CN116135643A - Method, controller and storage medium for influencing the distance of a vehicle with a distance adjustment device from a preceding vehicle - Google Patents

Abstract

The invention relates to a method for influencing the distance (114) of a vehicle (100) having a demand-based distance control device (104) from a further vehicle (102) travelling ahead, wherein a distance increasing means (120) for increasing the distance is implemented if a driver (106) of the vehicle (100) requires, during following travel, that the distance (114) via an operating element (112) of the vehicle (100) by means of the activated distance control device (104) is smaller than a speed-dependent minimum distance (122).

Description

Method, controller and storage medium for influencing the distance of a vehicle with a distance adjustment device from a preceding vehicle

Technical Field

The invention relates to a method for influencing the distance of a vehicle having a demand-based distance adjustment device from a further vehicle traveling ahead, to a corresponding controller and to a corresponding computer program product.

Background

The vehicle may be equipped with cruise control. The cruise control adjusts the power demand (leistengsanan forderung) for the vehicle drive in such a way that the speed of the vehicle substantially corresponds to the selected target speed. The cruise control remains active until the driver of the vehicle depresses the brake pedal of the vehicle or manually deactivates the cruise control. In the case where the cruise control is active, the vehicle may rear-end other vehicles traveling ahead without driver intervention.

If the vehicle is equipped with an adaptive cruise control, the preceding vehicle is detected by the sensor system of the vehicle. The distance to the other vehicle is detected in a following run behind the other vehicle that is running ahead, and the power demand is reduced when the vehicle approaches the other vehicle. Here, the power demand is reduced until the vehicle follows the other vehicle by a speed-dependent distance from the speed of the other vehicle. The speed-dependent distance may be manually preselected in stages and is always greater than the minimum required safety distance. The adaptive cruise control may also be deactivated manually or by means of a brake pedal.

If the other vehicle changes its speed, the power demand changes accordingly so that the other vehicle is followed at a speed-dependent distance up to the selected target speed.

However, the driver is always able to override the cruise control, i.e. to increase the speed of the vehicle at any time by means of an accelerator pedal on the vehicle. Thus, the distance from the other vehicle can be reduced to a safe distance or less. If the driver brakes briefly, for example because he is driving prospectively or braking a curve, the adaptive cruise control is deactivated. The driver must then either self-block further access below the safe distance or manually re-enable the adaptive cruise control.

If the vehicle is equipped with a distance adjustment device based on an accelerator pedal, the speed-dependent distance to the other vehicle during the following travel is influenced by the accelerator pedal. The stronger the driver depresses the accelerator pedal, the smaller the speed-dependent distance. Here, the driver may set the distance to be less than the pre-selected distance without rear-end collision with other vehicles. However, if the driver continuously manipulates the accelerator pedal during follow-up running, it can continuously keep the distance below the pre-selected distance. When the driver manipulates the brake pedal, the accelerator pedal-based distance adjustment device remains activated.

Disclosure of Invention

In this context, a method, a corresponding controller and a corresponding computer program product for influencing the distance of a vehicle having a demand-based distance adjustment device from a further vehicle traveling ahead are proposed in the solutions presented here. Advantageous developments and improvements of the solutions presented here can be achieved by the measures listed in the preferred embodiments.

In the case of the solution presented here, during the following travel, if the distance to the vehicle travelling ahead is set too low by the driver via the operating element, then an increase in distance measure is automatically taken with the use of the demand-based distance adjustment device. Thereby, a speed-dependent safety distance can be ensured.

A method is proposed for influencing the distance of a vehicle having a demand-based distance control from a further vehicle traveling ahead, wherein a distance-increasing measure for increasing the distance is carried out if the distance is demanded by the driver of the vehicle during the following travel via an active distance control via an operating element of the vehicle to be less than a speed-dependent minimum distance.

The ideas regarding the embodiments of the present invention can be mainly considered as based on the ideas and knowledge explained below.

The demand-based distance control of the vehicle can read the distance of the vehicle from the preceding vehicle, the speed of the vehicle and the position of the operating element of the vehicle and output the power demand on the drive of the vehicle as a function of these distances, speeds and positions. The distance adjusting device can also operate the brake system of the vehicle.

The operating element may be, for example, an accelerator pedal of a motor vehicle or a steering handle of a motorcycle or a four-wheel ATV. In the case where the distance is required by the accelerator pedal, the requirement-based distance adjustment device may be referred to as an accelerator pedal-based distance adjustment device. In the case where the distance is required by the steering handle, the distance adjusting device based on the requirement may be referred to as a distance adjusting device based on the steering handle.

