DE102007018990A1 - Non-guided vehicle`s longitudinal velocity controlling method, involves detecting different characteristics and/or markings for different lanes of roadway to identify special lanes such as motor-way exit - Google Patents
Non-guided vehicle`s longitudinal velocity controlling method, involves detecting different characteristics and/or markings for different lanes of roadway to identify special lanes such as motor-way exit Download PDFInfo
- Publication number
- DE102007018990A1 DE102007018990A1 DE102007018990A DE102007018990A DE102007018990A1 DE 102007018990 A1 DE102007018990 A1 DE 102007018990A1 DE 102007018990 A DE102007018990 A DE 102007018990A DE 102007018990 A DE102007018990 A DE 102007018990A DE 102007018990 A1 DE102007018990 A1 DE 102007018990A1
- Authority
- DE
- Germany
- Prior art keywords
- lanes
- lane
- vehicle
- different
- markings
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Withdrawn
Links
Classifications
-
- 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
- B60W30/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
-
- 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
- B60W2420/40—Photo or light sensitive means, e.g. infrared sensors
- B60W2420/403—Image sensing, e.g. optical camera
-
- 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
- B60W2552/00—Input parameters relating to infrastructure
- B60W2552/05—Type of road
-
- 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
- B60W2554/00—Input parameters relating to objects
- B60W2554/40—Dynamic objects, e.g. animals, windblown objects
- B60W2554/404—Characteristics
- B60W2554/4041—Position
-
- 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
- B60W2554/80—Spatial relation or speed relative to objects
- B60W2554/802—Longitudinal distance
-
- 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
- B60W2556/00—Input parameters relating to data
- B60W2556/45—External transmission of data to or from the vehicle
- B60W2556/50—External transmission of data to or from the vehicle for navigation systems
-
- 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
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
Abstract
Description
Die Erfindung bezieht sich auf ein Verfahren sowie eine zu dessen Durchführung vorgesehene Vorrichtung zur automatischen Längsgeschwindigkeitsregelung eines nicht spurgebundenen Fahrzeuges unter Auswertung von mittels Erfassungseinrichtung ermittelten Informationen über Abstände zu anderen Fahrzeugen auf der Fahrbahn und über Besonderheiten der jeweils befahrenen Spur einer Fahrbahn, wobei die Längsgeschwindigkeitsregelung beim Befahren vorgegebener besonderer Fahrspuren im Vergleich zu einer Fahrt auf gewöhnlichen Fahrspuren der Fahrbahn abgeänderte Sollparameter einregelt bzw. zulässt.The The invention relates to a method and an apparatus provided for its implementation for automatic longitudinal speed control a non-tracked vehicle under evaluation of means Detection device determined information about distances to other vehicles the roadway and over Special features of each used lane of a carriageway, where the longitudinal speed control when driving given special lanes compared to a ride on ordinary lanes changed the roadway Setpoint parameter controls or permits.
Ein
solches Verfahren ist Gegenstand der
Gemäß der
Die
Diese bekannten Verfahren können einerseits nur mit einer gewissen Wahrscheinlichkeit erkennen, ob eine Einfahr- bzw. Beschleunigungsspur oder eine Ausfahrtspur befahren werden. Andererseits wird eine Fahrt auf einer solchen Spur zwangsläufig als unwahrscheinlich angesehen, wenn das Navigationssystem mit veraltetem Kartenmaterial arbeiten sollte. Deshalb ist es Aufgabe der Erfindung, ein Verfahren zu schaffen, welches Besonderheiten vorgegebener Fahrspuren mit an Sicherheit grenzender Wahrscheinlichkeit berücksichtigen kann.These known methods can on the one hand only with a certain probability recognize whether negotiated an entry or acceleration lane or an exit lane become. On the other hand, a ride on such a track is inevitably as unlikely viewed when the navigation system with outdated Map material should work. Therefore, it is an object of the invention, a To provide a method which features peculiar lanes with almost certain probability can.
