EP3145776A1

EP3145776A1 - Method and device for increasing safety during an overtaking process of a vehicle

Info

Publication number: EP3145776A1
Application number: EP15728392.0A
Authority: EP
Inventors: Nicolaj Stache; Ralph GREWE
Original assignee: Conti Temic Microelectronic GmbH
Current assignee: Conti Temic Microelectronic GmbH
Priority date: 2014-05-22
Filing date: 2015-04-30
Publication date: 2017-03-29
Also published as: JP2017518913A; DE112015001152A5; WO2015176723A1

Abstract

The invention relates to a method and a device for increasing safety during an overtaking process of a vehicle (1), the driving speed (V) of which is regulated by an ACC-system, said method comprising the following steps: detecting (S1) a potential overtaking situation, wherein the vehicle (1) will overtake, in an overtaking process, at least one vehicle (3; 5; 7; 8) in front in a lane; accelerating (S2) the overtaking process if the vehicle (1) is to overtake the vehicle in front (3; 5; 7; 8) in an admissible manner; and preventing the overtaking process if the vehicle (1) is in danger of overtaking the vehicle in front (3; 5; 7; 8) in an inadmissible manner, or in order to allow an overtaking process of a vehicle in front.

Description

METHOD AND DEVICE FOR INCREASING SAFETY IN OVERHAUL OF A VEHICLE

The invention relates to a method and a device for increasing the safety and / or comfort in an overtaking process of a vehicle whose travel speed is controlled by an ACC system.

Motor vehicles increasingly have adaptive cruise control (ACC) systems. In an ACC system, the position and the speed of the vo ^¬ out running vehicle is detected by a sensor of the vehicle equipped with the ACC system vehicle and the VELOCITY ^¬ ness and the distance of the vehicle equipped with the ACC system trailing vehicle adaptively by means of engine and Brake intervention regulated. Radar systems or so-called lidar systems can be used for distance measurement, for example. ACC systems are used to increase driving comfort and Ent ^¬ utilization of the concentration for the driver over long distances, in particular highways, as well as in a dense urban traffic. The sensor unit of the vehicle equipped with the ACC system detects vehicles in front within a vehicle

Visual range of the sensor unit, for example within ei ^¬ nes circle segment with a radius and a range Publ ^¬ opening angle. Conventional ACC systems respond, in particular, to vehicles in front, which are located in a driving tube or field of vision of the sensor unit in front of the vehicle equipped with the ACC system. In overtaking situations, for example on a two-lane motorway, it is necessary to consider vehicles driving on neighboring lanes. Conventional ACC systems, however, show weaknesses in overhaul situations. Drives for example a vehicle equipped with an ACC system vehicle on a two lane highway on the left lane at a speed, which _set below the preset speed V of the ACC system is located, and guides the vehicle in this situation, a lane change from the left lane to the right Lanes of the highway through, it can lead to an accidental overtaking of a vehicle driving ahead on the left lane, provided that the current speed of the equipped with the ACC system vehicle is above the driving speed of the vehicle ahead on the left lane. This traffic situation typically occurs in clotting ^¬ ger traffic density before when a single vehicle traveling ahead is located on the left lane, the re ^¬ tively moves slowly, and the driver of the vehicle equipped with the ACC system, the driven vehicle due to the traffic situation at a right driving want to hold, for example, when another even faster vehicle moves on the left lane from behind on the equipped with the ACC system vehicle and this the driver of the driving with the ACC system vehicle, for example, in the rearview mirror noticed. In this case, the driver performs a lane change on the right lane to pass the following fast third vehicle and overtakes thereby possibly unintentionally ahead on the left lane slower vehicle in the right lane.

Another overtake, systems have weaknesses in conventional ACC is, for example, a Ver ^¬ traffic situation, in which a column of vehicles formed on a two-lane highway on the left lane while the right of the column on the right traveling strip ^¬ relatively large there is free space and at the Move individual slow vehicles, especially trucks with a relatively large distance from each other. In this driving situation, it is often more pleasant for the driver of a vehicle to change to the relatively free right lane because he has to concentrate less while driving and the vehicle at the same time with only a slightly lower speed than on the lin ^¬ ken lane emotional. Due to this situation, there may be an unwanted overhaul of the moving on the left lane driving column.

A third overtaking situation, in which a conventional ACC system shows weaknesses, is the overtaking of vehicles that briefly drive on a right-hand lane on a two-lane highway and cut into the left lane due to approaching a preceding lorry.

Another important overtaking situation in which an ACC system shows weaknesses, the United hold relatively ruthless ^¬ laying a vehicle equipped with a conventional ACC system vehicle to the day when, on a zweispuri ^¬ gen road, such as a highway overtaken only unwesent ^¬ Lich slower vehicle, which for its part on the right lane a much slower vehicle such as a truck approaching from behind. The slow passing maneuver causes the almost equally fast a parked vehicle in the right lane has to brake sharply as a lane change to the left is not possible or extremely risky and the vehicle would otherwise slide up onto the vorausfah ^¬ Governing trucks. This forced braking is on the one hand annoying for the driver of the vehicle ahead and unnecessarily reduces its driving speed. This significantly reduces traffic flow on the road.

In all these overtaking situations, conventional ACC systems require the driver to actively intervene in the control of the ACC system, for example by repeatedly adjusting the default cruise _Vset . As a result, the operation of the ACC system for the driver is uncomfortable and thus reduces its benefits. If necessary, this even leads to the fact that the driver turns off the ACC system of Fahrzeu ^¬ ges completely. In addition, the above-mentioned weaknesses of conventional ACC systems in overtaking situations can lead to critical traffic situations.