In this case, the position of the operating element in the demand-based distance control device can influence the time slot (zeitlecke). The time slot may be an adjustment target for the distance adjustment device based on requirements. The time slot represents the duration of time that elapses until the vehicle passes any point after the vehicle that was traveling ahead. Thus, the time slot reflects the speed-dependent distance independent of speed. In the case of different speeds, different distances result from the same time slot. For example, a time slot of 1.8 seconds results in a distance of half the current speed in meters. Thus, a 1.8 second time slot may also be referred to as a "half odometer". The time slot can be reduced to a significantly lower value by means of an accelerator pedal based distance adjustment. For example, the minimum time slot may be between 0.7 seconds and 0.4 seconds. The minimum time slot may in particular lie between 0.6 seconds and 0.5 seconds.

In the solution presented herein, if the distance is set smaller than the minimum distance related to speed by means of the operating element, a distance increasing measure is taken. For example, if the actual time slot is less than 0.8 seconds, then an increase distance measure may be taken. 0.8 seconds is defined in the corresponding ISO standard as the minimum time slot for adaptive cruise control. A minimum time slot of 0.8 seconds may correspond to a minimum distance related to speed. The speed-dependent minimum distance can also correspond to other fixedly predefined values and is not changeable.

The distance increasing means may act on the driver of the vehicle and/or on the accelerator pedal based distance adjustment device. Thus, the driver can be prompted to change the position of the operating element to increase the distance again by increasing the distance measure. Alternatively or additionally, the requirement-based distance adjustment device can be influenced by a distance-increasing measure in such a way that the same position results in a changed adjustment target and an increased distance.

If the driver requires or sets the distance to be less than the speed-dependent minimum distance longer than the limit duration, a distance increasing measure may be implemented. And thus can be lower than the minimum distance for a short time. The tolerance duration may be longer than 0s, preferably longer than 0.5s or even longer than 1s, for example, and shorter than 10s, preferably shorter than 3s, for example. A natural vehicle driving pattern can be achieved by the tolerance duration. For example, a vehicle can approach a curve braking vehicle shortly before a curve by a tolerance duration in order to subsequently brake the curve itself at the braking point.

A further distance increasing measure can be implemented if the driver continues to set the distance, via the operating element, to be smaller than the speed-dependent minimum distance after the distance increasing measure. The further distance increasing measures may be implemented, for example, when after a previous distance increasing measure a further tolerance duration has been waited for, during which the driver has not set the distance to be less than the speed-dependent minimum distance. In this case, a plurality of distance-increasing measures can be carried out in succession. The distance increasing measure can be performed until the distance corresponds at least once again to the minimum distance.

The distance increasing measure can be implemented in an upgrade. In this case, further measures may represent a stronger intervention than the previous measures. A weak distance increase measure may be implemented first. First, for example, an attempt may be made to prompt the driver to increase the distance himself. The distance can be increased, for example, without the driver being present, only when the driver does not wish to be motivated. The distance can be reliably increased by stronger measures.

For example, an indication of the driver may be output as a distance-increasing measure, which may be output optically, acoustically and/or tactilely. The optical indication may be output, for example, by a warning light on the dashboard of the vehicle or a graphical representation on the display of the vehicle. The acoustic indication may be, for example, a warning tone or a voice indication output through the vehicle's audio system. The tactile indication may be output, for example, through the seat or other point of contact between the driver and the vehicle. For example, pulses or pulse sequences can be output via the operating element. The pulses or pulse trains may also be output through the steering wheel of the vehicle. The indication may also be output in combination, i.e. optical and acoustic, acoustic and tactile, tactile and optical or optical, acoustic and tactile. Combinations may also be used for upgrades to the distance increasing measures. The indication strength increase may also be used for upgrades.

For example, the acceptance of the actuating element (Annahme) can be reduced as a distance-increasing measure. By reducing the acceptance, the same position or the same angle of the operating element results in an increased time slot. Thus, a larger angle is required in order for the distance to continue below the minimum distance. The reduction adoption can be done smoothly or ramped. Braking shocks can be avoided.

The acceptance of the operating element as a distance-increasing measure can be increased in a short time. By improving the adoption for a short time, the vehicle can approach the vehicle traveling ahead for a short time. The acceleration shock is caused by the short-time improvement of the adoption. In contrast to braking shocks, the following traffic is not affected by acceleration shocks. The adoption may be pulsed to create a strong acceleration shock. The acceptance can likewise be increased in a ramped manner in order to avoid a surprise on the driver.

