CN104325977B - The modulated travel speed of motor vehicle is adapted in the case of the object identification stand-by period is increased - Google Patents
The modulated travel speed of motor vehicle is adapted in the case of the object identification stand-by period is increased Download PDFInfo
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- CN104325977B CN104325977B CN201410337711.8A CN201410337711A CN104325977B CN 104325977 B CN104325977 B CN 104325977B CN 201410337711 A CN201410337711 A CN 201410337711A CN 104325977 B CN104325977 B CN 104325977B
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Classifications
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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
Abstract
The first aspect of the present invention is related to a kind of method for being adapted to the travel speed that motor vehicle is adjusted by driver assistance system.The motor vehicle has the ultrasonic sensing system for being used for that object identification to be carried out to the object of outside vehicle.Driver assistance system is preferably directed to the parking assisting system with automatic horizontal and vertical guiding.The object identification of object in ultrasonic sensing system detection range is lingeringly carried out with the stand-by period relevant with potential ultrasonic wave interference source.According to this method, the presence of increased object identification stand-by period is determined, travel speed is adapted to this.
Description
Technical field
The present invention relates to it is a kind of be used to being adapted to the method for the travel speed that motor vehicle adjust by driver assistance system with
A kind of corresponding driver assistance system.
Background technology
Driver assistance system is preferably directed to the parking assisting system with automatic horizontal and vertical guiding.
In the parking assisting system with automatic laterally steering, vehicle it is on the berth enter process during steering by the system
Undertake.Driver itself have to undertake longitudinally guiding by corresponding oil supply and braking.Led with automatically horizontal and vertical
To parking assisting system in, the task of longitudinally guiding is also undertaken by parking assisting system.It is this have automatically laterally and
In the parking assisting system of longitudinally guiding, driver usually can be made by manipulation operations element vehicle moor automatically into and it is optional
Moor out with selecting.
For longitudinally guiding, this parking assisting system generally has speed regulator for motor vehicle speed is adjusted
To on by the predetermined fixing speed of parking assisting system.
In order to carry out Context awareness, this parking assisting system with horizontal and vertical guiding generally passes with ultrasonic wave
Sensing system.Here, generally not only in headstock (such as on bumper in front) but also in the tailstock (such as insurance at motor vehicle rear
On thick stick) multiple ultrasonic sensors are provided with, such as it is respectively arranged with 4 or 5 structure identical ultrasonic waves in headstock and the tailstock
Sensor.
For detecting object and determine to send ultrasonic signal and then with the distance of object, manipulation ultrasonic sensor
Analyze the ultrasonic echo being subsequently received.
The object detected by the ultrasonic echo received is generally only in also confirmed confidence level
(plausibilisieren) just it is assessed as the object identified.Determined in the category of confidence level test, what is received is super
Sound wave echoes cause the object that the distance that identifies is x, or ultrasonic echo be not adopted and it is unidentified go out object.
It is if necessary to carry out confidence level test case, in first time detection later (preferably by with being visited in first time
Identical ultrasonic sensor during survey) other two confirmation is for example carried out to the ultrasonic echo received in being detected in first time
(being detected to the second of object and third time), so as to reach to the predetermined detection times n=3 of identical object and right with this
The object confirms confidence level.Instead of detection times n=3 it is also contemplated that regulation detection times n=4 or n=2 identifies object.
Based on the ultrasonic wave interference source of outside, the ultrasonic echo of the object of physical presence can be superimposed with interference sound.
Vehicle that the ultrasonic wave interference source known e.g. crosses from the side, heavy showers, set noise and especially from other same dresses
Have the ultrasonic echo of the vehicle of ultrasonic sensing system.In the case of interference sound, the object once detected can not
It is confirmed in one or many duplicate measurements.Thus need to carry out m (m more times>N) measurement experiment, to be reached for
The predetermined detection times n needed for object is identified, such as replaces connecing glitch-free with m=n+1, n+2 or n+3 measurement experiment
The measurement experiment of m=n times at least needed in the case of receipts.
Interference sound identifies existing object with may causing time delay：When measuring the wait tested instead of m=n times
Between, in order to which (preferably by same ultrasonic sensor) detects object n times, it is possible to create the increased stand-by period.