It is therefore the object of the present invention to provide a method and a device by which the safety in an overtaking operation of a vehicle whose travel speed is controlled by an ACC system, he ^¬ increases.

This object is achieved by a method having the features specified in claim 1.

The invention accordingly provides, in a first aspect, a method for increasing the safety in an overtaking operation of a vehicle whose travel speed is regulated by an ACC system, comprising the steps of:

Recognizing a potential overtaking situation in which the vehicle will overtake at least one on a lane ahead vehicle in an overtaking operation; and accelerating their own overtaking maneuver, if the driving ^¬ convincing the preceding vehicle is overhauls ^¬ len in a permissible manner, and preventing overtaking own case the vehicle threatens to overtake the preceding vehicle in unzulässi ^¬ ger manner or to allow an overtaking of the preceding vehicle.

The method according to the invention offers the advantage that the driver is not forced to adapt the cruising speed to avoid critical traffic situations.

As a result, the ease of use of the ACC system is significantly increased ge ^¬ .

The method according to the invention offers, as a further advantage, that the ACC system behaves more considerately and thus increases the traffic flow. In particular, it allows vorausfah ^¬ Governing vehicles running only slightly slower than with the ACC system equipped vehicle, its overtaking ^¬ processes, such as traveling in trucks, safely shut off ^¬. For this purpose, the ACC system of the vehicle prevents its own overtaking of the vehicle, if the vehicle without significant restrictions, for example by simply suspending its own acceleration process, the preceding vehicle in a position offset a third vehicle, such as the preceding vehicle in turn driving ahead truck safely overtake.

A time- and fuel-consuming braking of the vorausfah ^¬- generating vehicle is thus prevented. Further, a annoyance of controlling the vehicle ahead Fah ^¬ RERS is avoided, so that in particular possible rage reactions are avoided, which would reduce the driving safety of both transport part ^¬ participants.

In one possible embodiment of the method according to the invention, a potential overtake situation is detected, if the current vehicle speed of the vehicle and the running speed of the preceding vehicle is below the set cruising speed of the ACC system lie ^¬ gen.

In a further possible embodiment of the inventive method, the overtaking operation is prevented if the vehicle threatens to overtake at least one traveling ahead driving ^¬ generating unduly right by adjusted the instantaneous driving speed of the vehicle to the Fahrge ^¬ speed of the preceding vehicle and then for an adjustable holding period is maintained.

In a further possible embodiment of the inventive method, the running speed of the Minim ^¬ is least detects a preceding vehicle by a sensor unit of the ACC system of the vehicle.

In a further possible embodiment of the method according to the invention, the sensor unit of the ACC system of the vehicle is formed by a radar sensor with a relatively low field of view opening angle.

In a further possible embodiment of the method according to the invention, the holding period is extended, if a further sensor unit of the vehicle with a relatively large

Viewing range opening angle detected another vehicle in the vicinity of the vehicle.

In a further possible embodiment of the method according to the invention, the further sensor unit of the vehicle comprises at least one vehicle camera, radar sensors and / or lidar sensors. In a further possible embodiment of the method according to the invention the overtaking procedure is prevented if the vehicle threatens to overtake a plurality of preceding vehicles of a vehicle group driving on a left lane on a right lane by the current vehicle speed to the minimum or minimum vehicle speed. average speed of the at least one preceding vehicle of the vehicle group or vehicle column angegli ^¬ chen, which is located in a field of view of the sensor unit of the ACC system and is detected by the sensor unit of the ACC system.

In a further possible embodiment of the inventive method, the overtaking operation is accelerated if the vehicle is running on a left lane and a preceding vehicle running on a right lane the vehicle is detected, the threatens einzu on the left lane ^¬ scissors.

In a further possible embodiment of the method according to the invention, it is recognized that the vehicle driving ahead on the right-hand lane threatens to cut into the left-hand lane if the preceding vehicle actually is in front of a stationary object or a movable slower object located in front of it, in particular a truck or probably approaching.

In a further possible embodiment of the method according to the invention, a remaining overtaking time for overtaking a preceding vehicle is calculated, if a vehicle driving ahead on the right-hand lane is calculated. detected that threatens to be scored on the left lane.

In a further possible embodiment of the method according to the invention, the remaining overtaking time in dependence on the current driving speed of the vehicle driving on the left lane, the driving speed of the vehicle ahead on the right lane and a closing speed, with which the vehicle driving ahead on the right lane approaching, calculates.

In a further possible embodiment of the method according to the invention, the set cruising speed and / or other control parameters of the ACC system are changed as a function of the calculated remaining overtaking time such that a separate overtaking operation is safely carried out or to allow an overtaking operation of a preceding vehicle.

In a further possible embodiment of the method according to the invention, the passing process is performed only if the driver releases the passing of the overtaking process by an input to the ACC system of the vehicle and / or no maximum speed is exceeded in the over ^¬ holvorgang.

The invention further provides an apparatus for increasing the safety of an overtaking maneuver of a vehicle having the angege ^¬ surrounded in claim 8 features in accordance with a second aspect. The invention accordingly provides a device for increasing the safety in an overtaking operation of a vehicle, the driving speed of which is regulated by an ACC system, comprising:

a detection unit which detects a potential overtaking ^situation in which the vehicle will overtake at least one vehicle ahead on another lane in an overtaking operation,

wherein the overtaking maneuver is accelerated if the driving ^¬ convincing the preceding vehicle is overhauls ^¬ len in a permissible way, and wherein the overtaking operation is prevented if the vehicle threatens to overtake the preceding vehicle in unzulässi ^¬ ger manner.

