CN107472237A - 自适应巡航控制系统和包括自适应巡航控制系统的车辆 - Google Patents
自适应巡航控制系统和包括自适应巡航控制系统的车辆 Download PDFInfo
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Abstract
提供了一种车辆(H)和自适应巡航控制系统ACC(1)。ACC(1)包括带有被设置为向车辆(H)的转向系统(17)提供手动转向输入的方向盘(19)和转向角传感器(18)的方向盘系统(17),其中转向系统(17)被构造为通过比较来自转向角传感器(18)的数据与预定阈值来识别特定瞬间手动方向盘致动并且选定所述车辆(H)前方环境中下一个移动或固定目标(A',B')从而基于转向角传感器(18)指示的特定瞬间手动方向盘致动的方向控制所述车辆(H)的速度。
Description
技术区域
此处的实施例涉及自适应巡航控制系统。此处的实施例进一步涉及包括自适应巡航控制系统的车辆。
背景技术
当今的一些车辆配备有自主和/或至少部分自主的驾驶系统。这种系统通常地旨在增加车辆乘客的舒适度和/或安全性。一些系统也被设置为增加本车内和/或其周围的人的安全性。
这种系统的一个示例是自适应巡航控制(adaptive cruise control)系统,ACC。ACC可包括一个或多个传感器例如连续地监控本车周围的摄像机和/或雷达。ACC也可包括或连接于驾驶控制系统,所述驾驶控制系统根据传感器检测到的本车前方的车辆调节本车速度。如果本车接近行驶在相同车道内的前车,则ACC可调节所选定的速度使得本车保持与前车的安全距离并且以安全距离跟随前车。ACC也能够在本车前方不存在车辆时保持选定的本车速度。
ACC因而可完成一些驾驶相关的功能并且因此能够将车辆操作者从一些特定任务(例如在一些情况下控制本车速度)中解放出来。但是期望ACC至少能够在比当今可能的更多的交通状况和情况下部分地控制本车。因此,仍然期望在自适应巡航控制及其功能的区域中有改进。
发明内容
此处的实施例旨在提供能够在不同交通状况下辅助车辆操作者的自适应巡航控制系统。
根据一个实施例,这可通过用于通过令车辆加速或减速控制车辆相对于移动或固定目标的速度的自适应巡航控制系统来提供,所述系统包括:车辆节流控制器,车辆制动系统控制器,被设置为检测所述车辆前方环境中移动或固定目标的至少一个目标检测传感器,以及被构造为通过控制节流控制器和车辆制动系统控制器来控制所述车辆相对于检测到的移动或固定目标中选定一个的速度的控制单元。自适应巡航控制系统进一步包括:带有被设置为向车辆的转向系统提供手动转向输入的方向盘的转向系统和转向角传感器,其中所述转向系统被构造为通过比较来自转向角传感器的数据与预定阈值来识别特定瞬间手动方向盘致动并且基于转向角传感器指示的特定瞬间手动方向盘致动的方向选定所述车辆前方环境中下一个移动或固定目标以控制所述车辆相对其的速度。
因为转向系统被构造为识别特定瞬间手动方向盘致动并且基于转向角传感器指示的特定瞬间手动方向盘致动的方向选定所述车辆前方环境中下一个移动或固定目标,因此车辆操作者能够选定相对于其控制本车速度的目标。
因此,车辆操作者能够转动或急动方向盘以设定用于ACC的“目标”并且ACC将提供增强的功能,因为它能够在多个新情况下控制车辆。因此,自适应巡航控制系统能够在现有技术的ACC不能或不会辅助车辆操作者以自主或半自主驾驶功能的不同交通状况下辅助车辆操作者。
根据某些实施例,默认所述车辆基本正前方环境中的移动或固定目标用于控制所述车辆的速度并且通过特定瞬间手动方向盘致动选定所述车辆前方环境中移动或固定目标中的横向的下一个目标。藉此,ACC将提供自主或半自主驾驶功能,例如在车辆操作者将为本车切换车道的状况下。例如,如果本车在右车道中行驶并且被左侧经过本车的周围车辆超车,则车辆操作者可触发ACC以通过将方向盘略微逆时针转动来调节本车速度为左车道内车辆的速度。该方向盘转动可被视为车辆操作者用方向盘“指”向目标。