A kind of method for running ultrasonic sensor is disclosed by the A1 of DE 10 2,010 033 209, in this method
In, when object has been detected altogether three times by same ultrasonic sensor, then by the object identification be physical presence thing
Body.When three times measurement experiment in from same ultrasonic sensor in terms of due to interference echo be not reaching to three times successfully spy
During survey, then carry out further measurement experiment, until by same ultrasonic sensor reach detection altogether three times and with
The object can be construed to the object of physical presence by this.
It can not predict until the duration that object is identified in ultrasonic sensing system detection range.Based on for
The object that has detected is carried out time delay that the unsuccessful measurement of confidence level test tests and with this be associated etc.
Treating the increase of time can only be determined afterwards.
In the driver assistance system with travel speed adjusting means (such as led with automatic vertical and horizontal
To parking assisting system in), considering and identified by ultrasonic sensing system in the travel speed adjusting means
Travel speed is adjusted in the case of the distance of object, it is necessary to assure braking enters in dead ship condition in time before object, without
Collided with object.But play vehicle in from object into ultrasonic sensing system detection range after vehicle braking actually to stop
The parking stroke that car is passed through is decisively determined by the stand-by period of object identification；But waiting time is disturbed back in presence
It may be dramatically increased in the case of sound.
The content of the invention
The task of the present invention is, with speed adjusting device and for carrying out the ultrasonic sensing system of Context awareness
Driver assistance system in further improve system for interference sound and usual thing followed object identification stand-by period
The security of increased situation.
The task solves by the feature according to the present invention.According to the present invention, one kind is used to be adapted to motor vehicle by driving
The method of the travel speed of the person's of sailing accessory system regulation, wherein, the motor vehicle, which has, to be used to carry out the object of outside vehicle
The ultrasonic sensing system of object identification, and the object identification for the object being pointed in ultrasonic sensing system detection range with
The stand-by period relevant with potential ultrasonic wave interference source is lingeringly carried out, and is comprised the steps：Determine increased object identification
The presence of stand-by period；And travel speed is set to adapt to the presence of the increased stand-by period of determination.In addition, according to this hair
Bright, a kind of driver assistance system includes being used for the adjuster for adjusting vehicle running speed, wherein, the motor vehicle, which has, to be used for
The ultrasonic sensing system of object identification is carried out to the object of outside vehicle, and is pointed to ultrasonic sensing system detection range
The object identification of interior object is lingeringly carried out with the stand-by period relevant with potential ultrasonic wave interference source, wherein, it is described to drive
The person's of sailing accessory system, which is set up, to be used for：Determine the presence of increased object identification stand-by period；And travel speed is set to adapt to really
The presence of fixed increased stand-by period.
The first aspect of the present invention is related to a kind of traveling speed adjusted for being adapted to motor vehicle by driver assistance system
The method of degree.The motor vehicle has the ultrasonic sensing system for being used for that object identification to be carried out to the object of outside vehicle, so as to
Travel speed can be adapted in the case where considering the distance of object of the outside vehicle with identifying.Driver assistance system is excellent
Choosing is related to the parking assisting system with horizontal and vertical guiding.
The object identification of object in ultrasonic sensing system detection range with potential ultrasonic wave interference source to have
The stand-by period of pass is lingeringly carried out.Can be at m=n times altogether in succession in the case of no ultrasonic wave interference source, such as
Detecting object n times and the object that identifies is assessed as with this in the measurement experiment of progress；Stand-by period in the case
It is minimum.But in the case of by strong ultrasonic wave interference source interference, it is possible in order to which n times successfully detects and needs to carry out for example
M=n+3 measurement experiment, so as to which the stand-by period of object identification in the case significantly improves.
Required in common object recognition algorithm：Must by same ultrasonic sensor carry out needed for n times into
The object detection of work(, that is to say, that the object detected by the ultrasonic echo of ultrasonic sensor to object in order to carry out
Confidence level is tested to be confirmed in the additional ultrasonic echo of the one or more for having to be by same ultrasonic sensor.