In the following, possible embodiments of the method according to the invention and the device according to the invention for increasing the safety in an overtaking process of a vehicle will be explained in more detail with reference to the attached figures.

Show it:

FIG. 1 shows a simple flow diagram for the representation of a

Embodiment of the method according to the invention for increasing the safety in an overtaking ^¬ operation of a vehicle;

Figure 2 is a sketch for illustrating a Überholsituation in which the inventive method and the device according to the invention can be used to increase security; 3 shows a further schematic representation of an overtake situation in which the inventive method and the inventive device for raised stabili ^¬ hung security can be employed in an overtaking;

Figure 4 is a further schematic representation of an overtake situation in which the inventive method and the inventive device for raised stabili ^¬ hung security can be employed in an overtaking;

Figure 5 is another schematic representation of a Überholsituation in which the inventive method and the device according to the invention for increasing the ^{¬ increase in} safety can be used in a passing process.

As can be seen from Figure 1, the inventive method for increasing the safety during an overtaking maneuver of a vehicle, in particular a road vehicle, the ^¬ sen vehicle speed with an ACC system of the vehicle is controlled, essentially two steps Sl, S2.

In a first step Sl is a potential Überholsitu ^¬ ation in which the vehicle which is equipped with the ACC system of ^¬, will overtake at least one preceding vehicle on another vehicle lane in a passing maneuver, detected. In one possible embodiment, the potential overtake situation is detected, in particular, when the current driving speed of the vehicle and the driving speed of the vehicle in front are below -Il ^¬ the set cruising speed V _set the ACC system.

In a further step S2, upon detection of a potential overtaking situation, a reaction of the ACC system takes place. Here, the overtaking operation is accelerated if the equipped with the ACC system, the vehicle will overtake the preceding vehicle in a permissible way, whereas the overtaking operation is prevented if the out with the ACC system ^¬ equipped vehicle threatens the preceding vehicle in Unzu ^¬ permeable Way, especially on the right, to overtake. The About ^¬ fetch is preferably prevented if the vehicle threatens to overtake at least one vehicle ahead in Unzu ^¬ permeable form in violation of traffic regulations of the respective country, in particular the right by the momen ^¬ tane traveling speed of the vehicle to the Fahrgeschwin ^¬ speed of vehicle ahead and then maintained for an adjustable holding period.

In one possible embodiment, the driving speed of the at least one preceding vehicle is detected by a sensor unit of the ACC system of the vehicle. In one possible embodiment, the sensor unit is formed by a radar sensor having a relatively low field of view opening angle. In a possible exporting ^¬ approximate shape of the inventive method it is Haltedau ^¬ extended if further sensor unit of the Fahrzeu ^¬ ges detects another vehicle in the vicinity of the own vehicle with a relatively large viewing area opening angle. In a possible ^embodiment, this further sensor unit comprises a vehicle ^camera , further radar sensors and / or lidar sensors. In one possible embodiment, the overtaking process is prevented in step S2, if the vehicle equipped with the ACC system threatens, several vehicles in front of a vehicle group or driving column on a left lane, such as the left lane of a highway, on a right To overtake lanes by aligning the instantaneous travel speed of the vehicle equipped with the ACC system with a minimum or average speed of the at least one preceding vehicle of the vehicle group located in a viewing area of the sensor unit of the ACC system and by the sensor unit of the ACC system.

In a further possible embodiment of the method according to the invention, the overtaking process is accelerated in step S2, if the vehicle is driving on a left lane, for example on the left lane of a highway, and a vehicle ahead on a right lane is detected, which threatens to scissors on the left lane. This is for example realized if the vo ^¬ out-propelled vehicle is a located in front immobility ^¬ mystery object, such as a construction site, or as ^¬ approaching front located moving slower object, such as a slow-moving truck, or is likely to. In one possible embodiment, in this situation, a remaining overtaking time for the ACC-equipped vehicle traveling on the left-hand lane of the highway is calculated to overtake the preceding vehicle if the vehicle ahead on the right-hand lane moves For example, if there is a gap between two trucks, there is a risk of cutting into the left-hand lane, thus making it possible for the two vehicles to collide. In one possible embodiment, the remaining overtaking time for the vehicle equipped with the ACC system on the left lane driving vehicle depending on the current driving speed of the equipped with the ACC system ^¬ vehicle, the driving speed of the vehicle ahead in the right lane vehicle and an approaching speed at which the vehicle ahead on the right lane approaches an immovable or moving object in front of it. In one possible embodiment, the set cruising speed V _set of the ACC system and / or other Re ^¬ gel parameters calculated in dependence on the remaining Überholzeit is changed such that the overtaking operation is si ^¬ cher performed. In one possible embodiment, the overtaking process is only performed if the driver of the vehicle equipped with the ACC system releases the passing of the overtaking process by an input to his ACC system and / or no speed limit or speed limit is exceeded in the overtaking.

Figures 2, 3, 4 show various exemplary About ^¬ holsituationen, can be used in which the inventive method advantageous for increasing security in an overtaking maneuver.