根据某些实施例,能通过至少α度的转向角的预定阈值识别特定瞬间手动方向盘致动。藉此,能设定应该什么时候选定用于ACC的新目标的适宜的限值或阈值。在某些实施例中,方向盘转动超过1-5度的角度α是选定新目标所必须的。在某些实施例中,α约为1度、2度或3度。如果方向盘转动小于阈值转向角,则没有新目标被选定。方向盘致动可具有大约0.2-0.5秒的最长持续时间或不超过1秒的最长持续时间。在某些实施例中,更长持续时间是可能的。
根据某些实施例,能通过至少10度/秒的转向角变化的预定阈值识别特定瞬间手动方向盘致动。藉此,能设定应该什么时候选定用于ACC的新目标的适宜的限值或阈值。在某些实施例中,方向盘转动超过10-20度/秒是选定新目标所必须的。
根据某些实施例,可通过至少50度/s2的转向角变化的预定阈值识别特定瞬间手动方向盘致动。藉此,能设定应该什么时候选定用于ACC的新目标的适宜的限值或阈值。在某些实施例中,超过例如50-100如大约70-80度/秒2的方向盘的加速度转动是选定新目标所必须的。
根据某些实施例,可通过两个不同的预定阈值识别特定瞬间手动方向盘致动。阈值可具有倒置值,即第一阈值可为+α并且第二阈值可为-α。
例如,方向盘逆时针致动1-3度随后方向盘顺时针致动1-3度,其中两个致动均在0.5-1秒的最大持续时间内完成,这就触发了ACC选定新目标。在致动之后,方向盘回到与致动前基本上相同的位置。
根据某些实施例,自适应巡航控制系统进一步包括被设置为显示选定目标的表示的显示设备以及被设置为能够输入其中所述选定目标是意图选定目标的显示表示的确认的输入设备。显示设备能够有利于用于ACC的新目标的选定和/或确认。
此处的实施例还旨在提供包括能够在不同交通状况下辅助车辆操作者的自适应巡航控制系统的车辆。根据某些实施例,这可通过包括根据此处公开实施例的自适应巡航控制系统的车辆来提供。
附图说明
将很容易从以下详细说明和附图理解此处本发明包括其特定特征和优点的非限定性实施例的各种方面,其中:
图1示出车辆和根据某些实施例交通情形下的自适应巡航控制系统,
图2示出车辆和根据某些其它实施例交通情形下的自适应巡航控制系统,并且
图3示出车辆和根据另一些实施例交通情形下的自适应巡航控制系统。
具体实施方式
现在将进一步完全地参照示出某些实施例的附图描述此处的实施例。相同的附图标记在全文中指的是相同的元件,并且为了简便和/或清楚起见不一定要详述已知的功能或结构。
图1示出自适应巡航控制系统ACC 1。ACC被配置为向设置有ACC 1的本车H提供半自主驾驶功能。
ACC 1被设置为通过令车辆H加速或减速来控制例如车辆H相对于移动或固定目标的速度。ACC 1包括或连接于车辆节流控制器3和车辆制动系统控制器5。ACC 1能连接于本车发动机和本车制动系统,因此ACC 1能够直接或间接地控制本车H的加速度和/或减速度。ACC 1例如能够通过增加发动机转速来增加本车速度并且通过发动机/电动机制动或启动一个或多个车轮制动器来降低本车速度。ACC 1例如可连接于ABS(防抱死制动系统),因此选定性地启动一个或多个车轮制动器。
ACC可选定地也可为本车H提供某些转向功能。本车H或ACC 1可包括电/机械控制设备,其被设置为至少部分地基于来源于检测传感器的信息来控制本车H的转向和速度,如下所述。ACC 1可包括或连接于车辆转向系统,因此ACC 1能够直接或间接地控制本车H的至少某些车轮的方向。藉此例如可调节本车H的横摆率(yaw rate),从而根据来自ACC 1的输入调节本车H的驾驶方向。当ACC 1可控制转向功能时,它也可被称为驾驶员辅助系统等。它可能至少在某些速度范围内检测路标并且令本车H转向以跟随所述路标。包括此处描述的任何特征的实施例可用于这种驾驶员辅助系统或用于半自主或半自主驾驶的任何类似车辆系统的目标选定。