Alternatively, the demand-based distance adjustment device can be deactivated or set to a passive state starting from a predefined position of the operating element. Acceleration shock may also be generated by this deactivation. The deactivation effectively results in a forced downshift (pack-down). The deactivation may be performed ramped.

The distance increasing measure, in particular if it is implemented in a manner that influences the adoption, can be carried out in a time-limited manner, for example between a time period of 0.1s and 10s, preferably between 0.5s and 5 s. The time period may be selected in relation to the speed.

The method may be implemented in software or hardware or in a hybrid form of software and hardware, for example, in a controller.

The solution presented herein also proposes a controller configured for executing, manipulating or implementing the steps of the variants of the solution presented herein in a corresponding device.

The controller may be an electrical device having at least one computing unit for processing signals or data, at least one memory unit for storing signals or data, and at least one interface and/or communication interface for reading in or outputting data embedded in a communication protocol. The computing unit may be, for example, a signal processor, a so-called system ASIC or a microcontroller for processing the sensor signals and outputting data signals as a function of these sensor signals. The memory cells may be, for example, flash memory, EPROM, or magnetic memory cells. The interface may be configured to read in sensor signals from the sensor and/or as an actuator interface to output data signals and/or control signals to the actuator. The communication interface may be configured for reading in or outputting data wirelessly and/or by wire. These interfaces may be, for example, software modules that are concurrent with other software modules on the microcontroller.

Also advantageous is a computer program product or computer program with a program code which can be stored on a machine-readable carrier or storage medium, such as a semiconductor memory, a hard disk memory or an optical memory, and which is used in particular when being executed on a computer or a device for carrying out, implementing and/or manipulating the steps of the method according to any of the preceding embodiments.

It is noted that some possible features and advantages of the present invention are described herein with reference to different embodiments. Those skilled in the art will recognize that the features of the controller and method may be combined, set, or interchanged as appropriate, in order to provide additional embodiments of the invention.

Drawings

Embodiments of the present invention are described below with reference to the accompanying drawings. Wherein neither the figures nor the description should be construed as limiting the invention.

Fig. 1 is a view of a vehicle during follow-up running.

The figures are merely schematic and not to scale. The same reference numerals denote features that are identical or have the same effects.

Detailed Description

Fig. 1 shows a diagram of a vehicle 100 during trailing travel behind other vehicles 102 traveling ahead. The vehicle 100 has a demand-based distance adjustment device 104.

During free-running of other vehicles 102 that are not traveling ahead, the driver 106 of the vehicle 100 can control the speed 108 and acceleration of the vehicle 100 through the power demand 110 for the operating element 112 of the vehicle 100. The operating element may be, for example, an accelerator pedal or a steering handle of the vehicle 10. During this free running, the demand-based distance adjustment device 104 is passive.

When the vehicle 100 approaches the other vehicle 102 traveling ahead, the demand-based distance adjustment device 104 reduces the power demand 110 to travel behind the other vehicle 102 at an adjusted distance 114 that is within a predetermined distance range 116. The distance range 116 may be set, for example, by a switch of the vehicle 100 in steps.

In response to an increased power demand 110 from the driver 106 for the operating element 112, the demand-based distance adjustment device 104 enables the distance 114 from the other vehicle 102 to be reduced below the distance range 116. Where the distance 114 can be reduced to a minimum speed dependent distance 118.

The distance adjustment device 104 determines an appropriate power demand 110 and/or an appropriate deceleration demand for the braking system of the vehicle 100 in order to adjust the distance 114 to the other vehicle 102 as a function of the speed 108 and the power demand 110.

The distance 114 is denoted herein as time slot. The time slot here reflects the absolute distance 114 as a function of speed 108 over a constant duration of time that has elapsed until the vehicle 100 has traveled past the location previously traveled by the other vehicle 102. Here, the distance range 116 extends from a one second time slot to a two second time slot. Thus, a 1.8 second slot, where distance 114 corresponds to half of the odometer, is located within distance range 116. The speed-dependent minimum distance 118 is here a time slot of between 0.5 and 0.6 seconds. Time slots that are less than the speed-dependent minimum spacing 118 are blocked by the distance adjustment device 104, for example, by a deceleration requirement and/or an inapplicable power requirement 110.