In Figure 2, moves in with the inventive system ACC equipped vehicle 1 on a two-lane road ^¬ SSE, in particular a motorway with a left Fahrstrei ^¬ fen L and a right lane R. The equipped with the ACC system vehicle 1 moves in the example presented Darge ^¬ with a driving speed V on the right traffic lane R. The traffic situation shown in Figure 2, for example, arises when the vehicle 1 is originally on a left lane L of the highway moves and performs a lane change from the rear approaching vehicle 2 on the same lane to the right to the rear coming fast vehicle 2 on the left lane L to pass. This happens in many cases, especially when equipped with the ACC system vehicle 1 behind a relatively slow vehicle 3 travels behind and this can not overtake. In this traffic ^situation the driving speed V of the vehicle evading to the right is lower than the cruising speed V _se set in its ACC system. The ACC system of the vehicle 1 recognizes a potential overtaking situation after the lane change on the right lane R. the vehicle 1 will overtake at least one vehicle 2 traveling ahead on another lane, namely the left lane L, in an overtaking operation. This is recognized, for example, if the current current driving speed V of the vehicle 1, the driving speed of the preceding vehicle 3 are below the set cruising speed V _{set of} the ACC system of the vehicle 1. In this case, the vehicle 1 threatens the preceding vehicle 3 in an inadmissible way, namely to overtake on the right. If in this situation, the left forward vehicle 3 also to the right lane R wech ^¬ puzzled about the coming from behind, particularly fast vehicle 2 also her pass, it can in this situation a collision between the vehicle 3 and the right passing vehicle 1 come and possibly to a Auffahrun ^¬ case in which the coming from behind vehicle 2 rams the slow on the left lane L preceding vehicle 3 from behind. Therefore, in the method according to the invention to increase the safety in this case in step S2 prevents the overtaking when the equipped with the ACC system vehicle 1 threatens to overtake the preceding vehicle 3 in an undue right. The prevention of the overtaking is preferably carried out automatically by the ACC system of the vehicle 1. The ACC system of the Fahrzeu ^¬ ges 1 prevents this case preferably the illegal overtaking ^¬ operation by the current running speed V of driving ^¬ tool 1 at the traveling speed of the preceding vehicle Fahr ^¬ tool 3 adapted and then for an adjustable Haltedau ^¬ he maintained, for example, a few seconds. In this way, it is prevented that the vehicle 1 the preceding ^¬ vehicle 3 overtaken on the right lane R respectively happens, so that the preceding vehicle 3 has suffi ^¬ accordingly space to also perform a lane change to the right lane R. In this case, the fast vehicle coming from behind can overtake both vehicles 1, 3 on the left lane L safely. In one possible embodiment, the vehicle 1 is equipped with an ACC system which has a sensor unit which detects the vehicle speed V of a vehicle driving ahead ^¬ . In one possible embodiment, this sensor unit can be formed by a radar sensor having a relatively low field of view opening angle. This field of view of the radar sensor of the vehicle equipped with the ACC system ^¬ vehicle 1 is shown schematically in Figure 2. In a preferred embodiment, the ACC system of the vehicle 1 has a further sensor unit, the viewing area SB2 has a relatively large Sichtbereich- opening angle. This further sensor unit may be, for example, a vehicle camera, further radar sensors and / or lidar sensors. In the embodiment shown in FIG. 2, the ACC has System of the vehicle 1 via two sensor units, namely a first sensor unit whose viewing area SB1 has a relatively low viewing area opening angle and a second sensor unit whose viewing area SB2 has a relatively large viewing area opening angle. In a preferred embodiment of the method according to the invention is a holding period H, at which the vehicle 1 is a retains the Fahrge ^¬ speed of the preceding vehicle 3 equalized driving speed, extended if the second sensor unit of the vehicle with the relatively large Sichtbe ^¬ rich opening angle SB2 a another vehicle, in particular the on the left lane L laterally preceding vehicle 3, detected in the vicinity of the vehicle 1. The behavior of the ACC system by the adapted Ge ^¬ speed is maintained by an adjustable holding time H before the ACC system accelerates the vehicle 1 is improved. In ^¬ example, the adjusted lowered Fahrgeschwindig ^¬ speed for a period of, for example, ten seconds is maintained before the ACC system of the vehicle 1 accelerates again to the set cruising speed V _set . If the preceding vehicle 3 accelerates sufficiently, it falls back into the field of view of the ACC sensor system of the ACC system, and control can be performed on the object recognized on the left lane L. Further, be ^¬ is in a preferred embodiment of the ACC system by a further sensor unit with a wide Sichtbe ^¬ rich SB2 the possibility of the hold time ^¬ manoeuvrable to extend as long as not H. For example, in the vehicle 1, a mono or stereo camera may be provided, the Ge ^¬ speed of the vehicle V is maintained as long and no acceleration on the cruising speed V _set he follows ^¬ as the camera of the vehicle 1, a preceding vehicle 3 outside the narrow field of view SB1 of the darsensors of the ACC system 1 on the left lane L detected. In this case, therefore, no control is performed on the object with insufficient speed information, but acceleration to the set cruise speed V _{set is} prevented. Since, in most cases, the vehicle does not decelerate on the left lane L, a right overtaking operation is surely prevented.