In a measurement period, all ultrasonic sensors of ultrasonic sensing system be for example steered in succession respectively and
Launch sensor signal and same ultrasonic sensor is for example only made once by behaviour, so as to be used for detecting object for m times
Measurement experiment need m measurement period.But it is also recognized that same ultrasonic sensor connects after being detected in first time at one
It is steered in the measurement period got off twice, as this is described in the A1 of document DE 10 2,010 033 209.
It is determined that compared with the stand-by period under noiseless acoustic situations the increased object identification stand-by period presence.Make row
Speed adaption is sailed in this.
Enter the parking of the actual parking in ultrasonic sensing system detection range to vehicle after vehicle braking from object
Stroke is not only relevant but also relevant with travel speed with the stand-by period of object identification.Therefore, can be by being adapted to travel speed
Adverse effect of the increased stand-by period to the stroke that stops at least partly even is fully compensated for, so that vehicle is will be with thing
With analogously being quickly entered in the case of without ultrasonic wave interference source in the case of body collision and strong ultrasonic wave interference source
In dead ship condition.
It is logical that the delay identification traveling in terms of ultrasonic sensing system can be avoided being based on by reducing travel speed in time
Barrier in road (Fahrschlauch) and the collision accident occurred.
In order to determine the presence of increased object identification stand-by period, preferably for being in past object identification
Journey determines the presence of increased stand-by period；The object identification then for future can also be with increase in the case
Stand-by period delay object identification according to.
In order to assess the presence of the increased ultrasonic sensing system stand-by period in the object identification in future, Optimization Analysis
It is just past that there is (relative to the stand-by period under noiseless acoustic situations) the object identification process of increased stand-by period
Number.When the number of the past object identification process with the increased stand-by period meets or exceeds the boundary value of permission,
Object identification for future can also be according to the object identification of potential delay.
It is preferred that determining the number of object identification process, these object identification processes are in the (especially basic of predetermined process
On just through) in time or stroke interval, be for example identified as that there is increase within last 15 meter of shift motion
Stand-by period.
Here, object identification process is generally allocated to object.But object identification process need not forcibly cause to identify thing
Body, for example, when reached for identify object measurement experiment maximum times and the object is not assessed as the thing identified
During body, then object need not be forcibly identified.
For term " the stroke interval of process " it is noted that the term is interpreted as：In reversing, the stroke interval of process
It has been crossed and be not crossed in future.
Such as in the category of object identification process, when in the how less preferred use carried out by same ultrasonic sensor
Predetermined object detection frequency n is reached in the measurement experiment of detecting object and confidence level is confirmed to the object with this
When, then object is evaluated as to the object identified.Then object can be determined within predetermined elapsed time or stroke interval
The number of identification process, perform and be more than in the category of corresponding object identification process respectively during these object identifications
The measurement experiment of n times.
As described above, it is preferred in the category of object identification process, when repeatedly especially by same ultrasonic wave biography
What sensor was carried out, which be used in the measurement experiment of detecting object, has reached predetermined object detection frequency n and true to the object with this
When approving reliability, then object is evaluated as to the object identified.In order to determine the presence of increased stand-by period, preferably one
Or multiple objects identification process is analyzed the measurement for detecting object performed during corresponding object identification and tested respectively
Number m；The number m of the measurement experiment actually performed herein can be more than or equal to the detecting object frequency n of predetermined needs.It is standby
Selection of land is it is also recognized that the additional survey performed relative to predetermined frequency n that analysis performs during corresponding object identification
Measure number Δ=m-n of experiment.
Advantageously, in order to process, especially just through time or stroke interval within (such as at last 15 meters
Within) presence of increased stand-by period is determined, multiple amount numbers are analyzed, wherein, each number of measuring is respectively to be allocated to the amount number
The stand-by period increase of object identification procedure declaration respective objects identification process.It is described above in object identification in this way to measure numerical example
What is performed in process i is used for the number m of the measurement experiment of detecting objectiIt is either described above in object identification process i
The number Δ of the measurement experiment performed is added relative to predetermined frequency ni.It can such as be determined from the amount numerical example discussed above
The number of the object identification process with the increased stand-by period in predetermined elapsed time or stroke interval crossed.
