CN104325977A - Adapting adjusted travelling speed of motor vehicle under condition that object identification waiting time is increased - Google Patents

Adapting adjusted travelling speed of motor vehicle under condition that object identification waiting time is increased Download PDF

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Publication number
CN104325977A
CN104325977A CN201410337711.8A CN201410337711A CN104325977A CN 104325977 A CN104325977 A CN 104325977A CN 201410337711 A CN201410337711 A CN 201410337711A CN 104325977 A CN104325977 A CN 104325977A
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Prior art keywords
wait time
object identification
moving velocity
identification process
increase
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Granted
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CN201410337711.8A
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CN104325977B (en
Inventor
D·西默马赫
M·法里德
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Bayerische Motoren Werke AG
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Bayerische Motoren Werke AG
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    • 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, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/06—Automatic manoeuvring for parking
    • 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, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/14—Adaptive cruise control
    • B60W30/143—Speed control
    • 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, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/14—Adaptive cruise control
    • 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
    • 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
    • B60W2554/00—Input parameters relating to objects
    • 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
    • B60W2720/00—Output or target parameters relating to overall vehicle dynamics
    • B60W2720/10—Longitudinal speed

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  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Traffic Control Systems (AREA)

Abstract

A first aspect of the inveiton relates to a method for adapting the travelling speed, adjusted through a driver assistance system, of a motor vehicle. The vehicle motor is provided with an supersonic wave sensing system used for object identification of objects outside a vehicle, the driver assistance system preferably relates toa parking assistance system having automatic horizontal and lengthwise guiding functions, and object identification of objects in a supersonic wave sensing system detection scope is performed in a potential-supersonic-wave-interference-source-relevant manner in such a way that waiting time is delayed. According to the method, increase of objection identification waiting time is ascertained, and driving speed is enabled to adapt to the waiting time.

Description

The modulated moving velocity of adaptive self-propelled vehicle when object identification wait time increases
Technical field
The present invention relates to a kind of method and the corresponding driver assistance system of one of the moving velocity regulated by driver assistance system for adaptive self-propelled vehicle.
Background technology
Driver assistance system preferably relates to the parking assisting system with automatic horizontal and vertical guiding.
In the parking assisting system with automatic laterally steering, vehicle on the berth enter turning to by this System Take during process.Chaufeur itself must bear longitudinally guiding by corresponding oil supply and braking.In the parking assisting system with automatic horizontal and vertical guiding, the task of longitudinally guiding is also born by parking assisting system.Have in the parking assisting system of automatic horizontal and vertical guiding this, chaufeur can make vehicle automatically moor into and selectively moor out by manipulation operations element usually.
In order to longitudinally guiding, this parking assisting system has speed regulator usually for being adjusted to by motor vehicle speed by the predetermined specified speed of parking assisting system.
In order to carry out Context awareness, this parking assisting system with horizontal and vertical guiding has ultrasonic sensing system usually.At this, usually be not only provided with multiple ultrasonic transduter at headstock (such as on the bumper/spoiler in front) but also at the tailstock (on the bumper/spoiler as self-propelled vehicle rear), such as, be respectively arranged with the identical ultrasonic transduter of 4 or 5 structures at headstock and the tailstock.
Determine the distance with object in order to detecting object, manipulation ultrasonic transduter sends ultrasonic signal and then analyzes the ultrasonic echo received subsequently.
The object detected by the ultrasonic echo received only also just is being assessed as through confirmation confidence level (plausibilisieren) object identified usually.Confidence level test category in determine, the ultrasonic echo received causes the distance identified to be the object of x, or ultrasonic echo do not adopted and unidentified go out object.
In order to carry out confidence level test case be if necessary, first time detection after a while (preferably by with the identical ultrasonic transduter when first time detect) another twice confirmation (to second of object and detect for the third time) is such as carried out to the ultrasonic echo received in detect in first time, thus to reach the predetermined detection times n=3 of identical object and with this to this object confirmation confidence level.Replace detection times n=3 also can expect that regulation detection times n=4 or n=2 carrys out recognition object.