FIG. 3 shows a further traffic situation in which the method according to the invention is used. The vehicle 1 has an ACC system with a sensor unit, comprising the egg ^¬ NEN relatively narrow field of view SB1, as shown in FIG. 3 In the traffic situation shown, the vehicle 1, which is equipped with the ACC system moves on the right lane R a two-lane road, especially a highway, with a speed V. In the traffic situation shown in Figure 3, the traffic density is particularly on the left lane L of the highway relatively large. On the left lane L several vehicles move 5 in a column, while on the right lane R in front of the vehicle 1 at a considerable distance a slower vehicle, such as a truck 4, vo ^¬ rausfährt. In this traffic situation, the driver of the vehicle 1 moves his vehicle in the right lane R in order not to stress his concentration, whereby typically the driving speed of the vehicles 5-1, 5-2, 5-3, traveling on the left lane L, 5-4, 5-5 is only slightly greater than the speed V of the vehicle equipped with the ACC system 1. As can be seen in Figure 3, some of the vehicles 5-i on the left lane L are not in the field of vision SB1 the sensor unit of the ACC system of the vehicle 1, whereas others further vehicles in front are located in the viewing area SB1 of the sensor unit of the ACC system. As can be seen in FIG. 3, directly adjacent vehicles 5-1, 5-2 on the left lane L are not in the detection range of the ACC sensor system because they travel for a longer period almost parallel to the vehicle 1 on the highway , Therefore, in this traffic situation, the speed specification can also be derived from vehicles traveling further ahead, located in the field of vision SB1 of the ACC sensor system, for example vehicles 5-4, 5-5. In one possible embodiment, vehicles are selected or selected in a medium distance range, for example from a distance El to a distance E2, which are in the field of view SB1 of the ACC sensor system. In one possible ^embodiment , a minimum travel speed of all vehicles of the selected vehicle group that lie between the distance E1 and the distance E2 is detected and used as the control default for the ACC system. In contrast to a conventional ACC control, filtering of the speed signal can preferably be used to increase the comfort of the ACC system. In an alterna tive embodiment ^¬ a simple or weighted average, the traveling speeds of the vehicle group, at ^¬ play of the vehicles 5-3, 5-4, are calculated for the speed ^¬ handicap of the ACC system. Also in the embodiment shown in Fi gure 3 ^¬ a traffic situation overtake using typical features can be detected. In the traffic situation shown in Figure 3 are relatively many vehicles with a small distance on the left lane L, while on the right lane R, on which also the vehicle 1 drives, in the sensor sight area SB1 are little or no vehicles, or how For example, the vehicle 4 ahead with a relatively large distance. In this situation, if the traveling speed V _set of the ACC system 1 is set higher than the speed of the preceding vehicle on the left lane L vehicle or vehicle group column, a potential Überholsi ^¬ situation is detected.

In all traffic situations, in which a lane is to the left of the vehicle 1 and the vehicle 1 with high set travel speed V _set to a vo ^¬ out vehicle traveling moved, may lead to the situation that the driver of the of the ACC system Vehicle 1 is braked to some extent before he can perform a lane change on the left lane L for a passing operation. Drives for example, in traffic ^¬ situation according to Figure 3 the vehicle 1 to the traveling ahead truck 4, which also moves to the right lane R, on, it may happen in a conventional ACC system that this will slow the driver before a Change the lane to the left. In a mög ^¬ handy embodiment may be facilitated with the ACC system of the vehicle 1 the driver of the vehicle 1, the interaction by the driver receives an indication of a time for a comfortable lane change to the left lane L of the ACC system. For example, the driver can five seconds before the ACC control the speed of the vehicle 1 due to the preceding vehicle 4 redu ^¬ sheet, he keep an indication of the ACC system of the vehicle 1 ^¬ so that it still a comfortable lane change to the left lane L can perform. For example, the driver of the vehicle 1 receives from his ACC system a subtle visual indication for making the lane change, for example ^¬ by a lamp in the instrument cluster or in the HUD lights up. FIG. 4 schematically shows a further traffic situation in which the method according to the invention can be advantageously used. In the traffic situation illustrated in FIG. 4, a vehicle 1 equipped with an ACC system moves on a left lane L of a two-lane road, in particular a motorway. A preceding vehicle 7, which moves at a lower driving speed, deviates from the vehicle 1 by a lane change to the right lane R, wherein the preceding vehicle 7 in a gap LÜ between two relatively slow vehicles, such as a gap between two trucks. 5 , 6, sets. If the gap LÜ between the two trucks 5, 6 re ^¬ relatively small, there is a risk that the preceding vehicle 7 again einschert on the left lane L, in particular ^¬ special, if the driver of the vehicle in front 7 does not notice the following vehicle 1. Depending on the size of the gap LÜ, in one possible embodiment of the method according to the invention, the passing process of the vehicle 1 can be automatically accelerated if the vehicle 1 travels on a left lane L and a vehicle 7 driving ahead on the right lane R is recognized, wel ^¬ ches threatens on the left lane L at a given time, in particular by approaching a front befind ^¬ pending object, such as the truck 6, the left traveling ^¬ strip einzuscheren L. For example, it is recognized that the preceding vehicle on the right lane R vehicle 7 threatens einzuscheren on the left lane L if the preceding vehicle 7 is a in front of it non ^¬ moveable object, such as a construction site, or in front of it moving slower object, such as the truck 6 shown in Figure 4, actually or probably approaches. In a possible embodiment is in this case preferably calculated even for the vehicle 1 ver ^¬ permanent Überholzeit to overtake the preceding vehicle 7, if the preceding vehicle on the right Fahrstrei ^¬ fen R 7 vehicle approaches an object in front of it. In one possible embodiment, the remaining Überholzeit is a calculation unit of the ACC system of the vehicle 1 in response to the mo ^¬ mentanen running speed V of the vehicle 1, the Fahrge ^¬ speed of the preceding vehicle on the right lane vehicle 7 and an approach speed calculation ^¬ net with which the vehicle is traveling ahead on the right lane R to the object 7 located in front, in ^¬ play a truck 6 approaches. The set Reisege ^¬ speed V _{set of} the vehicle 1 or other control parameters of the ACC system of the vehicle 1 are then changed depending on the calculated remaining overtaking time such that the overtaking can be completed safely. Preferably, the overtaking operation, in which the vehicle 1, the preceding vehicle 7 on the left lane L ^¬ overtaken L, performed only if the driver of the vehicle 1, the performing of this overtaking by an input to the ACC system of the vehicle 1 releases and / or no speed limit or speed limit of the highway is exceeded in the overtaking.