Diese Aufgabe wird erfindungsgemäß dadurch gelöst, dass für unterschiedliche Fahrspuren charakteristisch unterschiedliche Fahrbahnmarkierungen zur Erkennung von Besonderheiten der jeweiligen Fahrspur erfasst werden.These Task is inventively characterized solved, that for different lanes characteristically different lane markings detected for the recognition of specifics of each lane become.
Die Erfindung beruht auf der Erkenntnis, dass die zur Abgrenzung unterschiedlicher Fahrspuren dienenden Markierungen für unterschiedliche Arten der Fahrspuren charakteristisch unterschiedlich sind. Insbesondere ist die Breite der Markierungen charakteristisch unterschiedlich, so dass daran einerseits Einfahr- bzw. Beschleunigungsspuren und andererseits Ausfahrspuren gut unterschieden werden können. Die Erfindung beruht dabei auf dem allgemeinen Gedanken, die jeweilige Fahrbahn mit grundsätzlich bekannten optischen Bilderfassungssystemen und damit zusammenwirkenden Bildauswertungssystemen zu überwachen, so dass unterschiedliche Fahrbahnmarkierungen berücksichtigt werden können und im Ergebnis für Ausfahrt- bzw. Einfahrt- bzw. Beschleunigungsspuren besonders angepasste Parameter für die Längsgeschwindigkeit oder Längsbeschleunigung oder -verzögerung vorgegeben bzw. zugelassen werden können.The Invention is based on the recognition that the differentiation to differentiate Lane markers for different types of Lanes are characteristically different. In particular the width of the markers is characteristically different, so on the one hand on the one hand and acceleration traces on the other hand Extensive tracks can be distinguished well. The invention is based while on the general idea, the respective roadway with basically known optical image capture systems and image interpretation systems cooperating therewith to monitor allowing for different lane markings can be and as a result for Exit or entrance or acceleration lanes particularly adapted parameters for the longitudinal speed or longitudinal acceleration or delay can be given or allowed.
Im Übrigen wird hinsichtlich bevorzugter Merkmale der Erfindung auf die Ansprüche sowie die nachfolgende Erläuterung der Zeichnung verwiesen, anhand der bevorzugte Verfahren bzw. Vorrichtungen der Erfindung näher beschrieben werden.Incidentally, will in terms of preferred features of the invention to the claims and the following explanation referred to the drawing, based on the preferred method or devices closer to the invention to be discribed.
Schutz wird nicht nur für ausdrücklich beanspruchte, angegebene oder dargestellte Merkmalskombinationen, sondern auch für prinzipiell beliebige Kombinationen der beanspruchten, angegebenen oder dargestellten Merkmale beansprucht.protection will not only for expressly claimed, indicated or illustrated feature combinations, for .... As well in principle, any combination of the claimed, specified or claimed features claimed.
In der Zeichnung zeigtIn the drawing shows
Gemäß
Im
dargestellten Beispiel nähert
sich das Fahrzeug
Im
Fall der
Ggf.