The maximum of multiple amount numbers can be determined.
Here, the measurement experiment for being used to separately detect object that amount number is preferably equal to for example perform during object identification
Number mi.If such as in the category of the first object identification process it is the in the predetermined time of process or stroke interval
One object performs m1The measurement of=6 times is tested to identify the object, and is in the category of the second object identification process
Second object performs m2The measurement of=4 times is tested to identify the object, then produces the maximum of 6 measurement experiments.Instead of
Maximum also can determine that the average value of multiple amount numbers.
In principle in scope of the invention it is contemplated that it is determined that the increased stand-by period presence when in such a way
Travel speed is set to adapt to this, i.e. the adaptation of travel speed is carried out independently of stand-by period increased actual scale, that is,
Say, the adaptation of travel speed is always carried out (ausfallen) with same intensity.It is advantageous that determined for stand-by period increase
Yardstick (i.e. stand-by period increased scale or degree) and according to increased yardstick of identified stand-by period come be adapted to traveling
Speed, wherein, the adaptation of travel speed can be carried out according to identified yardstick with varying strength.Stand-by period increased yardstick
Herein can with process, especially just through time or stroke interval (such as last 15 meters) it is relevant.Stand-by period increased chi
Degree can for example be produced by analyzing the amount number described above in elapsed time or stroke interval, especially be tried by measurement
The number m testediOr ΔiProduce.Multiple number m described above can be for example used as stand-by period increased yardstickiOr
ΔiMaximum or multiple number miOr ΔiAverage value.
According to a kind of preferred embodiment, travel speed is adapted in the following manner, i.e. according to the identified stand-by period
Increased yardstick determines the maximum of the fixing speed of travel speed adjusting means.What therefore setting no more than so determined
Fixing speed maximum.
Such as it can determine that desired value (such as 0.60m) for the stroke that stops and in the increase of stand-by period increased yardstick
Reduce maximal rate so that although corresponding stand-by period increase can also be essentially ensures that the desired value for the stroke that stops.
When maximum reduces due to stand-by period increase, actual travel speed does not reduce, as long as current driving speed
Although without high to the desired value still jeopardized in the case of the stand-by period is increased for the stroke that stops.
The second aspect of the present invention is related to a kind of driver assistance system, and the driver assistance system is arranged as having and used
In the adjuster of regulation vehicle running speed.The motor vehicle, which has, to be used to carry out the object of outside vehicle the super of object identification
Acoustic wave sensing system.Driver assistance system is preferably directed to the parking assisting system with automatic horizontal and vertical guiding.Position
When the object identification of the object in ultrasonic sensing system detection range is with the wait relevant with potential ultrasonic wave interference source
Between lingeringly carry out.
According to the present invention, driver assistance system, which is set up, to be used for, and determines the presence of increased object identification stand-by period simultaneously
And travel speed is set to adapt to this.
Also it is correspondingly suitable for use according to this for the described above of the method according to the present invention according to a first aspect of the present invention
The driver assistance system according to the present invention of invention second aspect.The driver according to the present invention not being described in detail here
The advantageous embodiment of accessory system is corresponding to the described advantageous embodiment of the method according to the present invention.
Brief description of the drawings
The present invention is described by embodiment below with reference to accompanying drawing.In figure：
Fig. 1 shows a kind of embodiment for being used to be adapted to the method for travel speed according to the present invention；
Fig. 2 shows exemplary data field, and the data field is stored with the category of respective objects identification process
The value of the shift motion of the storage of the value and phase configuration of the measurement test number (TN) of execution；And
Fig. 3 shows speed adjustment loop, and the fixing speed of the speed adjustment loop is limited by maximum.
Embodiment
Fig. 1 shows a kind of exemplary embodiment for being used to be adapted to the method for travel speed according to the present invention.According to step
110, constantly it is respectively used to visit by what is performed in the category of corresponding object identification process for each object identification process i
The number m of the measurement experiment of surveyiIt is stored in data field.But here, only storage is more than for object to be evaluated as into what is identified
The measurement test number (TN) m of the predetermined object detection frequency n of objecti.Such as predetermined frequency n is equal to 3, then in the case only
Number m of the storage more than n=3i.Except corresponding number miOutside, the value of vehicle shift motion is also stored, the value substantially represents to move
The following location of dynamic stroke, it is m to perform corresponding measurement test number (TN) in the opening positioniObject identification process i.