Based on the super sonic interference source of outside, the ultrasonic echo of in esse object can superpose with interference sound.Known super sonic interference source is such as the vehicle, heavy showers, the set noise that cross from the side and is especially equipped with the ultrasonic echo of vehicle of ultrasonic sensing system from other equally.When interference sound, the object once detected can not be confirmed in one or many duplicate measurements.Need the measurement test carrying out more times m (m>n) thus, to be reached for the predetermined detection times n needed for recognition object, such as, to measure test with m=n+1, n+2 or n+3 time and replace the measurement of m=n time of minimum needs under glitch-free reception condition to test.
Interference sound identifies the object of existence with may causing time delay: replace the wait time measuring test for m=n time, in order to (preferably by same ultrasonic transduter) detects object n time, may produce the wait time of increase.
Disclose a kind of method for running ultrasonic transduter by DE 10 2,010 033 209 A1, in the method, when object by same ultrasonic transduter detected altogether three times time, be then in esse object by this object identification.When three times measure test in same ultrasonic transduter due to interference echo do not reach successfully detect for three times time, then further measure test, until reach the detection of three times altogether by same ultrasonic transduter and this object can be interpreted as in esse object with this.
Can not predict until the time length identified in ultrasonic sensing system detection range of object.Increase based on the unsuccessful time delay measuring test and the wait time be associated therewith for carrying out confidence level test to the object detected can only be determined afterwards.
In the driver assistance system with moving velocity control apparatus (such as in the parking assisting system with automatic vertical and horizontal guiding), moving velocity is regulated when considering the distance with the object identified by ultrasonic sensing system in this moving velocity control apparatus, must ensure that braking enters in dead ship condition in time before object, and not collide with object.But from object enter in ultrasonic sensing system detection range play vehicle after car brakeing actual stop the parking stroke of process depend on the wait time of object identification fatefully; But waiting time may significantly increase when there is interference echo.
Summary of the invention
Task of the present invention is, there is speed regulating device and for the driver assistance system of the ultrasonic sensing system that carries out Context awareness in the improved system safety of situation that interference sound and usual thing followed object identification wait time are increased further.
This task is solved by the feature of independent claims.Favourable embodiment describes in the dependent claims.
A first aspect of the present invention relates to a kind of method of the moving velocity regulated by driver assistance system for adaptive self-propelled vehicle.Described self-propelled vehicle has the ultrasonic sensing system for carrying out object identification to the object of outside vehicle, thus can when considering the distance with the object of outside vehicle identified adaptive moving velocity.Driver assistance system preferably relates to the parking assisting system with horizontal and vertical guiding.
The object identification being positioned at the object of ultrasonic sensing system detection range is lingeringly carried out with the wait time that the super sonic interference source with potential is relevant.When there is no super sonic interference source, such as can in the measurement test altogether in succession carried out for m=n time detecting object n time and be assessed as the object identified with this; Wait time is minimum in the case.But when being disturbed by strong super sonic interference source, likely need in order to n time successfully detects to carry out measuring test for such as m=n+3 time, thus the wait time of object identification in the case significantly improves.
Require in common object recognition algorithm: n time required successful object detection must be carried out by same ultrasonic transduter, that is, so the object detected by the ultrasonic echo of ultrasonic transduter must be confirmed by the one or more additional ultrasonic echo of same ultrasonic transduter to carry out confidence level test to object.
In a measuring period, all ultrasonic transduters of ultrasonic sensing system such as launched sensor signal by manipulating in succession respectively and same ultrasonic transduter such as only by behaviour system once, thus in order to m the measurement for detecting object test need m measuring period.But also can expect, same ultrasonic transduter first time detection after in an ensuing measuring period by manipulation twice, as this is described in document DE 10 2,010 033 209 A1.
Determine the existence of the object identification wait time of increase compared with the wait time under noiseless acoustic situations.Moving velocity is made to adapt to this.
