the current environment of the vehicle are detected on the basis of predictive route data and taken into account when accelerating and decelerating the vehicle. For this purpose, the known method generates accelerations and decelerations for the vehicle based on the predictive route data. The predictive route data relate to the currently lying in front of the vehicle and still to be traveled by this section of road and can be of many kinds. They can be obtained, for example, from a digital image analysis. The evaluated data may include traffic signs or even data from a GPS supported navigation device. Furthermore, the predictive route data may include information about road and road surface conditions.

at Vehicles, with the help of a distance control system after a can be operated in such a method can a target speed set by the driver as the desired speed automatically dependent on the current actual speed safe target distance to a preceding vehicle, the target object, be determined and by appropriate accelerating or delaying System interventions are adhered to. For example, the vehicle automatically braked when the desired distance with the desired Target speed can no longer be maintained. As well can be an automatic acceleration of the vehicle until reaching the target speed occur when the preceding vehicle turns or if the vehicle itself in a free fast lane replaced. However, these are driving situations or traffic situations conceivable in which in particular the automatic acceleration little meaningful and usually uncomfortable. For example, when Collon driving, z. B. at relatively low speeds. Especially when cornering, the vehicle ahead, the first turn into the respective curve, for the still straight driving vehicle signal a release of the route ahead, then possibly a corresponding acceleration process to achieve can trigger the target speed. This can be immediate leading to a critical situation before a turn.

From the DE 199 52 393 A1 a method is known for providing route-dependent warning information to the driver of a vehicle, in which the course of a road section to be traveled by the vehicle is determined in a forward-looking manner and a current driving state of the vehicle is determined and in which it is evaluated on the basis of the determined course and the ascertained driving state, Whether the vehicle can safely drive through the route area, in particular a curve area, while maintaining the current driving state. The warning information is output to the driver when the speed of the vehicle is too high for safe passage through the route area. The output can take place visually, acoustically or haptically, in particular stepped in several escalation stages, wherein in a last escalation stage, the initiation of an automatic control intervention for speed reduction is provided if the driver has not yet lowered the speed itself in a safe area. The control intervention takes place independently of any possibly existing or non-existent preceding vehicle. In the optical output of the warning information, certain symbols, which are modeled on conventional traffic signs, are advantageously displayed on a display device.

The The present invention addresses the problem of for a method of operating a proximity control system or for a vehicle which is a working one according to this method Distance control system comprises, an improved embodiment specify, in particular by increased vehicle safety distinguished.

This Problem is inventively by the objects of the independent claims. advantageous Embodiments are the subject of the dependent Claims.

In the method according to the invention for operating a distance control system for vehicles, the distance between a vehicle and a target object located in front of the vehicle is regulated as a function of the situation by taking into account predictive route data by means of accelerating or decelerating system interventions. The consideration of the predictive route data is carried out by anticipating an event area, which corresponds to a certain distance area in front of a topological event marking a potential danger location, and that, in the case of one within the event area an event mode is activated in which the execution of accelerating system interventions is suppressed.

The The invention is therefore based on the general idea of an automatic Vehicle acceleration to suppress when the vehicle is located before a topological event and if moreover in a predetermined event area before the topological event a target loss occurs. Upon fulfillment of these conditions (topological event and target loss in the event area of topological Event), the functioning of the distance control system is modified, in such a way that the distance control system only such system interventions that does not accelerate the vehicle so that an automatic acceleration of the vehicle is omitted, too then when the vehicle is up to the target loss at a speed driving, which is below a speed desired by the driver predetermined target speed is. The target loss is characterized in particular by the fact that that is the basis of the distance regulation preceding vehicle, ie the target object, the area of the Vehicle driving own lane leaves or completely leaves the detectable by the distance sensor of the vehicle range or that the vehicle itself leaves the previous own lane. The distance control system of the vehicle would normally then adjust the target speed, so an automatic acceleration of the vehicle. The inventively proposed Procedure now prevents such acceleration and keeps the current actual speed at or regulates the speed down to a lower value until the respective topological event is happening, d. H. the event area is left, or until again a vehicle as the target object ahead. Without target loss, d. H. for a persistent target object in the event scope, be in the inventive method of Distance and the speed of the distance control system in the conventional normal operating mode regulated.

