DE102011085585A1 - Distance related electronically controlled speed control system for motor vehicles, is provided with brake pedal, where active control operation is changed automatically into another control operation after releasing of brake pedal - Google Patents

Distance related electronically controlled speed control system for motor vehicles, is provided with brake pedal, where active control operation is changed automatically into another control operation after releasing of brake pedal

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Publication number
DE102011085585A1
DE102011085585A1 DE201110085585 DE102011085585A DE102011085585A1 DE 102011085585 A1 DE102011085585 A1 DE 102011085585A1 DE 201110085585 DE201110085585 DE 201110085585 DE 102011085585 A DE102011085585 A DE 102011085585A DE 102011085585 A1 DE102011085585 A1 DE 102011085585A1
Authority
DE
Germany
Prior art keywords
brake pedal
control
acc
vehicle
speed control
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Withdrawn
Application number
DE201110085585
Other languages
German (de)
Inventor
Pei-Shih Dennis Huang
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Bayerische Motoren Werke AG
Original Assignee
Bayerische Motoren Werke AG
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Bayerische Motoren Werke AG filed Critical Bayerische Motoren Werke AG
Priority to DE201110085585 priority Critical patent/DE102011085585A1/en
Publication of DE102011085585A1 publication Critical patent/DE102011085585A1/en
Withdrawn legal-status Critical Current

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT 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
    • B60W30/00Purposes 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
    • B60W30/14Adaptive cruise control
    • B60W30/16Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT 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
    • B60W30/00Purposes 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
    • B60W30/14Adaptive cruise control
    • B60W30/143Speed control
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT 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
    • B60W50/00Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W2050/0062Adapting control system settings
    • B60W2050/0075Automatic parameter input, automatic initialising or calibrating means
    • B60W2050/0095Automatic control mode change
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT 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
    • B60W2540/00Input parameters relating to occupants
    • B60W2540/10Accelerator pedal position
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT 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
    • B60W2540/00Input parameters relating to occupants
    • B60W2540/12Brake pedal position
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT 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
    • B60W2540/00Input parameters relating to occupants
    • B60W2540/18Steering angle

Abstract

The distance related electronically controlled speed control system is provided with a brake pedal, where an active control operation is changed automatically into another control operation after the releasing of the brake pedal, when a preceding vehicle is detected and a predetermined condition is fulfilled. The actuation of a gas pedal is considered in terms of the predetermined condition. A defined way of arbitrary actuation of the brake pedal is provided as desired brake pedal actuation up to a braking force specification.

