DE102007038059A1 - A method for operating a vehicle and vehicle distance control system with a proximity control system for performing the method - Google Patents

Abstract

The invention relates to a method for operating a distance control system (1) for vehicles, in which the distance between a vehicle (F) and a target vehicle (F1) located in front of the vehicle (F) is regulated as a function of the traffic situation by accelerating or decelerating system interventions wherein a predictive vehicle deceleration is initiated by overrun fuel cutoff and / or engagement of an energy recovery system provided in the vehicle (F) if an additional vehicle (F2) whose speed is slower is detected when the target vehicle (F1) is instantaneously ahead of the target vehicle (F1) than that of the target vehicle (F1) and / or delays its travel.

Description

The The invention relates to a method of operating a proximity control system for vehicles according to the preamble of Claim 1. The invention further relates to a vehicle with a distance control system for carrying out the method.

A generic method is already off DE 100 29 816 A1 known. From this document, a driver-assisting assistance system is known, are used in the GPS data in conjunction with a digital road map to determine the current position of the vehicle and the traffic flow data and data about the traffic behavior of other vehicles by the so-called FCD method (FCD = Floating-Car-Data) and the XFCD-method (XFCD = Extended-Floating-Car-Data) or via a vehicle-vehicle-communication are detected, and based on the acquired data an optimal driving strategy for the current traffic situation and Routing adapted driving style is determined. In particular, driving recommendations for an optimal speed, an optimal acceleration or an optimal distance to a preceding vehicle are determined and made available to the assistance system in the form of control commands in order to automatically control the vehicle according to the optimal driving strategy. The driving recommendations are geared towards avoiding as far as possible unnecessary acceleration and braking, so that the control has an optimization of fuel consumption. The assistance system is in particular a cruise control or a distance control system. A cruise control is a speed control system that regulates the speed of the vehicle to a set by the driver as set speed target speed by automatically accelerating or decelerating control actions are performed. A distance control system works on open roads like a cruise control. However, in addition, the distance to a preceding target vehicle is determined and the speed of the vehicle is adapted to the speed of the target vehicle, such that a certain speed-dependent desired distance between the vehicle and the target vehicle is maintained, if compliance with the set speed to a shortfall of the target distance would lead.

With However, this procedure can be used to identify an upstream Traffic situation and derived driving recommendations only vehicles be taken into account, which with suitable devices equipped to send and receive necessary data are.

From the DE 103 45 319 A1 Furthermore, a method for optimizing the fuel consumption of a vehicle is known in which optimized control parameters for the vehicle control are determined taking into account information about the current position of the vehicle and about the upcoming terrain. This information is determined using a satellite-based positioning system and a digital road map, and in particular includes data on the horizontal and vertical course of the route to be traveled. A fuel saving is achieved in particular by the fact that the vehicle reduces its speed when climbing up to a predetermined limit and then uses potential energy to recover speed during a downhill run and that during cornering the speed is reduced before entering the curve and when retracting from the curve is resumed.

This Procedure only considers static information about Topographical conditions of the preceding track area, but no information about other road users, and it is therefore only suitable for vehicle control on free routes.

From the DE 197 49 582 A1 For example, a fuel saving method for a vehicle is known in which distance sensors, in particular radar, lidar and ultrasonic sensors, as well as a camera and a GPS receiver are used in conjunction with a digital road map to detect the vehicle environment and, depending thereon, a consumption optimized one To determine driving profile for a low-consumption uniform driving style in a front free traffic area and to control the vehicle according to the determined driving profile.

Of the Invention is based on the object, an improved method for operating a distance control system, with the easy way to save fuel. The invention is still the object of a vehicle with a distance control system to specify the procedure.

The The object is achieved by the features of the independent claims solved. Advantageous embodiments and developments The invention will become apparent from the Untersprüchen.

The inventive method for operating a distance control system for vehicles, characterized in that the distance between a vehicle and a vehicle located in front of the target vehicle depending on the traffic situation by accelerating or ver decelerating system interventions is regulated, wherein a predictive vehicle deceleration is initiated by overrun fuel cut, if an instantaneous vehicle of the target vehicle before the target vehicle another vehicle is detected, the speed of which is lower than that of the target vehicle and / or delayed its travel unlike the target vehicle.