Corresponding In an advantageous embodiment, the size of the event area automatically depending on at least one of the following parameters: the current distance the vehicle to the topological event, the type and strength the current system intervention, the current driving condition of the vehicle, in particular the current actual speed of the vehicle, the current Distance between the vehicle and the target object, the nature of the topological Event, a current driver request and a current one Target distance to the target object. For example, the driver's request a desired target time interval, d. H. a period of time that the vehicle needs at the actual speed, to reach the current position of the target object. The current Target distance can also be a driver's request, so one from the driver adjustable size. The topological one Event-dependent event area can be for example, taking into account at least one the aforementioned parameter from maps or mathematical Determine formula, for example in the form of a distance specification relative to the location of the respective topological event.

expedient the event mode is activated only if one from the driver desired speed of the vehicle specified as the desired speed the current actual speed of the vehicle is and if both the vehicle and the target object immediately before the target loss within the event area.

advantageously, deactivates the event mode when re-on Target object enters the event area or if the vehicle leaves the event area, d. H. when the vehicle is the respective topological event happens or when the vehicle the distance to the respective topological event before reaching the topological event leaves. In particular, you can any number of different, consecutive topological ones Events and their associated event areas be considered sequentially.

Especially an embodiment is advantageous in which at least one of the following topological events in the determination event area: roundabouts, toll stations, where the vehicle must be braked, motorway exits including exits from motorway-like highways too understand stops, bottlenecks, for example in construction sites, Crossings, especially if at the respective intersection the right of way must be granted traffic lights, especially if this stop signal curves, in which in particular a curve geometry, such as B. curve radius, a curve beginning, a curve vertex and a Curve end can be considered, dome and traffic signs, especially speed limiting Traffic signs or traffic signs with warning function in front of danger spots.

The information about the type and position of such topological events can be taken from various sources of information. In particular, one or more of the following information sources may be used alone or in combination: a digital map in conjunction with a satellite-based positioning system (eg GPS), esp in particular in conjunction with a navigation system, a camera system for environment detection and image processing, an external, communicating via radio with the vehicle traffic information system, in particular radio system with RDS data transmission. Depending on the source of information for the topological events (camera, digital map, communication, etc.), safety factors or safety distance values may also be added to the respective event area before or after the determined event area. In this way, it is possible, in particular, to take account of tolerance-related deviations in the distance values for the respective topological event as a function of the reliability of the respective information source.

According to one advantageous embodiment is in the event mode on regulated speed-maintaining or rate-lowering control engagement performed as a system intervention, the type of control intervention and thus also the parameters of the control function of the topological event.

When Type of control intervention can in particular a control intervention be selected and carried out with the Speed of the vehicles regulated at a speed is lowered, which corresponds to the speed with which the Target object was driven immediately before the target loss. This kind the actuating engagement is suitably selected if the topological event is a roundabout is. This is the way to go at a roundabout especially easy to set the speed in the roundabout determine.

When another type of control intervention, a control intervention selected and carried out with which the vehicle is regulated is slowed down to a standstill, in such a way that the vehicle is still before reaching the topological event, for example in one predeterminable residual distance to the topological event, comes to a halt. A Such target braking is expediently as the type of control intervention then selected if the topological event is a distinct one Reduction in speed or mandatory stopping requires. Related topological events include, for example Stops and red lights. Let such topological events easily by image processing based on environmental images of a camera system.

About that In addition, as a further type of control intervention, a control intervention be selected and performed by the The speed of the vehicle is lowered to one Speed with which the event area is safe or comfortable can be passed. This type of control intervention is expediently then selected if the topological event is a curve is, in particular a curve beginning or curve vertex. Leave it The speed of the vehicle when cornering like this Adapt that in time to the beginning of the curve or to the crest of the vertex one of the respective curve curvature or of the respective Curve radius dependent safe cornering speed set becomes. With such a control intervention, within the event area after the target loss the speed of the vehicle on one safe or adjusted to a comfort level acceptable cornering speed, which is below the desired speed desired by the driver and may also be below the current actual speed. The situation intervention can not only accelerate the Suppress vehicle, but also to one Delay the vehicle. The safe or acceptable cornering speed, for example, by means of a map of the curvature of the curve of the next Track area and from a given or on the road condition determined maximum permissible lateral acceleration determined become. The information about the curve curvature and possibly on the road condition can thereby for the forward track area as predictive track data extract in particular from the data of a digital map.

at the controlled lowering of the speed of the vehicle becomes the vehicle expediently with a predetermined Delayed delay. The default delay is while a control parameter, the expediently adapted to the respective situation. For example, you can at a large differential speed between actual speed and safe or acceptable cornering speed on the one hand and a short distance to the topological event on the other hand bigger delays for the Speed reduction are given as at low differential speeds and long distance to the topological event.