Description

  • The invention relates to a distance-related driving speed control system according to the preamble of patent claim 1.
  • Such a cruise control system is for example from the DE 197 57 062 A1 known. Such known adaptive cruise control systems (ACC) consist in particular of two components:
    • 1) from a cruise control, which basically sets a predetermined speed or keeps constant and
    • 2) from a sensor system for detecting the distance to a possibly preceding vehicle.
  • Such a sensor system includes, for example, a radar object detection sensor system that ignores usually stationary objects for the purposes of vehicle speed control. The reason for this is that a reliable assessment of stationary objects with regard to the relevance for the cruise control with the current state of sensor technology is difficult, since neither a typing of the objects nor their location to their own lane from the sensory detection is given. A recognized stationary object can, for. B. be a traffic sign off the road or a stationary vehicle in the lane with relevance to the cruise control.
  • In conventional distance-related adaptive cruise control systems, a predetermined speed is kept constant by means of an electronic control unit by appropriate programming during a first control operation ("free travel"), until a predetermined minimum distance to a preceding vehicle is reached or fallen below. During a second control operation ("following run") takes place from reaching or falling below this predetermined minimum distance, a speed control such that the predetermined minimum distance is maintained in the form of a distance-controlled follow-up drive.
  • During active cruise control, situations may occur in which the vehicle would automatically accelerate or maintain speed due to the detected situation, although this may not seem plausible or undesirable to the driver. If, for example, a vehicle with such a vehicle speed control system is guided by a preceding vehicle (distance-controlled follow-up drive) and if the speed preset by the driver is higher than the actual speed achieved by the distance-controlled following drive, an outrun of the preceding vehicle would lead to an acceleration to the predetermined speed Speed lead. This reaction usually corresponds to the driver's request. However, if a stationary object, in particular a stationary vehicle, was located in front of the previously preceding vehicle, ie within the lane, an acceleration could lead to a critical situation. This situation can occur especially in city traffic. Since this prior art stationary vehicle would be ignored for control, the vehicle would accelerate to the stationary vehicle in an implausible manner for the driver. This results in the risk of driver irritation, but at least a comfort impairment. The driver must now possibly even in the vehicle z. B. engage by pressing the brake pedal.
  • In the case of the commonly implemented cruise control systems, the control system is switched off (off mode) or switched into a non-regulating stand-by mode when the (first or second) control mode is activated in the event of the driver's voluntary activation of the brake pedal. This mode is maintained until the driver by a corresponding operation - for example, by pressing a Resume button - to recognize that he wants an automatic cruise control again.
  • Next is from the still unpublished DE 10 2011 003 486 a cruise control system is known in which in the case of an arbitrary operation of the brake pedal in a defined manner when the first or second control mode is not active, ie in the off mode or standby mode, the second control mode is automatically switched on.
  • It is an object of the invention to make the operation of a cruise control system even more comfortable.
  • This object is solved by the characterizing features of claim 1.
  • Advantageous developments of the invention are the subject of the dependent claims.
  • In the distance-related electronically controlled vehicle speed control system according to the invention for motor vehicles, during a first control operation basically a predetermined speed is kept constant until a predetermined minimum distance to a vehicle ahead reaches or falls below and during a second control operation from reaching or falling below this predetermined minimum distance a speed control takes place such that the predetermined minimum distance in the form of a is maintained in the event of actuation of the brake pedal during an active first or second control operation after release of the brake pedal automatically in the second control mode or is returned, if at this time a preceding vehicle is detected in terms of a target object and at least one other predetermined conditions is met.
  • In contrast to the prior art, therefore, the operation of the brake pedal is not used as an absolute deactivation criterion. Rather, based on existing information such. B. the environment or driver actions decided whether the driver probably wants a further automatic guidance of the vehicle or a temporary deactivation, ie a change to a standby mode.
  • The presence of a preceding vehicle or of a target object can be carried out, for example, by means of a suitably designed evaluation algorithm. This evaluation algorithm may mainly consist of a component for determining the so-called time-to-collision with respect to a detected object as well as a component for comparison between the vehicle deceleration actually generated at the time of releasing the brake pedal due to the engine drag torque and that delay which It would be necessary to be able to meet or achieve the given minimum distance to the vehicle in front in the context of the second control operation. If the difference between the current vehicle deceleration and the vehicle deceleration necessary for the second control mode is too great, the detected vehicle or object is not recognized as a target object and there is no (re-) activation of the second control mode.
  • Advantageously, after the release of the brake pedal is only automatically changed to the second control mode, if in addition to detecting the target object no lane change intent or no lane change of the driver is detected. For recognizing a lane change or a lane change intent, for example, the steering movement and / or a steering movement speed can be evaluated. If the motor vehicle is equipped with a lane change assistant, the information about a lane change intention can also be transmitted directly from lane change assistants to the vehicle speed control system.
  • Advantageously, in the sense of another predetermined condition, an operation of the accelerator pedal is taken into account. If, for example, it is recognized that an accelerator pedal actuation is present or present during the brake pedal actuation and / or immediately after the brake pedal has been released, an automatic activation of the second control mode can be prevented and switched into standby mode after the brake pedal has been released.
  • Instead of a re-activation of the second control operation with the originally predetermined speed can be specified when releasing the brake pedal speed of the motor vehicle at an automatic change in the second control mode after releasing the brake pedal as a new predetermined speed. In today's systems, this corresponds to an actuation of the so-called SET key. This can ensure that the vehicle is surprisingly not accelerated up to an originally predetermined speed for the driver after a later change to the first control mode.
  • In an advantageous embodiment of the invention can be automatically changed to the second control mode only when the brake pedal is activated with active first or second control mode after releasing the brake pedal and the presence of the appropriate conditions when made an arbitrary operation of the brake pedal in a defined manner becomes.
  • For a defined way of arbitrary operation of the brake pedal, several stepped alternatives are possible:
    Step 1: a defined manner of voluntary operation is, for example, any brake pedal operation up to a braking force preset that is less than or equal to the braking force that would be set by the active control operation.
  • Step 2: a defined manner of voluntary operation is, for example, only a light brake pedal operation; For example, only the closing of the brake light switch or a brake pressure specification that is lower than a defined (relatively low) brake pressure threshold.
  • Stage 3: a defined manner of voluntary operation of the brake pedal, for example, is merely an approximation of the foot to the brake pedal; For example, recognizable by means of an infrared sensor or by means of other proximity sensors, which are already state of the art for the detection of an expected braking request.
  • In the drawing, a particularly advantageous embodiment of the invention is shown. It shows a possible logic plan, in particular in the form of a program module for carrying out the invention in a for Driving speed control systems usually provided electronic control unit can be integrated:
  • Here, for example, according to the prior art
    • • starting from the first control mode ACC free travel by corresponding actuation of the ACC operating lever B in the ACC OFF mode,
    • • starting from the second control mode ACC follow-up drive by corresponding actuation of the ACC operating lever B in the ACC-off mode,
    • • from the ACC standby mode, by switching the ACC control lever B to the ACC off mode,
  • In addition, in principle also according to the prior art
    • • starting from the first control mode ACC free movement by pressing the brake pedal P in the ACC standby mode, and
    • • starting from the second control mode ACC follow-up drive by pressing the brake pedal P in the ACC standby mode.
  • However, this is done only if non-predetermined conditions B1 and B2, which will be discussed in more detail below, are fulfilled simultaneously when the brake pedal is released.
  • According to the invention (thick arrows) is now additionally in the case of actuation of the brake pedal P during the active first control ACC ACC drive or the second control ACC following drive after releasing the brake pedal P automatically changed to the second control ACC follow-drive, if in the sense a first condition B1, a preceding vehicle is detected and in the sense of a second condition B2 no lane change is detected. During operation of the brake pedal P, the previously active control mode can either be overridden or temporarily switched to the ACC standby mode according to the prior art.
  • The invention is intended to simplify the functional logic of the vehicle speed control system, making the use of such a system more comfortable for the driver. Under certain circumstances even a resume key required in today's systems can be omitted, which can save costs.
  • QUOTES INCLUDE IN THE DESCRIPTION
  • This list of the documents listed by the applicant has been generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.
  • Cited patent literature
    • DE 19757062 A1 [0002]
    • DE 102011003486 [0007]