kann für
die Längsgeschwindigkeitsregelung
zusätzlich
eine von einem Navigationssystem oder Positionsermittlungssystem
ermittelte Information berücksichtigt
werden. Beispielsweise lässt
sich über
das Navigationssystem oder Positionsermittlungssystem ermitteln,
in welchem Staat bzw. in welcher Region sich das Fahrzeug
Claims (4)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102007018990A DE102007018990A1 (en) | 2007-04-21 | 2007-04-21 | Non-guided vehicle`s longitudinal velocity controlling method, involves detecting different characteristics and/or markings for different lanes of roadway to identify special lanes such as motor-way exit |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102007018990A DE102007018990A1 (en) | 2007-04-21 | 2007-04-21 | Non-guided vehicle`s longitudinal velocity controlling method, involves detecting different characteristics and/or markings for different lanes of roadway to identify special lanes such as motor-way exit |
Publications (1)
Publication Number | Publication Date |
---|---|
DE102007018990A1 true DE102007018990A1 (en) | 2007-12-20 |
Family
ID=38690404
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
DE102007018990A Withdrawn DE102007018990A1 (en) | 2007-04-21 | 2007-04-21 | Non-guided vehicle`s longitudinal velocity controlling method, involves detecting different characteristics and/or markings for different lanes of roadway to identify special lanes such as motor-way exit |
Country Status (1)
Country | Link |
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DE (1) | DE102007018990A1 (en) |
Cited By (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102012007197A1 (en) | 2012-04-12 | 2012-11-15 | Daimler Ag | Method for adaptive speed control of vehicle, involves introducing acceleration of vehicle after target object loss after expiry of constant holding phase, during which driving speed of vehicle is constantly held |
DE102015106575A1 (en) * | 2015-04-29 | 2016-11-03 | Knorr-Bremse Systeme für Nutzfahrzeuge GmbH | Method and device for regulating the speed of a vehicle |
US9824300B2 (en) | 2016-03-01 | 2017-11-21 | Ford Global Technologies, Llc | Vehicle lane learning |
WO2019122572A1 (en) * | 2017-12-21 | 2019-06-27 | Psa Automobiles Sa | Method for detecting, during an automated driving phase of a vehicle, the presence of same in an access lane entering a road with separate carriageways |
CN110648549A (en) * | 2019-09-24 | 2020-01-03 | 北京星云互联科技有限公司 | Traffic guidance method, device and system based on vehicle-road cooperation and storage medium |
DE102021003682A1 (en) | 2021-07-16 | 2021-09-02 | Daimler Ag | Method for operating an assistance system of a vehicle |
-
2007
- 2007-04-21 DE DE102007018990A patent/DE102007018990A1/en not_active Withdrawn
Cited By (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102012007197A1 (en) | 2012-04-12 | 2012-11-15 | Daimler Ag | Method for adaptive speed control of vehicle, involves introducing acceleration of vehicle after target object loss after expiry of constant holding phase, during which driving speed of vehicle is constantly held |
DE102015106575A1 (en) * | 2015-04-29 | 2016-11-03 | Knorr-Bremse Systeme für Nutzfahrzeuge GmbH | Method and device for regulating the speed of a vehicle |
US10525975B2 (en) | 2015-04-29 | 2020-01-07 | Knorr-Bremse Systeme Fuer Nutzfahrzeuge Gmbh | Method and device for regulating the speed of a vehicle |
US9824300B2 (en) | 2016-03-01 | 2017-11-21 | Ford Global Technologies, Llc | Vehicle lane learning |
WO2019122572A1 (en) * | 2017-12-21 | 2019-06-27 | Psa Automobiles Sa | Method for detecting, during an automated driving phase of a vehicle, the presence of same in an access lane entering a road with separate carriageways |
FR3075733A1 (en) * | 2017-12-21 | 2019-06-28 | Psa Automobiles Sa | DETECTION METHOD DURING AN AUTOMATED DRIVING PHASE OF A VEHICLE FROM ITS PRESENCE IN AN INSERTION PATH TO A SEPARATE ROADWAY. |
CN110648549A (en) * | 2019-09-24 | 2020-01-03 | 北京星云互联科技有限公司 | Traffic guidance method, device and system based on vehicle-road cooperation and storage medium |
DE102021003682A1 (en) | 2021-07-16 | 2021-09-02 | Daimler Ag | Method for operating an assistance system of a vehicle |
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Legal Events
Date | Code | Title | Description |
---|---|---|---|
OAV | Publication of unexamined application with consent of applicant | ||
8127 | New person/name/address of the applicant |
Owner name: DAIMLER AG, 70327 STUTTGART, DE |
|
R005 | Application deemed withdrawn due to failure to request examination |
Effective date: 20140423 |