The Fuel cutoff is an operating condition of the vehicle, which is usually Also referred to as engine brake, in which the fuel supply to the vehicle engine interrupted when the vehicle clutch is closed is.

alternative or in addition to overrun fuel cut can be the forward-looking Vehicle deceleration can also be caused by a in the vehicle provided energy recovery system turned on becomes. An energy recovery system is a system that deprives the vehicle of kinetic energy and as a result the vehicle delayed by rotating motion of vehicle wheels in electrical energy or rotational energy of a flywheel will be converted to this at a later date Driving the vehicle into kinetic energy.

By the anticipatory vehicle deceleration depending on the traffic situation ahead of the target vehicle becomes early responds appropriately to an impending congestion and thus you get a forward-looking, to the traffic situation adapted driving style, in the frequent consumption Braking interventions and accelerations are largely avoided or be reduced in their strength.

The Operation of a conventional distance control system, is thus extended so that information about several vehicles traveling in the same direction are detected and in the case of the automatic control made by the distance control system of speed, acceleration and deceleration of the Vehicle be considered such that a fuel-saving Driving style is set. In detail, the saving of fuel achieved in that in cases where the target vehicle his journey continues without delay and in which the scheme Therefore, the distance to the target vehicle require no delay would, yet anticipating a vehicle deceleration initiated when there is a situation in front of the target vehicle, which concludes that the target vehicle is driving will delay in the near future. The anticipatory vehicle deceleration is a slight delay, the only on a fuel cut-off and / or switching on an energy recovery system is achieved and achieved without additional braking interventions.

In an advantageous embodiment of the method is the forward-looking Vehicle delay additionally depending initiated by traffic lights and / or traffic signs. To do this With the help of a camera system from the vehicle environmental images of a taken in front of the vehicle road section and by image processing with regard to the detection of traffic signals and / or traffic signs and the anticipatory vehicle deceleration is then initiated when the traffic lights or traffic signs stopping the vehicle or at least reducing the speed of the vehicle.

In a further advantageous embodiment of the method is the anticipatory vehicle deceleration in addition also depending on information about one Traffic flow and / or traffic in a preceding one Road section initiated. The traffic flow is one Measure of the number of vehicles per time interval and the traffic volume is a measure of the number the vehicle per path length of the section. The Information about traffic flow or traffic volume are detected using a traffic information system and it is adapted to the flow of traffic or traffic optimal speed determined in the present traffic flow or traffic as fast as possible of the section allows. The forward-looking Vehicle deceleration is initiated and the speed of the vehicle thereby lowered to the optimum speed, if the current speed of the vehicle is higher than the optimal speed. The time for the introduction the anticipatory vehicle deceleration is expediently so determined that the vehicle until reaching the point the road section with the highest traffic flow or highest traffic through the curve alone the anticipatory vehicle deceleration to the optimum Speed is delayed, d. H. that no additional braking interventions are required.

In a further advantageous embodiment of the method, the anticipatory vehicle deceleration is additionally initiated as a function of information about the course of the road section lying ahead. For this purpose, with a satellite-based position determination system in conjunction with a digital road map, a preceding curve is detected in the road section in front of the vehicle and a limit speed is determined for a safe or comfortable passage through the curve. The predictive driving The deceleration of the vehicle is initiated and the speed of the vehicle is thereby lowered to the limit speed if the current speed of the vehicle is higher than the limit speed. The time for the initiation of the anticipatory vehicle deceleration is expediently determined in such a way that the vehicle is decelerated to the limit speed solely by the anticipatory vehicle deceleration until reaching the curve, ie that no additional braking interventions are required for this purpose.

One Vehicle with a distance control system for implementation of the method according to the invention comprises a Detection device with at least two distance sensors, the horizontally offset from each other on the vehicle are arranged to transversal driving also allow the detection of vehicles, which are in front of the target vehicle.

The Distance sensors are preferably radar sensors and / or lidar sensors trained and they are preferably in the front of the vehicle at vehicle corners of the vehicle or at least close to the vehicle corners appropriate.

• – ein Kamerasystem in Verbindung mit einem Bildverarbeitungssystem zur Erkennung von Ampeln und/oder Verkehrszeichen in einem Straßenabschnitt vor dem Fahrzeug,
• – ein satellitengestütztes Positionsbestimmungssystem in Verbindung mit einer digitalen Straßenkarte zur Ermittlung des horizontalen und/oder vertikalen Verlaufs des Straßenabschnitts vor dem Fahrzeug,
• – einen Verkehrsinformationsempfänger zum Empfang von Informationen, die von einem Verkehrsinformationssystem ausgesendet werden und sich auf die Verkehrssituation vor dem Fahrzeug beziehen.