About that In addition, it is basically possible in the topological Event "Curve end" the possibly activated event mode deactivate prematurely, thus causing an event mode Cancel acceleration suppression prematurely. Hereby taken into account the method recognizes that after the end of the curve a straight line follows, which allows higher speeds than in the curve. The event mode can be deactivated even if he has previously been activated due to cornering.

In the event that an activation of He mode mode and the resulting acceleration suppression is not desired, which may be the case, for example, in a falsely identified topological event, the driver gets an easy way to disable the event mode and thus restore the default behavior, ie the normal functioning of the distance control system. This can be done for example by a short pressure on the accelerator pedal or by an operation on an operating device, in particular on a conventional operating lever of the distance control system. This means z. B. that any or possibly only a special operation of the operating lever, z. B. by pressing, panning or pulling in a predetermined direction, terminate the event mode and can cancel the associated acceleration suppression. With a longer operation of the accelerator pedal, the vehicle is accelerated accordingly. In an alternative embodiment, it may be provided that a driver-side operation of the accelerator pedal or the operating lever does not deactivate the event mode and that the automatic acceleration suppression in the event mode only becomes effective when the vehicle has reached a limit speed which is the maximum speed for the safe passage through the event area is given. Thus, the driver basically has the possibility to increase the speed of the vehicle even after activating the event mode by accelerating, but only up to a speed value for the topological event in question, z. B. for driving through a roundabout, is not too high. This is particularly useful when the vehicle approaches the topological event very slowly and a moderate acceleration means no danger.

Preferably the driver is about to enter the vehicle in the Event area of a topological event informed. alternative or additionally, he can also have activation the event mode.

The Information is presented to the driver in at least one of the following Wise men presented: visually, acoustically or haptically. The optical Performance is conveniently over a display device provided in the vehicle by displaying a Icons, d. H. a pictorial symbol representing a traffic sign is modeled and in its image information a reference to contains the type of topological event. For example can be used for topological events that use a curve Connected, the warning sign for winding roads in the form of an oblique "S." Alternatively can be used for all types of topological events always the same icon will be used.

The Invention will be described below with reference to an embodiment with reference to the figures described in more detail. there demonstrate:

1 1 is a schematic representation of a block diagram of a distance control system that is used in a vehicle for carrying out the method according to the invention;

2 a schematic representation of a road landscape in front of the vehicle.

1 shows the provided in a vehicle to assist the driver distance control system 1 , This includes a control unit 10 that via a data bus 19 with a radar system 11 , a navigation system 12 , a camera system 13 , a broadcasting system 14 and a driving condition detection unit 15 connected is. With the radar system 10 In a conventional manner, a vehicle driving ahead of the vehicle is identified as a target object and the distance between the vehicle and target object is determined. Of course, this function can also be achieved with other types of environment detection systems, such as a lidar system. With the navigation system 12 In conjunction with a digital map, the current position of the vehicle is satellite-based, in particular based on GPS, determined and further determined data on the topology of a lying before the track area and provided to the controller as a predictive track data available. With the camera system 13 are detected by processing captured environmental images, in particular by pattern recognition, traffic signs and traffic lights and the information displayed thereby the control unit 10 provided as predictive route data. With the camera system 13 In addition, lanes can also be identified on the basis of lane markings and a lane allocation of the vehicle and of preceding vehicles can be made to the identified lanes. This can ensure that a vehicle in front is considered as a target object only if it is in the same lane as the vehicle. With the broadcasting system 14 which can be embodied, in particular, as a radio with RDS reception, receive route-specific traffic information which is transmitted by radio via an external traffic information system. From this traffic information, the information relevant to the preceding route area information is extracted and the control unit as a predictive route data to the control unit 10 made available. With the driving condition detection unit 15 the current driving state of the vehicle is detected, in particular the current actual speed and the current actual acceleration. These quantities are as actual sizes for the distance control be forces. To the control unit 10 are still a display and control unit 18 connected as well as several actuators 16 . 17 for performing control actions in a drive unit or in a brake system vehicle. The display and control unit 18 includes input means by which the driver controls the distance control system 1 can activate or deactivate and via which he can enter a desired speed and a desired time interval as a control parameter. The input means is advantageously designed as a conventional control lever, the driver must press to specify his driver's request in a particular direction, for example by turning, pressing, panning or pulling.