In the solution presented here, if the distance 114 is set to be smaller than the speed-dependent minimum distance 122 by the driver 106 during follow-up by means of the activated demand-based distance adjustment device 104 via the operating element 112, a distance increasing measure 120 is implemented to increase the distance 114. The speed-dependent minimum distance 122 is greater than the speed-dependent minimum distance 118. The minimum distance 122 related to speed may correspond to a lower limit of the shortest distance range 116. The minimum distance 122 associated with the speed may also be less than the lower limit of the distance range 116. Here, the minimum distance 122, which is speed dependent, is a time slot at 0.8 seconds, and is therefore less than the lower limit of the distance range 116.

The purpose of the distance increasing measure 120 is to increase the distance 114 to within the selected distance range 116. The distance increasing means 120 may be active or passive. The vehicle 100 can be intervened by the active measures 120 in order to increase the distance 114. The driver 106 can be required to increase the distance 114 by a negative measure 120.

In one embodiment, the distance increasing measure 120 is implemented after a tolerance duration period. During the tolerance duration, the minimum distance 122 may be lower for a short period of time without implementing the distance increasing measure 120.

In one embodiment, if after the implemented distance increasing measure 120, the driver 106 continues to set the distance 114 via the operating element 112 to be less than the speed-dependent minimum distance 122, a further distance increasing measure 120 is implemented.

In particular, other distance-increasing measures 120 may then be implemented, as the driver 106 may not notice or recognize the previous distance-increasing measures 120.

In one embodiment, the strength of the further distance-increasing measure 120 is set to be greater than the strength of the previous distance-increasing measure 120.

For example, an indication 124 or warning may be output to the driver 106 as the distance-increasing measure 120. The indication 124 may be optically output in a display instrument of the vehicle 100, for example. The intensity of the indication 124 may be set, for example, by the color of the indication 124. Likewise, the intensity may be increased by flashing or pulsing the indicator 124.

The indication 124 may also be acoustically output through a speaker of the vehicle 100. For example, a broadcast or warning tone may be output. The intensity may be set, for example, by indicating the volume of 124. The intensity may also be increased by repeating the indication 124.

The indication 124 may also be output tactilely by an actuator of the vehicle 100. The tactile indication 124 may be output as a pulse, a sequence of pulses, or a vibration, for example. The tactile indication 124 may be output, for example, through the operating element 112, the steering wheel, or the seat of the driver 106.

The indication 124 may also be provided as a combination of different output forms. The strength of the indications 124 can be individually raised by different combinations.

The adoption of the power requirement 110 may be reduced as the distance increasing measure 120 when adjusting the distance 114. The distance 114 can thus be increased while the power demand 110 is continuously given by the operating element 112. In order to maintain the distance 114 constant, an increased power requirement 110 must be given, i.e. the actuating element 112 must be actuated more strongly. This can be noticed by reducing the adoption, especially if the driver 106 unintentionally gives the power demand 110.

Instead of reducing adoption, adoption may be enhanced for a short period of time as the distance-increasing measure 120. During the short-time enhanced adoption, the vehicle 100 accelerates briefly and approaches other vehicles. Since the driver 106 does not intentionally predefine this approach by the operating element 112, he will reduce the power demand 110 and thus effectively increase the distance 114 by himself.

In other words, an increase distance measure is proposed during the dynamic distance assistance function (Dynamic Distance Assist, dynamic distance limitation assistance, DDA).

In the case of distance-adjusting cruise control (Adaptive Cruise Control, adaptive cruise control, ACC), the due distance for follow-up can be set in different steps. These classifications are typically for time distances from other vehicles traveling ahead.

The desired distance in relation to the speed is then calculated from the desired time slot (e.g. 1 s).

In the case of DDA, the driver controls the acceleration and speed of the vehicle via the accelerator pedal or accelerator pedal during free running of the vehicle without preceding running. DDA acts neutrally as and allows unrestricted acceleration. DDA remains active even after actuation of the brake pedal.

When the vehicle approaches a vehicle traveling ahead, the DDA reduces acceleration and speed in a comfortable manner so as to approach at a desired distance behind the vehicle traveling ahead. No action is required by the driver.

In response to an elevated acceleration demand on the accelerator pedal, the DDA is allowed to enter a preset distance. The distance can be reduced to a safe minimum distance.

In the case of ACC, the driver assistance function can maintain the distance previously set by the driver without driver intervention.

In the case of DDA, the driver actively depresses the accelerator pedal and thus sets the minimum distance by himself. The minimum distance is limited by the driver assistance function.