The parking stroke entered to the actual parking of vehicle after car brakeing in ultrasonic sensing system detection range from object is not only relevant with the wait time of object identification but also relevant with moving velocity.Therefore, even fully compensate the wait time of increase to the adverse effect of parking stroke at least partly by adaptive moving velocity, thus make vehicle when be about to when object collision and strong super sonic interference source with when analogously entering into dead ship condition rapidly without when super sonic interference source.
Can by reducing moving velocity in time to avoid the collision accident occurred based on postponing the obstacle in identification running lanes (Fahrschlauch) in ultrasonic sensing system.
In order to determine the existence of the object identification wait time increased, preferably the object identification process being in the past is determined to the existence of the wait time increased; So the object identification in the case for future also can to have the object identification of the delay of the wait time of increase for basis.
In order to assess the existence of the ultrasonic sensing system wait time increased in the object identification in future, the number of times of the object identification process of the wait time that what Optimization Analysis had just been pass by has (wait time relative under noiseless acoustic situations) increases.When the number of times with the object identification process of the wait time of increase in past meets or exceeds the boundary value of permission, the object identification for future also can with the object identification of potential delay for basis.
Preferably determine the number of times of object identification process, these object identification processes have been identified as the wait time with increase in (especially substantially just process) time or stroke interval of predetermined process, such as within last 15 meters of shift motion.
At this, object identification process configures usually to object.But object identification process need not cause identifying object forcibly, such as, when reaching the maximum times tested for the measurement of recognition object and this object is not assessed as the object identified, then object need not be identified forcibly.
Should point out for term " the stroke interval of process ", this term is interpreted as: when moveing backward, the stroke interval of process will not be crossed in future by crossing.
Such as in the category of object identification process, when having reached predetermined object detection frequency n and confirm confidence level to this object with this in the test of the measurement for detecting object repeatedly carried out preferably by same ultrasonic transduter, then object is evaluated as the object identified.So the number of times of object identification process can be determined within predetermined elapsed time or stroke interval, in these object identification processes, in the category of corresponding object identification process, perform the measurement test more than n time respectively.
As mentioned above, preferably in the category of object identification process, when having reached predetermined object detection frequency n and confirm confidence level with this to this object in the test of the measurement for detecting object repeatedly carried out especially by same ultrasonic transduter, then object is evaluated as the object identified.In order to determine the existence of wait time increased, being preferably one or more object identification process and analyzing the number of times m that the measurement for detecting object that performs in corresponding object identification process tests respectively; The number of times m tested in the measurement of this actual execution can be more than or equal to the detecting object frequency n of predetermined needs.Alternatively also can expect, analyze the number of times Δ=m-n of the additional measurement test performed relative to predetermined frequency n performed in corresponding object identification process.
Advantageously, in order within process, especially firm elapsed time or stroke interval, (such as in the end within 15 meters) determines the existence of the wait time increased, analyze multiple amount number, wherein, each amount number is respectively configuration increases to the wait time of the object identification procedure declaration respective objects identifying of this amount number.The amount numerical example number of times m that tests of the above-described measurement for detecting object performed in object identification process i in this way ior the number of times Δ of the above-described additional measurement test performed relative to predetermined frequency n in object identification process i i.From described amount numerical example as the number of times predetermined elapsed time or stroke interval with the object identification process of the wait time of increase discussed before can determining.
The maxim of multiple amount number can be determined.
At this, amount number preferably equals the number of times m for the measurement test of detecting object respectively such as performed in object identification process i.If be such as that the first object performs m in the category of the first object identification process in the predetermined time or stroke interval of process 1the measurement test of=6 times in order to identify this object, and is that the second object performs m in the category of the second object identification process 2the measurement test of=4 times in order to identify this object, then produces the maxim that 6 times are measured test.Replace maxim also can determine the aviation value of multiple amount number.