The display and control unit 18 further comprises a display device 180 For example, an LCD screen to inform the driver about the functional state of the distance control system 1 to inform him and show him route-specific traffic-related information, for example in the form of icons or symbols 181 , which can be modeled on the usual traffic signs.

The distance control system 1 should basically like a conventional distance control system adjust the speed of the vehicle to a desired speed entered by the driver via the display and operating unit target speed, provided that a target distance to a detected by the distance control system as a target object vehicle is not exceeded. If it is not possible to maintain the setpoint speed without falling below the setpoint distance, the speed of the vehicle is controlled by automatic accelerating or decelerating control interventions in such a way that the distance between the vehicle and the target object is adjusted to the nominal distance. The control interventions are via the actuators 16 . 16 carried out. It can be provided that the control interventions are limited, so that certain maximum values for Bescheunigung and delay are not exceeded. The target object and the current distance to the target object are from the radar system 11 determined in a conventional manner and the control unit 10 provided as object data. The nominal distance is a speed-dependent safety distance to be maintained, which the driver can reach within certain limits by means of an appropriate input on the display and operating unit 18 can vary. For example, the driver may set the desired distance by operating a setting wheel as a desired target time interval, which corresponds to the time duration that the vehicle will need at the current actual speed to reach the current position of the target object. This basic operation of the distance control system 1 corresponds to the operation in a normal operation mode. Distance control systems that operate in this mode of operation are also commonly referred to as ADR systems (ADR = automatic distance control) or ACC systems (ACC = Adaptive Cruise Control).

The distance control system according to the invention 1 In addition, it should now be operable in an operating mode in which its mode of operation is adapted to the situation which is found in a forward path area still to be traveled by the vehicle. This adaptation is carried out by evaluation and consideration of the navigation system 12 , the camera system 13 and the broadcasting system 14 provided predictive route data. Of course, it is conceivable that depending on the vehicle equipment only one of these systems 12 . 13 . 14 or a subcombination thereof is used.

The easiest way to adapt is to use the in 2 explain as an example shown road landscape. In this figure, the road network of the road landscape in front of the vehicle is schematically by lines 20 shown. The current position of the vehicle in the road landscape is marked with a rhombus PO. The arrows 21 show one from the navigation system 12 determined route to a pre-driver predetermined or automatically determined destination.

The adaptation now takes place in that the preceding distance range from the control unit 10 is analyzed on the basis of the provided predictive route data, with the aim of identifying topographical events representing potential danger spots in the preceding track area, and depending on this, changing the operating mode from the normal operating mode to an adapted operating mode, hereinafter referred to as event mode.

Of the Event mode is an operating mode in which system interventions, which would accelerate the vehicle, suppressed become. In event mode, therefore, only speed-maintaining or speed-reducing, d. H. delaying system interventions automated.

Topographical events shall identify and take account of one or more of the following topographical features: roundabouts, tollbooths or other bottlenecks where traffic may falter, exits from freeways or motorway-like expressways, stoppers, intersections, in particular T-shaped intersections or intersections, where priority must be given to traffic lights, especially if they are switched to red, close Curves, in particular curves beginning, crest apex and end of curves, crests and traffic signs, in particular those indicating intersections and there prescribed right of way regulations, or pointing to bottlenecks, dangerous curves, construction sites, roundabouts, speed limits or other danger points.

In 2 are shown by dots examples of such topological events, namely a roundabout 30 and two intersections 40 . 50 ,

For each of the identified topological events will be in the track area before the respective topological event one to the respective topological Event adjusted distance range determined as event area.