In the case of ACC, the driver can request a higher driving torque than ACC at any time by increasing the angle of the accelerator pedal. In this case, the ACC becomes passive and the driver can set an arbitrarily small distance if traffic is required. The distance may also be less than a predetermined set distance or less than a safe minimum distance.

The ACC also temporarily allows a smaller distance than the set time slot in the active state (e.g., when merging or approaching quickly). But then the ACC reestablishes the desired distance after a short time.

With DDA, the driver can set the reduced distance required for a particular transitional condition (merge, overtaking procedure, etc.) by increasing the accelerator pedal angle. DDA remains effective herein and thus provides increased comfort and safety added value.

But currently, this distance reduction may also be utilized for longer periods of time and may not be appreciated by the driver.

In the solution presented herein, distance increasing measures are implemented which assist the driver not to unintentionally drive at too small a distance for a longer period of time.

Furthermore, longer, conscious distance undershooting is made difficult by these distance increasing measures.

Due to the safe minimum spacing of DDA, certain very small distances have been blocked for a longer period of time.

By the solution presented herein, the distance distribution in traffic is moved to a safer distance. More drivers driving at reduced distances so far are moved into a direction of greater distance or into a safer area.

The optical, acoustic, tactile indication may be output after a settable duration of time during which the driver is driving at a reduced distance or the driver requires a reduced distance and which is less than the minimum settable ACC slot. This alerts or indicates the driver of the reduced distance. These warnings may consist of visual, audible, tactile or a combination of indications.

After a settable duration, during which the driver drives at a reduced distance or during which the driver requires a reduced distance and which is less than the minimum settable ACC time slot, the distance can be automatically increased.

After a settable duration, during which the driver is driving at a reduced distance or the driver is requesting a reduced distance and which is less than the minimum settable ACC slot, the function may be transitioned into an Override state or deactivated. Since this function can be analogous to the effect of an airbag, the process can be analogous to the following airbag: pressure is applied to the balloon too long and/or too much, resulting in bursting. In this case, the transition can be warned and the transition configuration can be controlled by a ramp acceleration from limited to unrestricted driver demand.

By means of the solution presented herein, the driver is enabled to continue to achieve the distance reduction necessary in actual traffic. Here, DDA remains active to provide increased comfort add-on value and safety xing add-on value (e.g., during a cut-in or incorporation).

In order to avoid unintentional travel at a reduced distance for a longer period of time, the distance increasing means can assist the driver. Furthermore, the use of longer, unintentional distances is made difficult or avoided.

The distribution of the distances actually travelled can thus be moved to a safer range.

Finally, it is pointed out that terms such as "having," "including," and the like do not exclude additional elements or steps, and that terms such as "a" or "an" do not exclude a plurality. Reference signs in the claims shall not be construed as limiting.

Claims (11)

1. A method for influencing a distance (114) of a vehicle (100) having a demand-based distance adjustment device (104) from a further vehicle (102) travelling ahead, wherein an increasing distance measure (120) for increasing the distance (114) is carried out if a driver (106) of the vehicle (100) requires, during a following journey, that the distance (114) is smaller than a speed-dependent minimum distance (122) via an operating element (112) of the vehicle (100) by means of an activated distance adjustment device (104).

2. The method of claim 1, wherein the distance increasing means (120) is implemented if the driver (106) requires the distance (114) to be less than a speed-related minimum distance (122) longer than a limit duration.

3. The method according to any of the preceding claims, wherein a further distance increasing measure (120) is implemented if the driver (106) continues to require that the distance (114) is smaller than a speed dependent minimum distance (122) by an accelerator pedal (112) after the distance increasing measure (120).

4. A method according to claim 3, wherein the distance increasing means (120) is implemented upgradeable.

5. The method according to any of the preceding claims, wherein an indication (124) of the driver (106) is output as a distance increasing measure (120).

6. The method according to any of the preceding claims, wherein the adoption of the operating element (112) is reduced as a distance increasing measure (120).

7. The method according to any of the preceding claims, wherein the adoption of the operating element (112) as a distance-increasing measure (120) is increased for a short time.

8. The method according to any of the preceding claims, wherein the distance adjustment device is deactivated as a distance increasing measure (120).

9. A controller, wherein the controller is configured for implementing, realizing and/or manipulating the method according to any of the preceding claims in a respective device.

10. A computer program product arranged, when being implemented, to direct a processor for implementing, implementing and/or manipulating the method according to any of claims 1 to 7.

11. A machine readable storage medium having stored thereon the computer program product of claim 9.

Images