在某些实施例中,ACC 1包括或连接于若干车辆子系统。每个这种子系统可提供一定的自主或半自主驾驶功能。这种子系统的示例是:车道偏离警告和/或控制系统、防碰撞系统、自主制动系统、交通标志识别系统、某些通信系统、某些导航系统、超声波传感器系统、红外摄像机系统、惯性测量系统、智能运输系统、安全车队系统、自主停车系统等等。
ACC 1进一步包括或连接于被设置为检测在本车H前方环境中的移动或固定目标的至少一个目标检测传感器7。这种目标或目标的示例是如图1所示的前方车辆A'、B'。
目标检测传感器7可为一个或多个摄像机传感器、一个或多个雷达(radia)传感器和/或一个或多个激光雷达(lidar)传感器。至少一个传感器7能被设置在本车H内/上的可能检测车辆周围的任何位置。传感器7例如可设置在车辆的前、侧和/或后部处的车辆格栅、减震器、后视镜和/或汽车挡风玻璃处。某些传感器7可设置在车厢、底盘、发动机、传动系统和/或车轮内或附近。传感器位置可取决于所使用的传感器类型。例如,摄像机传感器可设置在汽车挡风玻璃内部处,而一个或多个雷达传感器和/或激光雷达传感器可设置在格栅和/或减震器内。在图1中示出传感器监控器区域11。传感器监控器区域11可指向任何方向并且可覆盖本车周围的部分或基本上所有方向的本车周围。
摄像机传感器例如可为配备有或连接于带有目标识别逻辑的一个或多个处理器的面向前、侧或后的数字摄像机。藉此,可检测并且在某些情形下识别/分类周围目标例如车道13、其它车辆A'、B'、交通标志15、行人、动物、不同障碍物等等。雷达传感器包括:发送器,其发射信号,信号从本车H周围目标弹回;以及接受返回信号的接收器。雷达传感器可包括例如超宽带雷达、窄频带雷达和/或多节点雷达。激光雷达传感器可通过用激光照亮目标和分析反射光来测量距目标的距离。用于监控车辆周围的其它类型的传感器7例如是超声波传感器和/或红外传感器。
ACC 1可包括被构造为通过控制节流控制器3和/或车辆制动系统控制器5来控制本车H相对于所检测的移动或固定目标A'、B'中选定一个的速度的控制单元15。
ACC 1进一步包括转向系统17,转向系统17带有被设置为向车辆H的转向系统17提供手动转向输入的方向盘19。控制单元15和/或转向系统17和/或ACC 1可包括带有逻辑的任何必要的处理器,该逻辑用于识别急动/特定瞬间手动方向盘致动和用于比较来自转向角传感器18的数据与预定阈值。
转向系统17被构造为通过比较来自转向角传感器18的数据与预定阈值来识别特定瞬间手动方向盘致动。转向角传感器18可为被构造为测量方向盘位置角和方向盘转动的速度/加速度的任何类型的传感器。转向角传感器18例如可为非接触式数字转向位置传感器。它可为CAN总线模块转向角传感器、模拟转向角传感器或复位转向角传感器。转向角传感器18例如可设置在转向柱中的传感器组(cluster)内。两个或更多传感器18可用于重复和确认。转向角传感器18也可设置在任何其它涉及转向或传动的部件处。在某些实施例中,转向角传感器18与其它类型的传感器共同运行或被其替代,所述其它类型传感器能够检测本车横摆率的调节、本车航向等并且向转向系统或ACC提供其用于目标控制的信息。
转向系统17被构造为基于转向角传感器指示的特定瞬间手动方向盘致动的方向选定所述车辆H前方环境中下一个移动或固定目标A'、B'以控制本车H相对其的速度。
在图1所示的情形下,本车H的ACC 1被设定为跟随前车A'。本车H被相邻车道内经过本车H和前车A'的另一个车辆B'超车。如果本车H的驾驶员决定他/她跟随车辆B'而非车辆A',则他/她将方向盘19从中间位置A”转动或急动至位置B”,从位置A”转动或急动至少α度。该转动或急动导致用于ACC的目标从车辆A'处的A切换至车辆B'处的B。在某些实施例中,在方向盘从中间位置A”致动至位置B”并且基本上再次回到中间位置A”之后开启目标切换。在某些实施例中,在0.2-1秒例如大约0.5秒的持续时间内A'-B”致动或A”-B”-A”致动是必要的并且足以开启目标切换。