Measure the number m of experimentiIllustrate same ultrasonic sensor measurement experiment because in this embodiment in order to
Identify object and require：N detection must be carried out to object by same ultrasonic sensor.But here, measurement experiment is not
With number miThe measurement experiment of the different ultrasonic sensors of ultrasonic sensing system can be related to.Such as number m4It is related to first
The measurement experiment of sensor and number m7It is related to the measurement experiment of second sensor.
Figure 2 illustrates exemplary data field 200, the data field is stored with corresponding object identification process i
Category in perform measurement experiment number value miWith the value s of the shift motion of the storage of phase configurationi.Here, in data field
The value m of storage measurement test number (TN) in 200 the first row 210iAnd storage cell is the phase configuration of rice in the second row 220
Shift motion value si.The row of data field are allocated to each object identification process i.Here, with mobile row increased from left to right
Journey siWith miAnd siValue fills in data field.Data field has the length determined that is, the columns of determination；In this example embodiment, data field
Length with 10 row.When last row of the data field rightmost side have been filled in when filling in data field, then the of i=1
Next data set (Datentupel) and the value being in before this deletion in the row are filled in one row.
Current vehicle for instance in 162 meters of shift position at, current shift position is shown by vertical arrows.In Fig. 2
Example in, in shift position s7In the existing object identification process i=7 with the increased stand-by period because with survey
Measure test number (TN) m7=5.
According to step 120, from current position s=162m by stroke interval delta s in determine to have it is increased
The object identification process i of stand-by period number a.
As stroke interval delta s for example using last 15 meters of running section of process.
Observed stroke interval is from current position sa=162m rise extend to by position s=sa- Δ s=162m-
15m=147m.
In the example in figure 2, from current position sa=162m to s=147m stroke interval includes a=3 times altogether tool
There is the object identification process of increased stand-by period, i.e., in s5Have during=150m relative to the increased detection test numbers of n=3
m5=4, in s6Have during=152m relative to the increased detection test number m of n=36=4 and in s7There is phase during=160m
For the increased detection test number m of n=37=5.
In step 130, by the object identification process in the stroke interval of process with the corresponding increased stand-by period
Number a and threshold value asIt is compared.When number a is more than or equal to threshold value asWhen, then it is adapted to travel speed.As threshold value asIt is arranged to 2
When, only occur the object identification more than once with the increased stand-by period within the stroke section in the process to be observed
During process, travel speed is just triggered by inquiry 130 and responded.Thus avoiding passing through only once has the thing of increased stand-by period
Body identification process just triggers the adaptation of travel speed.
Before travel speed is influenceed, stand-by period increased yardstick M is determined, so as to increased according to the stand-by period
Yardstick M is adapted to travel speed.As stand-by period increased yardstick M (or degree) examples as used in the stroke interval of process
Number miMaximum, that is, M=max { mi, comprising such i values, for the i values, siRow in the process to be observed
Within journey interval.In the case of figure 2, in current location saYardstick M is at=162m：
M=max { m5=4；m6=4；m7=5 }=5
And when in the absence of the increased stand-by period, then M=n=3.
In step 150, the setting v for speed adjusting device is determined according to stand-by period increased yardstick Msoll's
Maximum vmax,soll。
If the ultrasonic sensor determined in a measurement period only performs unique one-shot measurement, every time relative to
Minimal number of measurements n and additional measurement make the stand-by period extend a measurement period duration.
If entered from object in ultrasonic sensing system detection range play vehicle vehicle braking after actually stop
The desired value (such as 60cm) that the parking range demands of car determine, then when increasing the stand-by period, most probable velocity is less than
Speed when stand-by period does not increase.
The maximum of the fixing speed of the permission of travel speed adjusting means is determined according to stand-by period increased yardstick M.
But when maximum reduces due to stand-by period increase, actual travel speed need not reduce, as long as current (regulation) traveling
Speed is without high to the desired value jeopardized in the case of it is assumed that the stand-by period is increased for the stroke that stops.