Can expect in category of the present invention in principle, moving velocity is made to adapt to this in such a way when determining the existing of wait time increased, namely, the actual scale that the adaptation of moving velocity is increased independent of wait time is carried out, that is, the adaptation of moving velocity is always carried out (ausfallen) with same intensity.But advantageously; determine yardstick (i.e. the scale of wait time increase or degree) for wait time increase and carry out adaptive moving velocity according to the yardstick that determined wait time increases; wherein, the adaptation of moving velocity can be carried out with varying strength according to determined yardstick.The yardstick that wait time increases this can and process, especially just elapsed time or stroke interval (as last 15 meters) relevant.The yardstick that wait time increases such as can produce by analyzing above-described amount number in elapsed time or stroke interval, especially by the number of times m measuring test ior Δ iproduce.The yardstick increased as wait time such as can use above-described multiple number of times m ior Δ imaxim or multiple number of times m ior Δ iaviation value.
According to one preferred embodiment, adaptive moving velocity in the following manner, that is, the maxim of the specified speed of the yardstick determination moving velocity control apparatus increased according to determined wait time.Therefore specified value can not exceed the specified speed maxim so determined.
Such as can determine the expected value (as 0.60m) of parking stroke and reduce maximum speed when the yardstick that wait time increases increases, although the expected value making corresponding wait time increase also can substantially ensure for the stroke that stops.
When maxim reduces because wait time increases, actual travel speed does not reduce, as long as although current driving speed does not have high to the expected value jeopardized when wait time increases for the stroke that stops.
A second aspect of the present invention relates to a kind of driver assistance system, and described driver assistance system is arranged as the regulating control had for regulating vehicle running speed.This self-propelled vehicle has the ultrasonic sensing system for carrying out object identification to the object of outside vehicle.Driver assistance system preferably relates to the parking assisting system with automatic horizontal and vertical guiding.The object identification being positioned at the object of ultrasonic sensing system detection range is lingeringly carried out with the wait time that the super sonic interference source with potential is relevant.
According to the present invention, driver assistance system set up for, determine increase object identification wait time existence and make moving velocity adapt to this.
For the above-mentioned explanation according to method of the present invention according to a first aspect of the present invention also corresponding be applicable to according to a second aspect of the present invention according to driver assistance system of the present invention.That does not describe in detail herein is corresponding to according to the advantageous embodiment described by method of the present invention according to the advantageous embodiment of driver assistance system of the present invention.
Accompanying drawing explanation
By embodiment, the present invention is described below with reference to accompanying drawing.In figure:
Fig. 1 illustrates a kind of embodiment according to the method for adaptive moving velocity of the present invention;
Fig. 2 illustrates exemplary data field, and described data field stores the value of the shift motion of the value of measurement test number for performing in the category of respective objects identifying and the storage of phase configuration; And
Fig. 3 illustrates speed adjustment loop, the specified speed of this speed adjustment loop limit by maxim.
Detailed description of the invention
Fig. 1 illustrates a kind of exemplary embodiment according to the method for adaptive moving velocity of the present invention.According to step 110, for the number of times m being respectively used to the measurement test of detection that each object identification process i will perform constantly in the category of corresponding object identification process ibe stored in data field.But at this, only store the measurement test number m be greater than for object being evaluated as the predetermined object detection frequency n of the object that identifies i.Such as predetermined frequency n equals 3, then only store the number of times m being greater than n=3 in the case i.Except corresponding number of times m ioutward, the also value of store car shift motion, this value roughly represent shift motion as upper/lower positions, perform in this position that corresponding to measure test number be m iobject identification process i.
Measure the number of times m of test ithe measurement test of same ultrasonic transduter is described, because require in order to recognition object in this embodiment: n detection must be carried out by same ultrasonic transduter to object.But at this, measure the different number of times m of test ithe measurement test of the different ultrasonic transduters of ultrasonic sensing system can be related to.Such as number of times m 4relate to the measurement test of first sensor and number of times m 7relate to the measurement test of the second sensor.
Exemplary data field 200 shown in Figure 2, this data field stores the value m of the number of times of the measurement test for performing in the category of corresponding object identification process i iwith the value s of the shift motion of the storage of phase configuration i.At this, in the first row 210 of data field 200, store the value m measuring test number iand storage cell is the shift motion value s of the phase configuration of rice in the second row 220 i.The row of data field configure to each object identification process i.At this, along with the shift motion s increased from left to right iwith m iand s ivalue fills in data field.Data field has the length determined that is the columns determined; In this example embodiment, data field has the length of 10 row.When having filled in last row of the rightmost side, data field when filling in data field, then in the first row of i=1, fill in next data set (Datentupel) and before this deletes, be in the value in these row.
