DE102009024527A1 - Distance control device for regulating distance between motor vehicle and object, has regulating device designed and/or programmed such that regulating device automatically adapts driving process based on sensor results of sensor devices - Google Patents
Distance control device for regulating distance between motor vehicle and object, has regulating device designed and/or programmed such that regulating device automatically adapts driving process based on sensor results of sensor devices Download PDFInfo
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- DE102009024527A1 DE102009024527A1 DE102009024527A DE102009024527A DE102009024527A1 DE 102009024527 A1 DE102009024527 A1 DE 102009024527A1 DE 102009024527 A DE102009024527 A DE 102009024527A DE 102009024527 A DE102009024527 A DE 102009024527A DE 102009024527 A1 DE102009024527 A1 DE 102009024527A1
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- Prior art keywords
- sensor
- sensor device
- motor vehicle
- regulating
- distance
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- 238000000034 method Methods 0.000 title claims abstract description 23
- 230000001105 regulatory effect Effects 0.000 title claims abstract description 16
- 230000008569 process Effects 0.000 title claims abstract description 8
- 238000012544 monitoring process Methods 0.000 claims abstract description 5
- 230000001276 controlling effect Effects 0.000 claims abstract 3
- 230000002411 adverse Effects 0.000 description 4
- 238000001514 detection method Methods 0.000 description 4
- 230000004044 response Effects 0.000 description 3
- 230000006978 adaptation Effects 0.000 description 2
- 230000008901 benefit Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 230000001419 dependent effect Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000012795 verification Methods 0.000 description 2
- BUHVIAUBTBOHAG-FOYDDCNASA-N (2r,3r,4s,5r)-2-[6-[[2-(3,5-dimethoxyphenyl)-2-(2-methylphenyl)ethyl]amino]purin-9-yl]-5-(hydroxymethyl)oxolane-3,4-diol Chemical compound COC1=CC(OC)=CC(C(CNC=2C=3N=CN(C=3N=CN=2)[C@H]2[C@@H]([C@H](O)[C@@H](CO)O2)O)C=2C(=CC=CC=2)C)=C1 BUHVIAUBTBOHAG-FOYDDCNASA-N 0.000 description 1
- 241000282994 Cervidae Species 0.000 description 1
- 230000001133 acceleration Effects 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 230000001771 impaired effect Effects 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 230000007794 irritation Effects 0.000 description 1
- 238000002955 isolation Methods 0.000 description 1
- 230000019491 signal transduction Effects 0.000 description 1
- 238000002604 ultrasonography Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/14—Adaptive cruise control
- B60W30/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/02—Ensuring safety in case of control system failures, e.g. by diagnosing, circumventing or fixing failures
- B60W50/0205—Diagnosing or detecting failures; Failure detection models
- B60W2050/0215—Sensor drifts or sensor failures
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
- B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
- B60W2420/403—Image sensing, e.g. optical camera
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
- B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
- B60W2420/408—Radar; Laser, e.g. lidar
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
- B60W2420/54—Audio sensitive means, e.g. ultrasound
Landscapes
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Traffic Control Systems (AREA)
Abstract
Description
Die vorliegende Erfindung betrifft eine Abstandsregelungsvorrichtung für ein Kraftfahrzeug mit den Merkmalen des Oberbegriffs des Anspruchs 1.The The present invention relates to a distance control device for a motor vehicle having the features of the preamble of claim 1.