In an advantageous embodiment, the detection device has at least one of the following further devices:

• A camera system in conjunction with an image processing system for detecting traffic lights and / or traffic signs in a road section in front of the vehicle,
• A satellite-based positioning system in conjunction with a digital road map for determining the horizontal and / or vertical course of the road section in front of the vehicle,
• A traffic information receiver for receiving information transmitted by a traffic information system relating to the traffic situation in front of the vehicle.

The Information provided by these systems is additional Criteria for the initiation of the proactive Vehicle deceleration can be taken into account, to achieve a fuel-saving driving style.

The Distance control system calculates from all available Information a speed that is optimal to a situation Fuel consumption leads. With the help of timely automatic accelerating or delaying interventions in a drive system or braking system of the vehicle is the speed the vehicle is regulated to the calculated speed, which is in the Result leads to a fuel consumption-optimized driving style. In summary, with the invention Procedure offered assistance to the driver of the vehicle, the safety of passengers and other road users increased and at the same time to a fuel consumption minimized Driving leads.

embodiments The invention will be described in more detail below with reference to drawings explained. Show it:

1 1 is a schematic functional diagram of a distance control system for carrying out the method according to the invention,

2 a schematic representation of a traffic situation with several transversely offset behind one another moving vehicles.

According to 1 The distance control system of a vehicle, not further shown, hereinafter referred to as system vehicle, comprises a control device 1 for generating actuating signals s2, s3, s4, various actuators 2 . 3 . 4 for controlling the longitudinal movement of the system vehicle in accordance with the control signals s2, s3, s4, a detection device 5 . 6 . 7 . 8th . 9 for detecting information about the driving state of the system vehicle and for detecting information about the traffic situation in a road section in front of the system vehicle and an information interface 10 for processing of the detection systems 5 . 6 . 7 . 8th . 9 provided information and generation of setpoints s10 for the control device 1 ,

In detail, those of the detection device 5 . 6 . 7 . 8th . 9 captured information of the information interface 10 supplied as input information s5, s6, s7, s8, s9. The information interface 10 evaluates the input information s5, s6, s7, s8, s9 and calculates therefrom an optimal target speed and an optimal target acceleration for an optimum fuel consumption of the system vehicle. The nominal acceleration may also be negative, which corresponds to a delay. The optimum setpoint speed and optimum setpoint acceleration are the control device 1 supplied as nominal values s10.

The control device 1 sets the setpoint s10 in control signals s1, s2, s3 for the control of the various actuators 2 . 3 . 4 around. At the actuators 2 . 3 . 4 it is in particular an actuator 2 for performing an intervention in a braking system of the system vehicle to an actuator 3 for performing an intervention in an engine control of the system vehicle and an actuator 4 for performing an intervention in a gearbox taxation of the system vehicle, provided it is equipped with an automatic transmission. The interventions are done by the actuators 2 . 3 . 4 in accordance with the respective actuating signals s2, s3, s4, with the result that the longitudinal movement of the system vehicle is regulated in accordance with the desired values s10.

The detection device comprises a driving state sensor device 5 which determines the current speed and the current acceleration of the system vehicle and this driving state information of the information interface 10 provided as input information s5.

The detection device furthermore comprises an object recognition system embodied as a radar system or lidar system 6 , which detects vehicles which are located in a travel corridor in front of the system vehicle, and which determines the distances between the detected vehicles and the system vehicle and the relative speeds of the detected vehicles with respect to the system vehicle and this object information of the information interface 10 as input information s6 provides.

The detection device can optionally also have a camera system 7 with a camera aligned in the direction of travel. With such a camera system 7 For example, environmental images can be taken from the road section in front of the system vehicle, and information on traffic light signals and traffic signs can be extracted therefrom by image processing and the information interface 10 as further, the traffic regulation concerning input information s7 provide.

The detection device may further comprise a satellite-based position determination system 8th include, are determined with the data on the current position of the own vehicle, in particular GPS position data, and with the help of data from a digital road map information about the topography of the ahead still to be traveled road section, in particular information about slopes, gradients and road courses are determined , and the information interface 10 be provided as further, the road characteristic relating input information s8.

The detection device can also be a traffic information receiver 9 comprising information from a traffic information system, in particular information about the local traffic volume or the local traffic flow in the preceding road section or a recommendation for a local speed adapted to the traffic flow or to the traffic volume, and the received information of the information interface 10 as another, the local traffic situation characterizing input information s9 provides. In particular, the traffic information system is a toll collection system, a traffic control system, a TMC information system (TMC) or an information system which operates according to the FCD or XFCD method mentioned at the outset. However, the traffic information system may also include vehicle-vehicle communication systems with which driving state information is exchanged directly between the system vehicle and other preceding vehicles.