Such as, it is specified that the maximum v of speed when not increasing the stand-by period that is, during M=n=3max,sollFor v1.In M=
During 4 stand-by period increase (and therefore when it is assumed that additionally postponing a measurement period in object identification), maximum
vmax,sollIt is defined as v2<v1.In M=5 stand-by period increase (and therefore it is assumed that additionally postponing two in object identification
During individual measurement period), maximum vmax,sollIt is defined as v3<v2.In M=6 stand-by period increase (and therefore it is assumed that thing
When additionally postponing three measurement periods in body identification), maximum vmax,sollIt is defined as v4<v3.Maximum vmax,sollValue example
It can such as be determined by look-up table according to stand-by period increased yardstick M.
Then, the maximum v of the fixing speed so determinedmax,sollThe maximum of fixing speed is pre, so as to advise
Constant speed degree is less than or equal to the maximum.
Travel speed regulating loop 300 is schematically shown in figure 3, the fixing speed v of the travel speed regulating loopsoll
By maximum vmax,sollLimited.Provide travel speed vsollWith actual travel speed vistBetween adjusting deviation Δ v be used as adjust
Save device R input signal.The adjuster manipulates actuator SG, and the actuator acts on controlled plant RS again.By unshowned
The fixing speed v that functional block calculatessoll' and maximum vmax,sollIt is input to minimum value and determines block min, the minimum value determines
Block is determined in fixing speed vsoll' and maximum vmax,sollBetween minimum value.Work as vsoll' it is more than vmax,sollWhen, it is caused
Signal vsollEqual to maximum vmax,soll, and work as vsoll' it is less than or equal to vmax,sollWhen, caused signal vsollEqual to regulation
Speed vsoll'。
Claims (16)
1. the method for being adapted to the travel speed that motor vehicle is adjusted by driver assistance system, wherein, the motor vehicle tool
There is the ultrasonic sensing system for carrying out object identification to the object of outside vehicle, it is characterised in that be pointed to ultrasonic wave biography
The object identification of object in sensing system detection range is lingeringly entered with the stand-by period relevant with potential ultrasonic wave interference source
OK, comprise the steps：
- determine the presence of increased object identification stand-by period；And
- make travel speed adapt to determine the increased stand-by period presence.
2. method according to claim 1, it is characterised in that include the step of the presence for determining the increased stand-by period：
- the object identification process with the increased stand-by period respectively is determined in predetermined elapsed time or stroke interval
Number (a)；And
- by number (a) and the threshold value (a of the object identification process respectively with the increased stand-by periods) be compared.
3. method according to claim 2, it is characterised in that the predetermined elapsed time or stroke interval be just through
Time or stroke interval.
4. according to the method for one of claims 1 to 3, it is characterised in that
- in the category of object identification process, reach predetermined in being tested in the measurement for being repeatedly respectively used to detecting object
Object detection frequency n and with this to the object confirm confidence level when, then object is evaluated as to the object identified, and
- the presence in order to determine the increased stand-by period of one or more object identification processes is analyzed respectively
The number m of-measurement experiment for being used for detecting object performed during corresponding object identification, or
The number m-n of-measurement experiment additional relative to predetermined frequency n performed during corresponding object identification.
5. method according to claim 4, it is characterised in that repeatedly the measurement experiment is entered by same ultrasonic sensor
OK.
6. method according to claim 4, it is characterised in that (Δ s) is analyzed for predetermined elapsed time or stroke interval
Multiple number (mi), wherein, each number (mi) illustrate respectively
Number (the m of-measurement the experiment for being used for detecting object performed during an object identificationi), or
The number of-measurement the experiment additional relative to predetermined frequency n performed during an object identification.
7. method according to claim 6, it is characterised in that the predetermined elapsed time or stroke interval be just through
Time or stroke interval.
8. according to the method for one of claims 1 to 3, it is characterised in that for predetermined elapsed time or stroke interval (Δ
S) multiple amount numbers are analyzed, and each amount number in this tittle number is respectively configured between the predetermined elapsed time or stroke
Every (each amount in an object identification process and this tittle number in Δ s) scolds the wait of bright respective objects identification process
Time.