In 2 these are the hatched areas 31 . 41 . 51 , Their sizes d30, d40, d50 are dependent on the type of topological event 30 . 40 . 50 , The sizes of the event areas can also be determined as a function of other parameters, in particular as a function of the current distance between the vehicle and the respective topological event, depending on the type and strength of the distance control system 1 currently performed system intervention, in particular depending on whether the distance control system 1 currently performs an accelerating or decelerating system intervention and the strength of such possibly performed system handle, but also in dependence of the current actual speed, the desired speed of the driver, the current distance to the target object or the current target distance to the target object.

Of the the aforesaid change of the operating mode from the normal operating mode to Event mode, d. H. the activation of the event mode, takes place automatically, as soon as the condition is met, that the Vehicle in the event area of a topological event and that in this event area a target loss of the until then the distance regulation on which the target object is based.

In event mode, the distance control system performs 1 furthermore, regulated, speed-maintaining or speed-reducing control interventions, wherein the type of control is adapted to the respective topological event.

So is the regulation in the topological event "roundabout" expediently carried out in such a way that the speed is kept constant on the speed, which holds the vehicle at the activation time of the event mode had, or that the speed lowered to a speed with which the target object is driven immediately before the target loss is.

At the topological ereingis "crossing" is the speed the vehicle expediently also constant kept or regulated lowered to a certain speed, which depends on the type of crossing, in particular dependent from the prescribed right of way, d. H. dependent whether the vehicle is authorized for right-of-way at the intersection or not or if the vehicle at the intersection slowed down to a standstill must be, or depending on the location of the intersection within or outside of localities or dependent on the number and direction of the crossing sections.

At the topological event "curve" or "motorway exit" Speed is also convenient kept constant or on a specific, safe or acceptable Speed lowered, which, depending on the requirement, for a safe or comfortable driving through the curve or exit should not be exceeded.

In In all cases, it is appropriate to the scheme perform such a way that lowering the speed priority over the constant maintenance of the speed is made.

at The controlled lowering of the speed is the vehicle with a predefinable, adapted to the particular situation delay delayed. In particular, this delay given as a control parameter that depends on the differential speed to be adjusted, d. H. Difference between the current actual speed and the speed at which the speed of the vehicle should be lowered, and continue depends on the current distance between the vehicle and the topological event in whose event area the vehicle is currently located. This can be achieved that the speed reduction with a regulated delay, which occurs at high differential speeds and small distances to the respective topological event is greater than at low differential speeds and long distances to the respective topological event.

The driver is informed about the entry into an event area and additionally or alternatively also about the automatic activation of the event mode. The information is expediently visually presented to the driver by displaying on the display device 180 an icon or symbol assigned to the respective topological event is displayed. The respective icon or symbol is modeled on a common traffic sign, which is best for describing the jewei ligen topological event is suitable, for example, a traffic sign, which is usually referred to dangerous intersections, curves, double curves, roundabouts or stops. Alternatively, the same icon may be used for each of the topological events, for example, the one in 1 shown warning symbol 181 in the form of a triangle with an exclamation mark. Alternatively or additionally, the driver can also be informed acoustically or haptically about driving into an event area or via the activation of the event mode.

The icon pointing to a topographical event is the driver, depending on the execution of the procedure, displayed as soon as that Vehicle enters the event area of the topographical event, or alternatively, once the event mode and the associated Acceleration suppression activated. optional can be provided that the icon is displayed to the driver as soon as he is close to the topological event in question This is independent of any existing or non-existent target object can take place. Furthermore, can be provided that the icon is then displayed to the driver, if he the distance control system, for example by a brake application or by active switching off, has disabled and thus system side no interventions are made.

The driver has at any time the possibility of deactivating the event mode and thus making the normal operating mode active again by actuating the accelerator pedal of the vehicle or by the input means of the indicating and operating unit, in particular as an operating lever 18 operated in a predetermined manner. Incidentally, the event mode coincides with deactivation of the proximity control system 1 disabled. An embodiment of the method is also conceivable such that the event mode is not deactivated in response to an accelerator pedal actuation, but that the acceleration suppression to be carried out in the event mode becomes effective only when a predefinable limit speed is exceeded. The limit speed is expediently specified as a function of the topological event. The driver can accelerate the vehicle then by accelerating, but only until reaching the predetermined limit speed, in the case of the topological event "curve" expediently only until reaching the said safe or acceptable speed.