Aus
der
Bei heutigen Verfahren zu Abstandsregelung eines Kraftfahrzeugs zu einem Zielobjekt und bei Abstandsregelungsvorrichtungen, mit denen ein solches Verfahren durchführbar ist, wird ein frontseitig des Fahrzeuges angeordnetes Zielobjekt in der Regel mit einem Radarsystem detektiert. Im Falle eines Zielobjektverlustes wird eine Beschleunigung des Kraftfahrzeugs vorübergehend unterdrückt bzw. abgebremst, um kritische Situationen bei nicht eindeutigem Zielobjektverlust zu vermeiden. Dies tritt beispielsweise dann ein, wenn das Zielobjekt aufgrund von Unzulänglichkeiten des Radarsystems nicht erkannt wird, tatsächlich aber weiterhin vorhanden ist und bei der Abstandsregelung berücksichtigt werden sollte. Aus der Berücksichtigung solcher nicht eindeutig zuordenbaren Zielobjektverluste resultiert ein Hystereseverhalten, durch das der tatsächliche Abstand zum vorausfahrenden Fahrzeug immer wieder vom Sollabstand abweichen kann.at Today's method for distance control of a motor vehicle to a Target object and distance control devices with which a Such method is feasible, is a front of the Vehicle arranged target usually with a radar system detected. In the case of a target object loss becomes an acceleration of the motor vehicle temporarily suppressed or braked to critical situations with unclear target loss to avoid. This occurs, for example, when the target object not due to shortcomings of the radar system is recognized, but actually still exists and should be taken into account when adjusting the distance. From the consideration of such not clearly assignable Target object loss results in a hysteresis behavior through which the actual distance to the vehicle in front always again may differ from the nominal distance.
Nachteilig an einem solchen Hystereseverhalten ist der schwankende, vom Sollabstand abweichende tatsächliche Abstand des Kraftfahrzeuges zu einem frontseitig angeordneten Zielobjekt, z. B. zu einem vorausfahrenden Fahrzeug. Aufgrund dieser Abstandsschwankungen entstehen beim Fahrer des Kraftfahrzeuges Irritationen, das Fahrgefühl ist beeinträchtigt und gegebenenfalls wird dadurch der Fahrer einer solchen Abstandsregelungsvorrichtung nicht vertrauen.adversely Such a hysteresis behavior is the fluctuating, the desired distance deviating actual distance of the motor vehicle to a frontally arranged target object, z. B. to a preceding Vehicle. Due to these distance fluctuations occur at the driver of the motor vehicle irritations, the driving feel is impaired and, where appropriate, the driver of such a distance control device is not trust.
Die vorliegende Erfindung beschäftigt sich mit dem Problem, für eine Abstandsregelungsvorrichtung für ein Kraftfahrzeug eine verbesserte oder zumindest eine andere Ausführungsform anzugeben, die sich insbesondere durch ein verbessertes Fahrgefühl für den Fahrer des Kraftfahrzeugs auszeichnet.The The present invention addresses the problem of for a distance control device for a Motor vehicle an improved or at least another embodiment Specify, in particular, by an improved driving experience for the driver of the motor vehicle.
Erfindungsgemäß wird dieses Problem durch den Gegenstand des unabhängigen Anspruchs gelöst. Vorteilhafte Ausführungsformen sind Gegenstand der abhängigen Ansprüche.According to the invention this problem by the subject-matter of the independent claim solved. Advantageous embodiments are the subject the dependent claims.
Die Erfindung beruht auf dem allgemeinen Gedanken, eine Abstandsregelungsvorrichtung für ein Kraftfahrzeug mit zumindest einer zweiten zu einer ersten Sensoreinrichtung redundanten Sensoreinrichtung zur Überwachung des Fahrweges so auszustatten, dass das Sensorergebnis der ersten Sensoreinrichtung durch ein Sensorergebnis der zweiten Sensoreinrichtung verifizierbar ist, wobei die zumindest eine zweite Sensoreinrichtung nach einer anderen Technik den Fahrweg überwacht, als die erste Sensoreinrichtung, so dass eine Steuereinrichtung aufgrund der Sensorergebnisse der ersten Sensoreinrichtung und der zumindest einen zweiten Sensoreinrichtung den Fahrprozess automatisch anpassen kann. Durch die Verwendung zumindest einer zweiten Sensoreinrichtung ist das Sensorergebnis der ersten Sensoreinrichtung verifizierbar und kritische Situationen, bei denen z. B. ein nicht eindeutiger Zielobjektverlust auftritt, können durch Abgleich der Sensorergebnisse der Sensoreinrichtungen verringert werden. Dadurch kann ein Hystereseverhalten der Abstandsregelungsvorrichtung deutlich verringert und die Sicherheit der Abstandsregelungsvorrichtung erheblich verbessert werden.The The invention is based on the general idea of a distance control device for a motor vehicle with at least one second to one first sensor device redundant sensor device for monitoring the Fahrweges equip so that the sensor result of the first sensor device verifiable by a sensor result of the second sensor device is, wherein the at least one second sensor device after another Technology monitors the route as the first sensor device, so that a control device based on the sensor results of first sensor device and the at least one second sensor device can automatically adjust the driving process. By use at least one second sensor device is the sensor result of first sensor device verifiable and critical situations, where z. B. an ambiguous target object loss occurs, can by comparing the sensor results of the sensor devices be reduced. As a result, a hysteresis behavior of the distance control device significantly reduced and the safety of the distance control device be significantly improved.