Claims (8)

  1. Distance-related electronically controlled vehicle speed control system for motor vehicles, in which during a first control operation (ACC free) basically a predetermined speed is kept constant until a predetermined minimum distance to a preceding vehicle is reached or exceeded and in which during a second control operation (ACC follow-up) from reaching or falling below this predetermined minimum distance, a speed control takes place such that the predetermined minimum distance is maintained in the form of a distance-controlled subsequent drive to the vehicle in front, characterized in that in the case of actuation of the brake pedal (P) during an active first control operation (ACC free ride) or second Regular operation (ACC follow-up drive) after releasing the brake pedal (P) is automatically changed to the second control mode (ACC follow-up drive) when a preceding vehicle is detected (B1) and at least one further predetermined conditions (B2) is fulfilled.
  2. Driving speed control system according to claim 1, characterized in that after releasing the brake pedal (P) is automatically changed to the second control mode (ACC follower), if in addition no lane change intent or no lane change (B2) of the driver is detected.
  3. Driving speed control system according to claim 1 or 2, characterized in that an operation of the accelerator pedal is taken into account in the sense of another predetermined condition.
  4. Driving speed control system according to claim 3, characterized in that the operation of the accelerator pedal is taken into account such that after release of the brake pedal (P) automatically in the second control mode (ACC follower) is changed when no simultaneous or almost simultaneous operation of the accelerator pedal is detected.
  5. Vehicle speed control system according to one of the preceding claims, characterized in that when an automatic change to the second control mode (ACC follower) after releasing the brake pedal (P) as the new predetermined speed, the current when releasing the brake pedal (P) speed of the motor vehicle is specified.
  6. Vehicle speed control system according to one of the preceding claims, characterized in that in the case of an arbitrary actuation of the brake pedal (P) in a defined manner with active first operation (ACC free) or second control operation (ACC follower) after release of the brake pedal automatically in the second control mode ( ACC sequence drive) is changed.
  7. Driving speed control system according to claim 6, characterized in that a defined manner of arbitrary operation of the brake pedal (P) is any brake pedal operation up to a braking force preset, which is less than or equal to the braking force that would be set by the active control operation (ACC follower).
  8. Driving speed control system according to claim 6 or 7, characterized in that a defined manner of the arbitrary operation of the brake pedal (P) is only a slight brake pedal operation and / or an approach of the foot to the brake pedal (P).
DE201110085585 2011-11-02 2011-11-02 Distance related electronically controlled speed control system for motor vehicles, is provided with brake pedal, where active control operation is changed automatically into another control operation after releasing of brake pedal Withdrawn DE102011085585A1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
DE201110085585 DE102011085585A1 (en) 2011-11-02 2011-11-02 Distance related electronically controlled speed control system for motor vehicles, is provided with brake pedal, where active control operation is changed automatically into another control operation after releasing of brake pedal