The overtaking situation shown in Figure 4 can be detected by the ACC system of the vehicle 1, when the range of the ACC sensor is sufficient to measure the gap LÜ on the right lane R. In this case, it can be directly recognized that a possible overtaking situation with limited overtaking time is available. The traffic situation shown in Figure 4 typically occurs at a rather low traffic volume, which is in larger Distances on the right lane R are slowly moving trucks, which are spaced by gaps. It may happen that a front truck is not yet in the sensor range of the ACC sensor system of the vehicle 1 and the preceding vehicle 7 einschert on the left Fahr ^¬ lane L. However, in one possible embodiment, a similar traffic situation can be deduced from the history of the trucks passing on the right-hand lane R. For this purpose, using the known Relativge ^¬ speeds, the airspeed and by means of time ^¬ measurement on the average distance between different trucks on the right lane closed or calculated this distance. In this case, if a regular occurrence of trucks on the right lane R is detected, can be concluded after a Ausscheren the preceding vehicle 7 behind a truck 5 on a potential overtake situation with limited overtaking, even if the further preceding truck 6 is not yet in the field of vision SB the ACC sensor of the vehicle 1 is located. Furthermore, it is mög ^¬ Lich that of a Ausschervorgang of the preceding vehicle 7 immediately prior to the truck 5, ie, can be closed by a small distance that an overtake situation exists, which allows an overtaking limited Überholzeit. If a passing situation with limited overtaking time has been recognized, for example the overtaking situation shown in FIG. 4, the time required for the overtaking process is preferably minimized in the range of permissible limit values. In one possible embodiment, a maximum allowable acceleration with kickdown is made. Furthermore, by switching the controller parameters of the ACC system a dynamic control tuning can be made, which also allows a slight speed overshoot. It is possible that the difference in driving speed to the set in the ACC system travel speed V _set is not sufficient to ERS the overtaking within the still available Überholzeit time close ^¬. In this case, the set cruising speed V _set is not reached over ^¬ to accelerate the overtaking and then fall back on the cruise speed V _set in a possible embodiment. For this purpose, the ACC system may include a velocity tolerance on the set travel speed V _se t _/ where exceeding the cruising speed Ma ^¬ SSE the speed tolerance is permitted, for example, +10 km / h at an overtaking limited Überholzeit. This tolerance value can be predetermined in a possible embodiment itself. In an alternative embodiment, the speed tolerance value may be configurable using a user interface. Furthermore, it is possible that the speed ^tolerance value is implicitly selected in a further possible ^embodiment from the dynamics of the ACC system, eg the target time gap. In order to prevent an admissible or desired maximum speed V _max from being exceeded, the function provided by the method according to the invention can be temporarily deactivated when the speed limit is detected and can only be reactivated once a speed limit or speed limit has been removed. A mr ^¬ Schende on the road speed limit or speed limit can be detected for example by means of a camera of the vehicle 1 or ^¬ means of the navigation system.

In another possible embodiment, the overtaking operation is performed only if the driver of the driving tool 1, the implementation of the overtaking process by an input to the ACC system of the vehicle 1 releases. In the embodiment ^¬ ser confirmation for carrying out the overtaking maneuver on the part of the ACC system is required to ^¬ by the driver. For this purpose, the driver can be given a visual, visual or acoustic indication of the existing detected over ^¬ holsituation. Reacts the driver of the vehicle 1, then by giving, for example, an acceleration command ^¬ "Accelerate" or "Resume", the Überholvor ^¬ gear is started without changing the travel speed setting. In an alternative embodiment, the driver of the vehicle 1 can confirm the passing operation by operating the accelerator pedal. In both cases the release of overtaking can be active without reference to a particular time ^¬ space after detecting the overtaking situation. If it is detected based on the speed of the preceding vehicle 7, the length of the gap LÜ, the maximum acceleration and velocity of the vehicle 1, that a overhauls ^¬ len of the vehicle 7, provided that this be in the gap LÜ ^¬ place is not possible, overtaking is prevented or aborted.

With the method according to the invention and the system according to the invention, the safety in a passing process of a vehicle in different overtaking situations is significantly increased. In addition, the invention procedural ^¬ ren and the inventive device provides a more comfortable control and easy operation for the driver. In addition, the functionality of a conventional ACC system is extended by the inventive method to further driving situations, in particular overtaking situations, whereby driver interventions are minimized. In particular, the ^avoidance of right-overtaking operations in the case of a highly automated based driving relevant. In the method according to the invention, the traffic situation on a neighboring lane is taken into account for deriving a speed specification for the ACC system. The inventive method provides an improvement of the overtaking behavior of the vehicle, which is equipped with the ACC system, by an extended situation analysis of the traffic situation. The inventive apparatus for increasing the safety during an overtaking maneuver of a vehicle whose traveling speed is controlled by an ACC system may be integrated in a driver assistance system ^¬.