9. method according to claim 8, it is characterised in that the predetermined elapsed time or stroke interval be just through
Time or stroke interval.
10. according to the method for claim 6 or 7, it is characterised in that determine the multiple number (mi) maximum.
11. method according to claim 8, it is characterised in that determine the maximum of the multiple amount number.
12. according to the method for one of claims 1 to 3, it is characterised in that determine yardstick (M) and root for stand-by period increase
Travel speed is adapted to according to increased yardstick of identified stand-by period (M).
13. method according to claim 12, it is characterised in that be adapted to travel speed in the following manner：According to identified etc.
Treat that time increased yardstick (M) determines the maximum of the fixing speed of the speed adjusting device (300) for adjusting travel speed
(vmax,soll)。
14. according to the method for one of claims 1 to 3, it is characterised in that driver assistance system be have automatically laterally and
The parking assisting system of longitudinally guiding.
15. driver assistance system, including for adjusting the adjuster (R) of vehicle running speed, wherein, the motor vehicle has
For carrying out the ultrasonic sensing system of object identification to the object of outside vehicle, it is characterised in that be pointed to supersonic sensing
The object identification of object in the range of system detectio is lingeringly carried out with the stand-by period relevant with potential ultrasonic wave interference source,
Wherein, the driver assistance system, which is set up, is used for：
- determine the presence of increased object identification stand-by period；And
- make travel speed adapt to determine the increased stand-by period presence.
16. driver assistance system according to claim 15, it is characterised in that the driver assistance system, which is set up, to be used for：
- determine stand-by period increased yardstick (M) and
- stand-by period increased the yardstick (M) determined by determines the regulation speed for travel speed adjusting means (300)
Maximum (the v of degreemax,soll)。
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE102013214299.4 | 2013-07-22 | ||
| DE102013214299.4A DE102013214299B4 (en) | 2013-07-22 | 2013-07-22 | Adapting a regulated driving speed of a motor vehicle in the event of an increased latency of the object detection |
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| Publication Number | Publication Date |
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| CN104325977A CN104325977A (en) | 2015-02-04 |
| CN104325977B true CN104325977B (en) | 2018-03-13 |
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| CN201410337711.8A Active CN104325977B (en) | 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 |
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| DE (1) | DE102013214299B4 (en) |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102017212899B4 (en) | 2017-07-27 | 2019-04-18 | Audi Ag | Method for trajectory calculation and regulation for a driver assistance system and a control unit and motor vehicle |
| CN109326118B (en) * | 2018-09-17 | 2020-10-20 | 青岛海信网络科技股份有限公司 | Motorcade position prediction method and device |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE10339645A1 (en) * | 2003-08-28 | 2005-04-14 | Robert Bosch Gmbh | Method and device for determining the size and position of a parking space |
| DE10343174A1 (en) * | 2003-09-18 | 2005-04-14 | Robert Bosch Gmbh | Device and method for controlling the speed of a vehicle when maneuvering / parking the vehicle |
| DE102008005317B4 (en) * | 2008-01-21 | 2018-07-12 | Robert Bosch Gmbh | Method for configuring an ultrasound-based driver assistance system and corresponding ultrasound sensor |
| KR100902021B1 (en) * | 2008-04-29 | 2009-06-09 | 현대자동차주식회사 | Ultrasonic obstacle detection system for a vehicle |
| DE102010033209A1 (en) | 2010-08-03 | 2012-02-09 | Valeo Schalter Und Sensoren Gmbh | Method for operating ultrasonic sensor of driver assistance system for motor car, involves actuating ultrasonic sensor immediately for two times in next measuring cycle if vehicle-external object is detected by same ultrasonic sensor |
| DE102011112149A1 (en) * | 2011-09-01 | 2013-03-07 | Valeo Schalter Und Sensoren Gmbh | Method for carrying out a parking operation of a vehicle and driver assistance device |
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2013
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| CN104325977A (en) | 2015-02-04 |
| DE102013214299B4 (en) | 2020-03-12 |
| DE102013214299A1 (en) | 2015-01-22 |
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