In einer bevorzugten Ausführungsform überwacht die wenigstens eine zweite Sensoreinrichtung einen zur ersten Sensoreinrichtung wenigstens teilweise räumlich unterschiedlichen Beobachtungsbereich. Durch unterschiedliche Beobachtungsbereiche ist es möglich, Zielobjekte früher zu erkennen und länger nachzuverfolgen. Dadurch können uneindeutige Zielobjektverluste besser vermieden werden und Zielobjekteintritte früher erkannt werden.In a preferred embodiment monitors the at least one second sensor device one to the first sensor device at least partially spatially different observation area. Through different observation areas it is possible Identify target objects earlier and track them longer. As a result, ambiguous target object losses can be better avoided and target object entries are detected earlier.
Weitere wichtige Merkmale und Vorteile der Erfindung ergeben sich aus den Unteransprüchen, aus den Zeichnungen und aus der zugehörigen Figurenbeschreibung anhand der Zeichnungen.Further important features and advantages of the invention will become apparent from the Subclaims, from the drawings and from the associated Description of the figures with reference to the drawings.
Es versteht sich, dass die vorstehend genannten und die nachstehend noch zu erläuternden Merkmale nicht nur in der jeweils angegebenen Kombination, sondern auch in anderen Kombinationen oder in Alleinstellung verwendbar sind, ohne den Rahmen der vorliegenden Erfindung zu verlassen.It it is understood that the above and the following yet to be explained features not only in each case specified combination, but also in other combinations or can be used in isolation, without the scope of the present To leave invention.
Bevorzugte Ausführungsbeispiele der Erfindung sind in den Zeichnungen dargestellt und werden in der nachfolgenden Beschreibung näher erläutert, wobei sich gleiche Bezugszeichen auf gleiche oder ähnliche oder funktional gleiche Bauteile beziehen.Preferred embodiments of the invention are illustrated in the drawings and will be elucidated in the following description tert, wherein like reference numerals refer to identical or similar or functionally identical components.
Es zeigen, jeweils schematisch:It show, each schematically:
Wie
in
Die
erste Sensoreinrichtung
In
einer bevorzugten Ausführungsform wendet die Mess-/Steuerungs-
und Regelungseinrichtung
Gemäß
In
einer möglichen Ausführungsform kann diese Verifizierung
eines Zielobjekteintritts bzw. eines Zielobjektverlustes durch eine
zweite Sensoreinrichtung
In
einer bevorzugten Ausführungsform ist die Abstandsregelungsvorrichtung
Vorteilhafterweise
sind die Beobachtungsbereiche
Analog
zu den vorgenannten Ausführungen kann durch eine mit mehreren
Sensoreinrichtungen ausgestattete Abstandsregelungsvorrichtung
- 11
- AbstandsregelungsvorrichtungDistance control device
- 22
- Kraftfahrzeugmotor vehicle
- 33
- erste Sensoreinrichtungfirst sensor device
- 44
- Mess-/Steuerungs- und RegelungseinrichtungMeasuring / control and control device
- 5, 5'5, 5 '
- zweite Sensoreinrichtungsecond sensor device
- 66
- SignalweiterleitungSignal transduction
- 77
- Steuerungsleitungcontrol line
- 88th
- erster Beobachtungsbereichfirst observation area
- 99
- erstes Zielobjektfirst target
- 10, 10'10 10 '
- zweiter Beobachtungsbereichsecond observation area
- 1111
- zweites Zielobjektsecond target
ZITATE ENTHALTEN IN DER BESCHREIBUNGQUOTES INCLUDE IN THE DESCRIPTION
Diese Liste der vom Anmelder aufgeführten Dokumente wurde automatisiert erzeugt und ist ausschließlich zur besseren Information des Lesers aufgenommen. Die Liste ist nicht Bestandteil der deutschen Patent- bzw. Gebrauchsmusteranmeldung. Das DPMA übernimmt keinerlei Haftung für etwaige Fehler oder Auslassungen.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.