在某些实施例中,在阈值持续时间内离开方向盘中间位置和回到方向盘中间位置的阈值幅度的方向盘致动导致了目标切换被开启。方向盘中间位置是本车基本上笔直向前行驶而不转弯的位置。
用于目标切换的阈值可例如为1-3度。在某些实施例中,目标切换通过至少10-20度/秒或至少50-100度/秒2(例如大约75度/秒2)的方向盘致动来启动。应当切换目标的急动可以比预定时间值更短,例如小于0.5秒。藉此,ACC能够把用于目标选定的方向盘转动与用于改变车辆行驶方向的“正常”方向盘转动区分开。
向左/逆时针的急动表示选定了当前目标横向向左的新目标,如图1所示。向右/顺时针的急动表示选定了当前目标横向向右的新目标。
本车H或ACC可选地包括一个或多个显示设备21。这种显示设备例如是平视显示器HUD或在本车仪表板或中控面板处的显示器。显示设备21可被设置为显示选定目标A'、B'的表示,本车H或ACC也可包括带有确认工具例如按钮或杆23形式的输入设备22。输入设备22被设置为能够输入选定目标的显示表示的确认。因而,当车辆操作者转动方向盘19时,他/她能看见例如箭头、加亮区等形式的目标A、B的表示以及如何根据方向盘致动调节目标的位置/方向。他/她可能经由带有杆23的输入设备22或通过用手指直接指在显示器上的目标表示上来选定或确认目标。
输入设备22能够连接于摄像机并且可包括带有用于识别和/或分类本车周围目标的逻辑的一个或多个处理器。ACC或输入设备可选地基于目标速度、位置等等建议可选目标并且驾驶员可确认这种建议的目标是否被选定。
图2示出本车H在具有车道13的道路上行驶的情形。本车H包括根据此处实施例的ACC。ACC保持由本车驾驶员选定的速度或者被设定为调节本车速度跟在前车A'之后。本车H在左车道行驶并且其它车辆在右车道行驶。
如果本车驾驶员决定将车道切换为右车道,他/她能够一定程度顺时针地急动方向盘。这种“目标选定急动”可以至少是预定度数并且可具有预定最大持续时间。
这种急动将启动用于ACC的目标的切换,即ACC被设定为相对于其调节本车速度的目标。在图2中,通过从目标A变化为目标B即从车辆A'到车辆B'来表示目标切换。
在图2所示的实施例中,本车H的速度将降低并且适于在车辆B'的速度之后。因此,本车的驾驶员不用必须手动改变本车速度或停用或不考虑ACC。他/她可仅将本车H驶入车辆B'后面的间隙内。由于ACC能够在整个过程期间保持启动或能用,故增加了驾驶员的舒适度。
通过方向盘沿与第一急动相反的方向的另一急动能够终止或结束车辆B'的目标选定。在图2中,通过逆时针方向的方向盘致动开启这种“目标结束急动(target dropjerk)”。
图3示出本车H行驶在带有车道13的道路上的又一情形。本车H包括根据此处实施例的ACC。ACC保持由本车驾驶员选定的速度或被设定为调节本车速度跟在前车A'之后。本车H在右车道内行驶并且在左车道内车辆B'超过本车H。如果本车驾驶员想要增加本车速度,则他/她可能逆时针急动方向盘。这种“目标选定急动”可以至少是预定度数的并且可具有预定最大持续时间。
这种急动将启动用于ACC的目标的切换,即ACC被设定为相对于其调节本车速度的目标。在图3中,通过从目标A变化为目标B即从车辆A'到车辆B'来表示目标切换。在图3所示的实施例中,本车H的速度将增加并且适于在超车车辆B'的速度之后。因此,本车的驾驶员不必手动改变本车速度或停用或不考虑ACC。由于ACC能够在整个过程期间保持启动或能用,故增加了驾驶员的舒适度。
在此处的任何实施例中,转向系统17可被构造为通过比较来自转向角传感器18的数据与至少一个预定阈值来识别被执行为在预定时间范围内方向盘19的顺时针和逆时针致动的方向盘急动,并且基于转向角传感器18所指示的所识别急动选定所述车辆H前方环境中下一个移动或固定目标A'、B'以控制所述车辆H相对其的速度。预定时间范围的持续时间可小于2秒,优选小于1秒。能通过至少α度的第一顺时针或逆时针转向角识别第一预定阈值,α至少为1度。能通过至少β度的第二转向角识别第二预定阈值,β至少为1度。第二转向角的方向能与第一转向角相反。