The distance control system is modified from a conventional distance control system in that not only a target vehicle traveling directly in front of the system vehicle is taken into account in the regulation of the longitudinal movement, but also the traffic situation in front of the target vehicle. The assessment of the traffic situation in front of the target vehicle is in the information interface 10 based on the provided input information s5, s6, s7, s8, s9 made. If it is determined from this information that traffic is stalling or likely to stall in front of the target vehicle, the speed of the system vehicle is anticipated to be delayed by fuel cut and, if the system vehicle is equipped with an energy recovery system, by the energy recovery system. As a result of this measure, the distance to the immediately preceding target vehicle is increased in a forward-looking manner, so that space is created between the system vehicle and the target vehicle in advance, thereby creating the possibility of delaying the braking interventions required for a distance-controlled tracking of the target vehicle and of decreasing their strength hold. This results in a largely uniform driving style, in which frequent and low-consumption switching between strong accelerations and delays are avoided. The result is thus a more even and thus more fuel-efficient driving style than in a conventional distance control, in which only the immediately preceding target vehicle is taken into account.

This mode of operation is easiest to do with the in 2 illustrate the typical traffic situation on a road.

In 2 is the system vehicle is denoted by the reference F. In front of the system vehicle F drives a vehicle F1, which has been detected by the distance control system as a target vehicle and the system vehicle F follows distance controlled. In front of the target vehicle F1 is another vehicle F2.

The System vehicle F, as an object recognition system, has two as radar sensors trained distance sensors Rl, Rr on the front of the System vehicle F are each attached to a vehicle corner. The detection ranges of the distance sensors Rl, Rr are with EBl or EBr.

By the horizontally offset arrangement of the distance sensors Rl, Rr is the possibility created in transversely offset driving the vehicles F, F1, F2 both the immediately preceding target vehicle F2 as well as to detect before this driving another vehicle F2 and their distances to the target vehicle F and relative speeds with respect to the target vehicle F to determine.

It is thus possible to recognize situations in which the Target vehicle F1 unchanged or accelerated continues, although the other vehicle F2 slower than that Target vehicle F1 or its drive in contrast to the target vehicle F1 delayed. If such a situation is detected, then the system vehicle F is forward-looking delayed, because it it can be assumed that the target vehicle F1 will follow its journey will also delay. The anticipatory vehicle deceleration of the system vehicle F takes place by fuel cut and by Activation of the possibly existing energy recovery system. braking interventions are not at the forward-looking vehicle deceleration performed, they are performed only when the target vehicle F1 also delays his drive and if they are in favor of maintaining a safe distance to Target vehicle F1 are required.

you thus receives a driving style adapted to the traffic situation, not necessarily the speed of the target vehicle F1, but the slowest of all in the lane of the system vehicle F detected vehicles F2 is crucial. Furthermore you can not shown in detail on the basis of the detection area EB1 Objects, e.g. B. an overtaking vehicle can be detected. As a result, an eventual danger situation may arise by passing, comparing all input information detected and by means of early automatic adjustment the driving style of the system vehicle F can be avoided. In addition, you can Shedding vehicles not shown in detail due the wide detection ranges EBl, EBr in the vicinity of the system vehicle F detected early and taken into account in the distance control become.

In 2 is with K a camera of in 1 shown camera system 7 and EBv denotes an associated detection area. With the camera system 6 Recognize traffic signs or traffic lights based on environmental images taken with camera K. The information about the detected traffic signs or traffic lights are taken into account in the distance control such that the anticipatory vehicle deceleration is additionally initiated even if the traffic sign or the traffic light, a reduction in the speed of the system vehicle is possibly offered to a standstill. For example, the anticipatory delay is initiated at a red signal of a traffic light or at speed-limiting traffic signs, e.g. As stop signs, Vorfahrtgewähren signs or speed limit signs, and so early that the system vehicle F at the location of the traffic light or the relevant road sign comes to a standstill or reaches a prescribed by the road sign permissible maximum speed, without the need for additional deceleration a braking intervention is required.

If the system vehicle F with the in 1 shown traffic information receiver 9 equipped, the information provided by this s9 on the traffic volume and the traffic flow in the leading road section can be used in addition to expand the forecast horizon of the distance control system and to detect a stagnant traffic situation in good time and adapt the speed of the system vehicle F in time to the traffic, so in that the fastest possible passage through the road section is achieved. In this way, even in traffic jam situations, one obtains the most uniform possible and thus consumption-optimized driving style.