The method according to the invention will be explained in connection with exemplary traffic situations, as illustrated in FIGS. 2, 3, 4. The invention Ver ^¬ drive is also suitable for a variety of other traffic situations, in particular of potential overtaking situations, on one or more lanes. Furthermore, the method according to the invention is also suitable, for example, for country roads with a lane in each direction. In this embodiment, the approaching ^speeds of vehicles approaching in the fast lane are also preferably taken into account. The overtaking operation is accelerated with the invention ^shown SEN method, if the equipped with the ACC system vehicle can pass a vehicle traveling ahead in zuläs ^¬ siger manner without risk of collision with the oncoming vehicle. In contrast, the overtaking operation is prevented if the vehicle threatens to overtake the preceding vehicle in unzulässi ^¬ ger se, for example when a collision threatens due to the oncoming vehicle lane on the left with the inventive method. Other potentially critical overtaking situations are possible. For example, in one possible embodiment, potentially critical overtaking situations can also be detected if a so-called ghost driver meets the vehicle 1 equipped with the ACC system 1 on a motorway on the left-hand lane L. In another possible embodiment of the method according to the invention is differentiated between different types of roads, namely, for example, whether it is a two-lane highway or a four-lane highway. Further ^¬ potential overtaking situations can be detected over a different number of lanes in each direction, for example, in a six-lane highway having three lanes in each direction. In this case, different overtaking situations can be taken into account, depending on whether the vehicle is on the left, middle or right lane of the three-lane highway in the direction of travel. Complex driving situations or overtaking situations can be detected by means of one or more ACC sensor units with different viewing areas SB and viewing opening angles. In one possible embodiment, the ACC system not only has sensor units with a forward-looking field of view SB, but also sensor units with a rearward viewing area SB to recognize from the rear fast approaching vehicles that are critical to a traffic ^¬ or Can lead to overtaking. In a preferred embodiment, the ACC system of the vehicle 1 has a plurality of ACC sensor units with different viewing ranges SBi and viewing angles ± both forward and backward to detect complex overtaking situations and, in response to the detected complex overtaking situation, either overtaking to accelerate or reduce prevent or delay. In a further preferred embodiment, the ACC system with its sensors can also recognize how many lanes are available on the road, for example, two lanes as in Figures 2, 3, 4 or three lanes of a total of six-lane highway with three Lanes in each direction. In addition, the ACC system according to the invention can recognize on the basis of sensorily recognized lane markings, in particular lanes, on which lane the vehicle is currently located. Thus, it can be detected by means of the ACC sensor system on which lanes, for example, a slowing vehicle ahead is located and on wel ^¬ chem lanes approaching from behind a fast vehicle approaches. In a preferred embodiment with- the aid of the inventive method and the erfindungsge ^¬ MAESSEN ACC system a complex situation analysis of overtaking ^¬ situation on the basis of the detected lane and the traveling ahead on the various lanes and succeeding vehicles and their absolute speeds and relative speed to the own Vehicle 1 performed in real time. Based on the performed in real time situation analysis, which is preferably carried out by a Datenverarbei ^¬ processing unit of the ACC system, an acceleration operation of the own vehicle by changing of control parameters is then either accelerated or delayed or prevented.

A further possible traffic situation, in which the method according to the invention can be used to increase safety, exists according to FIG. 5, when a vehicle 1 equipped with an ACC system is on a left lane L of the motorway ahead of a vehicle 8 traveling ahead on the right lane approaches, only slightly slower drives as the equipped with the ACC system vehicle 1. If the relative speed between the two vehicles 1, 8 relatively low, takes the overtaking operation for overtaking the driving on the right lane R vehicle 8 by the equipped with the ACC system vehicle 1 relative Long. If, in this situation, the almost equally fast vehicle 8 traveling ahead on the right-hand lane R approaches a relatively slow-moving truck 9 located in front of it, it can be forced to brake sharply because of the overtaking process. The reason for this is that the preceding vehicle 8 approaching the truck 9 can no longer make a lane change to the left because the distance between the slowly overtaking vehicle equipped with the ACC system and the vehicle traveling on the right lane R is too close has become low. With the inventive method, this potential overtake is detected, in particular at the Ge ^¬ speed of the preceding vehicle in the right lane R slow trucks 9, the speed of the right lane R approaching behind the vehicle 8 and of distance between the truck 9 and the behind it approaching vehicle 8. After detecting such a traffic situation in the inventive method depending on the vehicle position of equipped with the ACC system on the left lane driving vehicle 1 and the position of the right lane R only slightly slower preceding vehicle 8, the Acceleration of the equipped with the ACC system vehicle 1 suspended or slowed down. In one possible embodiment, other signals are evaluated in addition to the speed information, beispielswei ^¬ se optical traffic signals, in particular brake and Blink ^¬ signals. In the described embodiment is therefore the equipped with the ACC system, the vehicle 1 with respect to egg ^¬ nem preceding vehicle 8 behaves more considerate and allows him, notably a lane change to the left lane L to overtake the significantly slower-moving truck 9. This increases the fluidity of the traffic and provides a more intuitive behavior of the equipped with the ACC system ^¬ vehicle 1. If the right-ahead vehicle 8 also has an ACC system, after recognizing this specific traffic situation according to Figure 5 optionally additionally own overtaking of the vehicle 8 to overtake the Trucks 9 accelerates. In this embodiment, the vehicle 1 prevents its overtaking operation relative to the vehicle 8 and at the same time the overtaking of the vehicle 8 is accelerated or abbreviated relative to the preceding truck 9.

In one possible embodiment, the two ACC systems of the vehicle 1 and the vehicle 8 cooperate in order to optimize the traffic flow. This communication can be done via a back-end system or directly via a wireless interface between the two vehicles 1, 8. If the truck also has an inventive ACC system, in one possible embodiment, the ACC systems of the vehicle 1, the vehicle. 8 and the truck 9 communicate with each other and on the basis of a predetermined optimization criterion the traffic or driving flow of all affected vehicles, especially the vehicles 1, 8, 9, optimize. This co-operative interaction of the ACC systems not only improves traffic flow but also increases safety for all road users. Further embodiments are possible. For example, the detected traffic situation or overtaking situation also vehicles of different types and / or priority berücksichti ^¬ gen. For example, the vehicle 1 may be a in use be ^¬ findlicher ambulance and / or a police car. In one possibility, a high priority of such a vehicle on the basis of a transmitted signal, ^{beispielswei ¬} se a switched off blue light in the setting of the acceleration and / or deceleration process of equipped with ACC systems other vehicles detected and in the control or regulation of the engine and / or considered by the brake system. Also a particularly rücksichtsvol ^¬ les behavior of a vehicle equipped with the ACC system vehicle against such a rescue and / or police car can be reached by the inventive method. For example, it can be achieved that a patient transport ^trolley with high priority is prevented from unnecessary braking and acceleration processes so as to ensure the safety and / or health of the person transported therein.