在如图1所示的某些实施例中,ACC包括或连接于转向信号指示器16。车道变更的开启能经由转向信号指示器16的启动确认。在某些实施例中,ACC包括用于振动方向盘的方向盘设备20并且能被设置为通过启动方向盘振动设备20以向车辆操作者提供触觉确认来确认车道变更的开启。
通过方向盘沿与第一急动相反的方向的另一急动能够终止或结束车辆B'的目标选定。在图3中,通过逆时针方向的方向盘致动开启这种“目标结束急动”。
Claims (8)
1.一种自适应巡航控制系统(1),用于通过令所述车辆(H)加速或减速来控制车辆(H)相对于移动或固定目标(A',B')的速度,所述系统(1)包括:车辆节流控制器(3);车辆制动系统控制器(5);被设置为检测在所述车辆(H)前方环境中的移动或固定目标(A',B')的至少一个目标检测传感器(7);以及控制单元(15),所述控制单元(15)被构造为通过控制所述节流控制器(3)和所述车辆制动系统控制器(5)来控制所述车辆(H)相对于检测到的移动或固定目标(A',B')中的选定一个的速度,其特征在于:所述自适应巡航控制系统(1)进一步包括:转向系统(17),所述转向系统(17)带有被设置为能够向所述车辆(H)的所述转向系统(17)提供手动转向输入的方向盘(19);以及转向角传感器(18),其中所述转向系统(17)被构造为通过将来自所述转向角传感器(18)的数据与预定阈值进行比较来识别特定瞬间手动方向盘致动,并且基于所述转向角传感器(18)所指示的所述特定瞬间手动方向盘致动的方向选定所述车辆(H)前方环境中下一个移动或固定目标(A',B')以控制所述车辆(H)相对其的速度。
2.根据权利要求1所述的自适应巡航控制系统(1),其中默认所述车辆(H)基本正前方环境中的移动或固定目标(A',B')用于控制所述车辆(H)相对其的速度并且通过所述特定瞬间手动方向盘致动选定所述车辆(H)前方环境中移动或固定目标中的横向的下一个目标(B')。
3.根据前述权利要求任意一项所述的自适应巡航控制系统(1),其中通过至少α度的转向角的预定阈值能识别所述特定瞬间手动方向盘致动,α至少为1度。
4.根据权利要求1或2所述的自适应巡航控制系统(1),其中通过至少10度/秒的转向角变化的预定阈值能识别所述特定瞬间手动方向盘致动。
5.根据权利要求1或2所述的自适应巡航控制系统(1),其中通过至少50度/秒2的转向角变化率的预定阈值能识别所述特定瞬间手动方向盘致动。
6.根据前述权利要求任意一项所述的自适应巡航控制系统(1),其中通过两个不同的预定阈值能识别所述特定瞬间手动方向盘致动。
7.根据前述权利要求任意一项所述的自适应巡航控制系统(1),其中它进一步包括:显示设备(21),其被设置为显示所述选定目标的表示;以及输入设备(22),其被设置为能够输入其中选定目标是意图选定目标的显示表示的确认。
8.一种车辆(H),其特征在于:所述车辆(H)包括根据前述权利要求任意一项所述的自适应巡航控制系统(1)。
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US10435022B2 (en) | 2019-10-08 |
US20170349174A1 (en) | 2017-12-07 |
EP3254918A1 (en) | 2017-12-13 |
EP3254918B1 (en) | 2023-05-24 |
CN107472237B (zh) | 2021-06-29 |
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