Of the Event mode is automatically disabled with the result that the Normal operating mode becomes active again and the automatic acceleration suppression is canceled if the condition for activation the event mode is no longer satisfied. That is then the case, if after the loss of target again for the Distance control suitable preceding vehicle recognized as a target object or when the vehicle leaves the event area.

Of the Event area of a topological event includes the area up to the position of the topological event and is thus with to leave the passing of the topological event.

An exception to this principle is provided in an advantageous embodiment of the method for the topological event "roundabout." In this event, which is determined by the road junction in the roundabout, the event area is expediently extended to the adjacent to the event roundabout, as this in 2 through the hatched area 32 is indicated. Thus, the event mode, if it has been activated before entering the roundabout, also remains active during the roundabout, ie until it leaves the roundabout, that is, until it enters a descent. It is particularly irrelevant which departure of the roundabout is used or whether the vehicle is driven several times in the circle before leaving. Thus, not only in front of the roundabout but also in the roundabout itself, a situation-adapted improvement of the functioning of the distance control system is obtained 1 ,

Around For example, to determine the exit from the roundabout the yaw angle of the vehicle are evaluated. changed the yaw angle is almost continuously in the direction of a "right turn" (Of course, only for legal traffic, otherwise the consideration applies a left turn in left-hand traffic), is from a predetermined Threshold for a differential angle related to the yaw angle of the Vehicle at the roundabout entrance assume that the vehicle is on or at a departure from the roundabout. This means, for example, that the vehicle z. B. a 90 ° curve drove and thus the immediate next departure took.

Moves the vehicle first in a circle and then takes a descent, changes to another differential angle threshold responding. For example, the yaw angle change between the current value and a past a predetermined period of time Yaw angle can be used.

The current yaw angle can be calculated from the yaw rate, which is a standard signal for vehicles with Electronic Stability Program (ESP). In addition, a sign change in the Si In terms of cornering from left to right (in the case of right-hand traffic, and vice-versa from left to right, respectively), the decision-making criterion for determining the exit from the roundabout is to be used. In addition, the yaw rate or a lateral acceleration signal or a steering angle signal can be used as a decision criterion for determining the exit of the roundabout. The aforementioned predetermined time period for the calculation of the yaw angle change may be speed-dependent. If the yaw angle change is above the specified threshold, the vehicle is on a descent and the event mode and associated automatic acceleration suppression may be disabled.

For recognizing a departure from the roundabout can basically also be resorted to evaluation procedures, the of navigation devices for the current orientation of the vehicle be used.

The Evaluation of the topological event "Autobahnausfahrt", including exits of motorway-like expressways can be understood in terms of a possible confusion with be critical of a regular traffic lane. The intervention mode, the at a motorway exit an independent acceleration of the vehicle after a loss of target, should not be activated if it is not certain that the vehicle actually also on a delay track and not on a regular lane.

In order to avoid activation of the event mode due to the topological event "motorway exit" when the vehicle is in a regular lane, it will be checked by means of suitable sensors whether the vehicle is on a deceleration lane or on a regular lane During a motorway journey continuously determines their own lane, which can be realized for example with the help of a suitable environment sensor, in particular with the in 1 shown radar system 11 or camera system 13 , The environmental sensor system, in particular the radar system 11 , provides information about the position of moving and stationary objects relative to the position of the vehicle. Moving objects are assigned to lanes and standing objects to the roadside. The trajectories of the objects are based on an estimate of the course of the road and the current position of the vehicle is determined in relation to objects. Thus, a lane allocation of the vehicle is made to a lane. Optionally, the camera system 13 or the data of the digital map of the navigation system 12 be used to determine the number of lanes or the position of the vehicle on the respective lane and to base the lane allocation of the vehicle. Overall, it can be determined whether the vehicle is located on the outer lane of the highway. If this is the case and the topological event "motorway exit" is still identified at a predetermined distance in front of the vehicle, it is checked whether the detected moving objects are moving to the left with respect to the vehicle (or to the right in the case of roads with left traffic). If this is the case, it is determined that the vehicle is on the deceleration lane, otherwise not, once it is determined that the vehicle is on the deceleration lane and the target loss is due to the target continuing on the highway, the vehicle may Event mode for the topological event "motorway exit" must be activated. Erroneous activations of the event mode are thus avoided with great certainty.