Claims

1. A method for increasing the safety during an overtaking maneuver of a vehicle (1), the vehicle speed (V) is controlled with an ACC system, with the crotch ^¬ th:

(a) recognizing (Sl) a potential overtaking situation in which the vehicle (1) will overtake at least one vehicle (3; 5; 7; 8) ahead of a lane in an overtaking operation;

(b) accelerating (S2) the own overtaking process,

if the vehicle (1) is the preceding vehicle

(3; 5; 7; 8) is overtaken in a permissible manner, and preventing the own overtaking, if the vehicle (1) threatens to overtake the preceding vehicle (3; 5; 7; 8) in an inadmissible manner or to overtake of the preceding vehicle

(3; 5; 7; 8).

2. The method according to claim 1,

wherein a potential overtaking situation is detected, if the current driving speed (V) of the Fahrzeu ^¬ ges (1) and the driving speed of the preceding vehicle below the set cruising speed (V _se t) of the ACC system of the vehicle (1).

3. The method according to claim 1 or 2,

wherein the overtaking of the vehicle (1) is prevented if the vehicle (1) threatens to overtake the at least one preceding vehicle (3; 5) to the right in an inadmissible manner, by the current Fahrgeschwindig ^¬ speed of the vehicle (1) to the vehicle speed of preceding vehicle (3; 5) and then maintained for an adjustable holding period.

4. The method according to any one of the preceding claims 1 to 3, wherein the travel speed of the at least one vo ^¬ outgoing vehicle (3; 5; 7; 8) by a sensor unit of the ACC system of the vehicle (1) is detected.

5. The method according to claim 4,

wherein the sensor unit of the ACC system of the vehicle (1) is formed by a radar sensor having a relatively low field of view opening angle.

6. The method according to any one of the preceding claims 3 to 5, wherein the holding period is extended, if a further sensor unit of the vehicle (1) with a relatively large

7. The method according to claim 6,

wherein the further sensor unit of the vehicle (1) min ^¬ least a vehicle camera, radar sensors and / or

Includes lidar sensors.

8. The method according to any one of the preceding claims 1 to 7, wherein the overtaking is prevented, if the driving ^¬ convincing (1) threatens, several vehicles ahead (5) ei ^¬ ner group of vehicles that drive on a left lane (L) on to overtake a right-hand lane (R) by matching the instantaneous vehicle speed (1) to the minimum or average speed of the at least one preceding vehicle (5) of the group of vehicles rich sensor unit of the ACC system of the vehicle (1) and is detected by the sensor unit of the ACC system.

9. The method according to any one of the preceding claims 1 to 8, wherein the passing of the vehicle (1) is accelerated if the vehicle (1) on a left Fahrstrei ^¬ fen (L) and a driving on a right lane (R) vehicle ahead (7) which threatens to be scored on the left lane (L).

10. The method according to claim 9,

wherein it is recognized that the vehicle (7) ahead on the right-hand lane (R) threatens to engage the left lane (L) if the preceding vehicle (7) is located in front of a stationary object or in front of a movable slower object (3). 6), in particular a truck, actually or probably approximates.

11. The method according to claim 9 or 10,

wherein a remaining overtaking time of the vehicle (1) for overtaking a preceding vehicle is calculated if a vehicle (7) traveling ahead on a right lane (R) is detected, which threatens to engage the left lane (L).

12. The method according to claim 11,

wherein the remaining overtaking time of the vehicle (1) in dependence on the instantaneous Fahrgeschwindig ^¬ speed of the on the left lane (L) moving vehicle (1), the driving speed of the on the right lane (R) preceding vehicle (7) and a The speed at which the (R) preceding vehicle in the right lane (7) ei ^¬ nem forward object (6) approaches, is calculated.

13. The method according to claim 12,

wherein the set cruising speed V _set and / or other control parameters of the ACC system of the vehicle (1) and / or other ACC systems of other vehicles depending on the calculated remaining overtaking time is changed such that a separate overtaking operation is performed safely or by one Allow overtaking of a preceding vehicle.

14. The method according to claim 13,

wherein the passing of the vehicle (1) is only durchge ^¬ leads, if the driver releases the overtaking ^¬ process by an input to the ACC system of Fahr ^¬ tool (1) and / or no allowable Höchstge ^¬ speed in the overtaking process is exceeded.

15. The method according to any one of the preceding claims 1 to 14,

wherein the overtaking of the vehicle (1) is prevented or delayed if the preceding vehicle

(8) in turn requires additional overtaking time to an object located in front of the preceding vehicle (8)

(9), especially vehicle, to overtake safely.

16. A device for increasing the safety in an overtaking process of a vehicle (1), the Fahrgeschwindig ^¬ speed is controlled by an ACC system, comprising: a recognition unit that a potential Überholsi ^¬ situation in which the vehicle (1) at least one traveling ahead on ei ^¬ nem lane vehicle (3; 5; 7; 8) will pass in a passing maneuver, recognizes

wherein the overtaking operation is accelerated if the vehicle (1) overtakes the preceding vehicle (3; 5; 7; 8) in a permissible manner, and wherein the overtaking ^¬ process is prevented if the vehicle (1) threatens the preceding vehicle (3; 5; 7; 8) to overtake in an inadmissible way.