Zitierte PatentliteraturCited patent literature
- - DE 10004525 A1 [0002] - DE 10004525 A1 [0002]
Claims (3)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102009024527A DE102009024527A1 (en) | 2009-06-06 | 2009-06-06 | Distance control device for regulating distance between motor vehicle and object, has regulating device designed and/or programmed such that regulating device automatically adapts driving process based on sensor results of sensor devices |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102009024527A DE102009024527A1 (en) | 2009-06-06 | 2009-06-06 | Distance control device for regulating distance between motor vehicle and object, has regulating device designed and/or programmed such that regulating device automatically adapts driving process based on sensor results of sensor devices |
Publications (1)
Publication Number | Publication Date |
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DE102009024527A1 true DE102009024527A1 (en) | 2010-03-11 |
Family
ID=41650916
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
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DE102009024527A Withdrawn DE102009024527A1 (en) | 2009-06-06 | 2009-06-06 | Distance control device for regulating distance between motor vehicle and object, has regulating device designed and/or programmed such that regulating device automatically adapts driving process based on sensor results of sensor devices |
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DE (1) | DE102009024527A1 (en) |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2015121111A1 (en) * | 2014-02-12 | 2015-08-20 | Jaguar Land Rover Limited | Apparatus and method for use in a vehicle |
WO2015028860A3 (en) * | 2013-08-26 | 2015-11-26 | Toyota Jidosha Kabushiki Kaisha | In-vehicle control device |
Citations (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE10004525A1 (en) | 2000-02-02 | 2001-08-09 | Volkswagen Ag | Procedure for control of speed of car and distance of car to at least one car travelling in front has with help of data of navigation system, type of road being travelled on determined and parameters for distance control adjusted |
-
2009
- 2009-06-06 DE DE102009024527A patent/DE102009024527A1/en not_active Withdrawn
Patent Citations (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE10004525A1 (en) | 2000-02-02 | 2001-08-09 | Volkswagen Ag | Procedure for control of speed of car and distance of car to at least one car travelling in front has with help of data of navigation system, type of road being travelled on determined and parameters for distance control adjusted |
Cited By (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2015028860A3 (en) * | 2013-08-26 | 2015-11-26 | Toyota Jidosha Kabushiki Kaisha | In-vehicle control device |
CN105473402A (en) * | 2013-08-26 | 2016-04-06 | 丰田自动车株式会社 | In-vehicle control device |
US9751528B2 (en) | 2013-08-26 | 2017-09-05 | Toyota Jidosha Kabushiki Kaisha | In-vehicle control device |
WO2015121111A1 (en) * | 2014-02-12 | 2015-08-20 | Jaguar Land Rover Limited | Apparatus and method for use in a vehicle |
US9981667B2 (en) | 2014-02-12 | 2018-05-29 | Jaguar Land Rover Limited | Apparatus and method for use in a vehicle |
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OAV | Publication of unexamined application with consent of applicant | ||
R119 | Application deemed withdrawn, or ip right lapsed, due to non-payment of renewal fee | ||
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Effective date: 20150101 |