Current vehicle is such as in the shift position place of 162 meters, and current shift position is illustrated by vertical arrows.In the example in figure 2, at shift position s 7in there is the object identification process i=7 of the wait time with increase measure test number m because have 7=5.
According to step 120, from current position s=162m through stroke interval delta s in determine the number of times a of the object identification process i of the wait time with increase.
Last 15 meters of the running section of process are such as used as stroke interval delta s.
Observed stroke interval is from current position s a=162m rise extend to through position s=s a-Δ s=162m-15m=147m.
In the example in figure 2, from current position s athe stroke interval of=162m to s=147m comprises the object identification process of the wait time altogether a=3 time with increase, namely at s 5there is during=150m the detection test number of times m increased relative to n=3 5=4, at s 6there is during=152m the detection test number of times m increased relative to n=3 6=4 and at s 7there is during=160m the detection test number of times m increased relative to n=3 7=5.
In step 130, number of times a and the threshold value a of the object identification process of the wait time of corresponding increase will be had in the stroke interval of process scompare.When number of times a is more than or equal to threshold value a stime, then adaptive moving velocity.As threshold value a swhen being set to 2, only having the object identification process when there is the wait time more than once with increase within the stroke section of the process that will observe, just being triggered travelling speed responsive by inquiry 130.The object identification process of the wait time by only once having increase is avoided just to trigger the adaptation of moving velocity thus.
Before affecting moving velocity, determine the yardstick M that wait time increases, so that the yardstick M that can increase according to wait time carrys out adaptive moving velocity.As wait time increase yardstick M (or degree) be such as used in through stroke interval in number of times m imaxim, that is M=max{m i, comprise such i value, for this i value, s iwithin the stroke interval being in the process that will observe.In the case of figure 2, at current location s a=162m place yardstick M is:
M＝max{m 5＝4；m 6＝4；m 7＝5}＝5
And when there is not the wait time of increase, then M=n=3.
In step 150, determine the specified value v of speed regulating device according to the yardstick M of wait time increase sollmaxim v max, soll.
If the ultrasonic transduter determined in a measuring period only performs unique one-shot measurement, then each measurement additional relative to minimal number of measurements n make wait time extend one measuring period time length.
If play the vehicle expected value (such as 60cm) that the actual parking range demands stopped is determined after car brakeing for entering in ultrasonic sensing system detection range from object, then when wait time increases, most probable velocity is less than the speed when wait time does not increase.
The maxim of the specified speed of the permission of moving velocity control apparatus is determined according to the yardstick M of wait time increase.But when maxim reduces because wait time increases, actual travel speed need not reduce, as long as current (regulation) moving velocity does not have the high expected value to jeopardizing when supposing wait time increase for the stroke that stops.
Such as when wait time does not increase that is M=n=3 time, the maxim v of specified speed max, sollfor v 1.When the wait time of M=4 increases (and therefore when supposing additionally to postpone a measuring period in object identification), maxim v max, sollbe defined as v 2<v 1.When the wait time of M=5 increases (and therefore when supposing additionally to postpone two measuring periods in object identification), maxim v max, sollbe defined as v 3<v 2.When the wait time of M=6 increases (and therefore when supposing additionally to postpone three measuring periods in object identification), maxim v max, sollbe defined as v 4<v 3.Maxim v max, sollthe value yardstick M that such as can increase according to wait time by look-up table determine.
Then, the maxim v of the specified speed so determined max, sollbe pre the maxim of specified speed, thus specified speed is less than or equal to this maxim.