The information s8 of the position determination system 8th Additional information may be provided on the road ahead of the road section to identify points in the road segment where road users are likely to reduce their speed. These are, in particular, curves in the road section ahead. Thus, the speed of the system vehicle F, for example, before a curve can be reduced early by initiating the anticipatory vehicle deceleration so that an additional braking just before the curve is no longer necessary, resulting in a saving of fuel and a reduction in wear of a brake system of the system vehicle F leads. In addition, the system vehicle F can be anticipated accelerated at a detected leading slope to take momentum for overcoming the slope. IMP EXP Thus, the driving style of the system vehicle F can thus also be adapted to the local conditions, taking into account the horizontal and vertical course of the road section still to be traveled, with a view to optimizing fuel consumption.

QUOTES INCLUDE IN THE DESCRIPTION

This list The documents listed by the applicant have been automated generated and is solely for better information recorded by the reader. The list is not part of the German Patent or utility model application. The DPMA takes over no liability for any errors or omissions.

Cited patent literature

• - DE 10029816 A1 [0002]
• - DE 10345319 A1 [0004]
• DE 19749582 A1 [0006]

Claims (9)

Method for operating a distance control system ( 1 ) for vehicles, in which the distance between a vehicle (F) and a target vehicle (F1) located in front of the vehicle (F) is regulated as a function of the traffic situation by accelerating or decelerating system interventions, characterized in that a predictive vehicle deceleration by fuel cut and / or switching on of an energy recovery system provided in the vehicle is initiated if an instantaneous journey of the target vehicle (F1) in front of the target vehicle (F1) another vehicle (F2) is detected whose speed is less than that of the target vehicle (F1) and / or delayed his drive. Method according to claim 1, characterized in that by means of a camera system ( 7 ) are detected by image processing of recorded from the vehicle (F) environment images of a road section ahead traffic signals and that the predictive vehicle deceleration is still initiated when the detected traffic signals or traffic signs stopping the vehicle (F) or at least reducing the Speed of the vehicle (F). Method according to one of the preceding claims, characterized in that by means of a traffic information system ( 9 ) Information about the traffic flow and / or the traffic in a road section in front of the vehicle are detected that an adapted to the traffic flow or the traffic optimal speed for the fastest possible driving through the road section is determined, and that the speed of the vehicle in If the optimum speed is exceeded, the anticipatory vehicle deceleration is lowered to the optimum speed. Method according to one of the preceding claims, characterized in that by means of a satellite-based position determination system ( 8th ) in conjunction with a digital road map, a leading curve is detected, that a limit speed for safe or comfortable driving through the curve is determined, and that the speed of the vehicle is lowered in the event of exceeding the limit speed by the anticipatory vehicle deceleration to the limit speed. Vehicle having a distance control system for carrying out the method according to one of the preceding claims, characterized in that a detection device (15) for detecting the target vehicle (F1) and the vehicle (F2) driving ahead of it 5 . 6 . 7 . 8th . 9 ) are provided with at least two distance sensors (Rl, Rr), wherein the distance sensors (Rl, Rr) on the vehicle (F) are arranged offset from each other horizontally. Vehicle according to claim 5, characterized in that that the distance sensors (Rl, Rr) as radar sensors and / or Lidarsensoren are formed. Vehicle according to claim 6, characterized that the distance sensors (Rl, Rr) in the front of the vehicle (F) attached to vehicle corners or at least close to the corners of the vehicle are. Vehicle according to one of claims 5 to 7, characterized in that the detection device ( 5 . 6 . 7 . 8th . 9 ), at least one of the following other bodies ( 7 . 8th . 9 ) for detecting further environmental information (s7, s8, s9) which are taken into account as further criteria for the initiation of the anticipatory vehicle deceleration: a camera system ( 7 ) in conjunction with an image processing system for detecting traffic lights and / or traffic signs in a road section in front of the vehicle (F), - a satellite-based positioning system ( 8th ) in conjunction with a digital road map for determining the horizontal and / or vertical course of the road section in front of the vehicle (F), - a traffic information receiver ( 9 ) for receiving information transmitted by a traffic information system relating to the traffic situation in front of the vehicle (f). Vehicle according to one of the claims 8, characterized in that that the distance control system is set up, the movement of the Vehicle (F) taking into account the other environmental information (s7, s8, s9) to regulate such that a fuel-saving driving is achieved.