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE201110085585 DE102011085585A1 (en) 2011-11-02 2011-11-02 Distance related electronically controlled speed control system for motor vehicles, is provided with brake pedal, where active control operation is changed automatically into another control operation after releasing of brake pedal

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DE102011085585A1 true DE102011085585A1 (en) 2013-05-02

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DE201110085585 Withdrawn DE102011085585A1 (en) 2011-11-02 2011-11-02 Distance related electronically controlled speed control system for motor vehicles, is provided with brake pedal, where active control operation is changed automatically into another control operation after releasing of brake pedal

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Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102014208185A1 (en) * 2014-04-30 2015-11-05 Conti Temic Microelectronic Gmbh Device and method for controlling the vehicle speed of a vehicle by an ACC system
DE102015000527A1 (en) * 2015-01-17 2016-07-21 Audi Ag Method for operating a motor vehicle with a longitudinal driver assistance system
WO2019048746A1 (en) 2017-09-06 2019-03-14 Renault S.A.S Method and device for controlling emergency braking distance
EP3683082A1 (en) * 2019-01-17 2020-07-22 Toyota Jidosha Kabushiki Kaisha Driving assistance apparatus

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE4437678A1 (en) * 1994-10-21 1996-05-02 Telefunken Microelectron Method fo regulating distance between motor vehicles
DE19757062A1 (en) 1997-12-20 1999-06-24 Bayerische Motoren Werke Ag Distance-related, electronically controlled vehicle speed control system
DE10336331A1 (en) * 2003-08-07 2005-03-03 Robert Bosch Gmbh Adaptive cruise control device for motor vehicles
DE102007031556A1 (en) * 2007-07-06 2009-01-08 Bayerische Motoren Werke Aktiengesellschaft Cruise control for motor vehicles
US20110066350A1 (en) * 2009-09-17 2011-03-17 Hitachi Automotive Systems, Ltd. Vehicle control system
DE102011003486A1 (en) 2011-02-02 2012-08-02 Bayerische Motoren Werke Aktiengesellschaft Electronically-controlled cruise control system for motor vehicle, enables arbitrary actuation of brake pedal in own vehicle in defined manner and switches control mode of own vehicle

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE4437678A1 (en) * 1994-10-21 1996-05-02 Telefunken Microelectron Method fo regulating distance between motor vehicles
DE19757062A1 (en) 1997-12-20 1999-06-24 Bayerische Motoren Werke Ag Distance-related, electronically controlled vehicle speed control system
DE10336331A1 (en) * 2003-08-07 2005-03-03 Robert Bosch Gmbh Adaptive cruise control device for motor vehicles
DE102007031556A1 (en) * 2007-07-06 2009-01-08 Bayerische Motoren Werke Aktiengesellschaft Cruise control for motor vehicles
US20110066350A1 (en) * 2009-09-17 2011-03-17 Hitachi Automotive Systems, Ltd. Vehicle control system
DE102011003486A1 (en) 2011-02-02 2012-08-02 Bayerische Motoren Werke Aktiengesellschaft Electronically-controlled cruise control system for motor vehicle, enables arbitrary actuation of brake pedal in own vehicle in defined manner and switches control mode of own vehicle

Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102014208185A1 (en) * 2014-04-30 2015-11-05 Conti Temic Microelectronic Gmbh Device and method for controlling the vehicle speed of a vehicle by an ACC system
DE102015000527A1 (en) * 2015-01-17 2016-07-21 Audi Ag Method for operating a motor vehicle with a longitudinal driver assistance system
WO2016112946A1 (en) * 2015-01-17 2016-07-21 Audi Ag Method for operating a motor vehicle using a longitudinal driver assistance system
CN107207007A (en) * 2015-01-17 2017-09-26 奥迪股份公司 For the method for the motor vehicle for running the driver assistance system with longitudinal guide
US10328937B2 (en) 2015-01-17 2019-06-25 Audi Ag Method for operating a motor vehicle using a longitudinal driver assistance system
CN107207007B (en) * 2015-01-17 2020-01-10 奥迪股份公司 Method for operating a motor vehicle having a longitudinally guided driver assistance system
WO2019048746A1 (en) 2017-09-06 2019-03-14 Renault S.A.S Method and device for controlling emergency braking distance
EP3683082A1 (en) * 2019-01-17 2020-07-22 Toyota Jidosha Kabushiki Kaisha Driving assistance apparatus

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