Schematically show moving velocity regulating loop 300 in figure 3, the specified speed v of this moving velocity regulating loop sollby maxim v max, solllimited.Regulation moving velocity v sollwith actual travel speed v istbetween adjusting deviation Δ v be used as the incoming signal of regulating control R.This regulating control manipulation actuator SG, this actuator acts on again controlled plant RS.The specified speed v calculated by unshowned function block soll' and maxim v max, sollbe input to minimum value and determine block min, this minimum value determines that block is determined at specified speed v soll' and maxim v max, sollbetween minimum value.Work as v soll' be greater than v max, solltime, the signal v produced sollequal maxim v max, soll, and work as v soll' be less than or equal to v max, solltime, the signal v produced sollequal specified speed v soll'.

Claims (11)

1. the method for the moving velocity regulated by driver assistance system for adaptive self-propelled vehicle, wherein, described self-propelled vehicle has the ultrasonic sensing system for carrying out object identification to the object of outside vehicle, and the object identification of the object being positioned at ultrasonic sensing system detection range is lingeringly carried out with the wait time that the super sonic interference source with potential is relevant, comprises the steps:
-determine the existence of object identification wait time that increases; And
-the existence of the wait time of increase that moving velocity adapted to determine.
2. method according to claim 1, wherein, determine that the step of the existence of the wait time increased comprises:
-in predetermined process, especially firm elapsed time or stroke interval, determine that (120) have the number of times (a) of the object identification process of the wait time of increase respectively; And
-will there is the number of times (a) of the object identification process of the wait time of increase and threshold value (a respectively s) compare (130).
3. according to the method for one of the claims, wherein,
-in the category of object identification process, when having reached predetermined object detection frequency n in testing in the measurement being respectively used to detecting object repeatedly carried out especially by same ultrasonic transduter and having confirmed confidence level to this object with this, then object is evaluated as the object identified, and
-analyze respectively in order to the existence of the wait time determining the increase of one or more object identification process
The number of times m that-measurement for detecting object that performs in corresponding object identification process is tested, or
-perform in corresponding object identification process the additional measurement relative to predetermined frequency n test number of times m-n.
4. method according to claim 3, wherein, for process, just elapsed time or stroke interval (Δ s) analyze multiple number of times (m especially substantially i), wherein, each number of times (m i) illustrate respectively
Number of times (the m that-the measurement for detecting object that performs in an object identification process is tested i), or
-perform in an object identification process the additional measurement relative to predetermined frequency n test number of times.
5. according to the method for one of the claims, wherein, for process, just elapsed time or stroke interval (Δ s) analyze multiple amount number (m especially substantially i), and this tittle number (m i) in each amount number configure respectively to an object identification process in this elapsed time or stroke interval (Δ s) and this tittle number (m i) in each amount scold the wait time of bright respective objects identifying.
6. according to the method for claim 4 or 5, wherein, determine multiple number of times (m i) or amount number maxim.
7. according to the method for one of the claims, wherein, determine yardstick (M) for wait time increase and yardstick (M) the adaptive moving velocity increased according to determined wait time.
8. method according to claim 7, wherein, adaptive moving velocity in the following manner: the yardstick (M) increased according to determined wait time determines the maxim (v of the specified speed of the speed regulating device (300) regulating moving velocity max, soll).
9. according to the method for one of the claims, wherein, driver assistance system is the parking assisting system with automatic horizontal and vertical guiding.
10. driver assistance system, comprise the regulating control (R) for regulating vehicle running speed, wherein, this self-propelled vehicle has the ultrasonic sensing system for carrying out object identification to the object of outside vehicle, and the object identification of the object being positioned at ultrasonic sensing system detection range is lingeringly carried out with the wait time that the super sonic interference source with potential is relevant, wherein, described driver assistance system set up for:
-determine the existence of object identification wait time that increases; And
-the existence of the wait time of increase that moving velocity adapted to determine.
11. drivers assistance system according to claim 10, wherein, described driver assistance system set up for:
-determine the yardstick (M) that wait time increases and
-the yardstick (M) that increases according to determined wait time determines the maxim (v of the specified speed of moving velocity control apparatus (300) max, soll).
CN201410337711.8A 2013-07-22 2014-07-16 The modulated travel speed of motor vehicle is adapted in the case of the object identification stand-by period is increased Active CN104325977B (en)

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