QUOTES INCLUDE IN THE DESCRIPTION

This list The documents listed by the applicant have been automated generated and is solely for better information recorded by the reader. The list is not part of the German Patent or utility model application. The DPMA takes over no liability for any errors or omissions.

Cited patent literature

• - DE 19931161 A1 [0002]
• - DE 19952393 A1 [0004]

Claims (14)

Method for operating a distance control system for vehicles, in which the distance between a vehicle and a target located in front of the vehicle is controlled depending on the situation taking account of predictive track data by accelerating or decelerating system interventions, characterized in that the consideration of the predictive track data is such that anticipating an event area ( 31 . 41 . 51 ) which determines a certain distance range in front of a topological event marking a potential danger point ( 30 . 40 . 50 ) and that at one within the event area ( 31 . 41 . 51 ) target loss of the target object an event mode is activated, in which the execution of accelerating system interventions is suppressed. Method according to claim 1, characterized in that the size (d30, d40, d50) of the event area ( 31 . 41 . 51 ) is determined as a function of at least one of the following parameters: - current distance of the vehicle from the topological event ( 30 . 40 . 50 ), - type and strength of the current situation intervention, - current driving state, in particular current actual speed of the vehicle, - current distance between the vehicle and the target object, - type of topological event ( 30 . 40 . 50 ), - driver request, - current set distance to the target object. A method according to claim 1 or 2, characterized in that the event mode is activated only when a predetermined by the driver as the desired speed target speed of the vehicle is above the current actual speed of the vehicle and if the vehicle and the target object immediately before the loss of target within the event area ( 31 . 41 . 51 ). Method according to one of claims 1 to 3, characterized in that the event mode is deactivated when a target object in the event area ( 31 . 41 . 51 ) or when the vehicle enters the event area ( 31 . 41 . 51 ) leaves. Method according to one of claims 1 to 4, characterized in that at least one of the following topological events ( 30 . 40 . 50 ) in the determination of the event area ( 31 . 41 . 51 ): - Roundabouts, - Skin stations, - Motorway exits, including motorway exits, - Stops, - Crossings, - Narrows, - Traffic lights, - Curves, in particular with regard to geometry, beginning, crest, end, - crests, - Traffic signs. Method according to one of claims 1 to 5, characterized in that in the event mode, a controlled speed-maintaining or speed-lowering control action is performed, the type of control intervention depending on the topological event ( 30 . 40 . 50 ) is selected. Method according to claim 6, characterized, that one of the following types of control intervention selected becomes: - controlled lowering of the speed of the vehicle to a speed with which the target object immediately ahead drove the target loss, - controlled lowering the speed of the vehicle at a speed with the event area can be traveled safely or comfortably can - controlled lowering of the speed of the vehicle until reaching standstill immediately before the topological Event. Method according to one of claims 1 to 7, characterized in that information about the nature and position of the togological events ( 30 . 40 . 50 ) are taken from at least one of the following sources of information: - digital map in conjunction with a satellite-based positioning system, - camera system for environmental detection, - external traffic information system communicating with the vehicle by radio. Method according to one of claims 1 to 8, characterized in that the driver by issuing an optical and / or acoustic and / or haptic indication of the entry of the vehicle in the event area ( 31 . 41 . 51 ) and / or the activation of the event mode is informed. A method according to claim 9, characterized in that the visual indication ausgege by displaying an icon on a display device ben, where the icon is modeled on a traffic sign, which in its image information an indication of the nature of the togological event ( 30 . 40 . 50 ) contains. Method according to one of claims 1 to 10, characterized in that the event mode by an accelerator pedal operation or by a predetermined manual operation of a Input means is disabled. Method according to one of claims 1 to 10, characterized in that in the event mode, the acceleration suppression becomes effective only when a predetermined limit speed is exceeded becomes. Method according to claim 12, characterized in that the limit speed depends on the topological event ( 30 . 40 . 50 ) is given. Vehicle with a distance control system for implementation the method according to any one of the preceding claims.