DE102014209520B4 - Automatic distance control system for a vehicle - Google Patents

Abstract

A method for an automatic distance control system of a vehicle, the method comprising: - detecting a foreign vehicle (40), wherein the foreign vehicle (40) on a different lane (42) than the own lane (12) of the vehicle (10) is located, and Detecting a lane change intent of the foreign vehicle (40), the lane change intent indicating an intended lane change of the foreign vehicle (40) from the other lane (42) to the own lane (12), automatically determining whether by decelerating the vehicle (10) a predetermined minimum distance to the other vehicle (40) can be met, characterized in that the predetermined maximum deceleration value is detected via a user interface of the vehicle (10), and that the capturing the lane change intent of the foreign vehicle (40) comprises: - detecting a turn signal (43, 44) a winker of the foreign vehicle (40), and / or receiving a message from the foreign vehicle (40) via a radio communication link between the vehicle (10) and the foreign vehicle (40), and / or determining an approximation of Foreign vehicle (40) to an obstacle on the other lane (42).

Description

The present invention relates to a method for an automatic distance control system of a vehicle, in particular a method which assists threading of other vehicles in front of the own vehicle. The present invention further relates to a gap control system using the method.

In manual driving of a vehicle, such as a passenger car or a truck, the longitudinal control of the vehicle, so accelerating or decelerating the vehicle, manually by the driver of the vehicle. Many drivers cooperate vis-à-vis other road users by assisting them in carrying out certain driving maneuvers or by facilitating the execution of these driving maneuvers. For example, a driver can support another author driver, if the other motorist wants to thread himself into the flowing traffic, for example in the area of a motorway ramp. For example, the driver can assist the other driver with threading by reducing the speed of his own vehicle or by creating a lane change for the shearsman.

Such scenarios occur frequently in road traffic, for example when driving on a motorway. In an otherwise monotonous driving situation, they require an attentive driver who observes their environment, closes the intentions of other road users and finally, depending on the environment, makes a decision as to whether and how he can and wants to support other road users.

If the vehicle has a system for automatic longitudinal regulation, for example an adaptive cruise control (ACC), the distance to a vehicle ahead in its own traffic lane is automatically regulated and its own speed is adapted accordingly. Usually, a vehicle equipped with such an adaptive cruise control system ignores other road users who are located on other lanes. The automatic longitudinal regulation will therefore not be cooperative with these other road users. In the aforementioned scenarios, the driver can intervene manually to consider a lane change request of another road user.

In this context is from the DE 10 2005 023 185 A1 a lane change assistant for motor vehicles is known, which comprises a recommendation device which is adapted to predict a time development of vehicle distances and issue a recommendation for a lane change when this lane change is safely possible and when the distance to a preceding vehicle on its own lane within a predetermined period of time will be smaller than a predetermined minimum distance.

The DE 10 2007 029 483 A1 relates to a distance control device for motor vehicles with a location system for locating vehicles ahead on their own lane and on side lanes, a controller for controlling the speed of the own vehicle as a function of a distance to a vehicle ahead in its own lane and an evaluation module for evaluating a Einscherwahrscheinlichkeit for vehicles located on a secondary lane. The distance control device further comprises a reaction module for triggering a stepped response of the controller as a function of the Einscherwahrscheinlichkeit. The evaluation module is further configured to determine the Einscherwahrscheinlichkeit depending on the lateral speed and the lateral distance of the located vehicle and additionally in dependence on the differential speed between the located vehicle and the own vehicle.

The DE 10 2010 020 047 A1 relates to a method for adapting a predetermined distance given for a distance control system of a vehicle to an instantaneous traffic situation. By evaluating the traffic situation, probabilities for a potential collapse of foreign vehicles driving on adjacent lanes are determined. The traffic situation is additionally evaluated as to whether the potential collapse of a respective other vehicle would be due to given emergency situations or without the existence of a given emergency situation. In the event that a determined probability of a potential foreign vehicle collapse is above a predetermined probability value, a hardness of a target distance control in the distance control system is increased in order to achieve a faster response of the target distance control to the potential collapse of the other vehicle.

The DE 10 2013 101 858 A1 relates to a vehicle-spacing control device. The vehicle distance control apparatus comprises a vehicle distance detecting means for detecting a vehicle distance between the own vehicle and the preceding vehicle, a laterally adjacent vehicle detecting means for detecting another vehicle, which is present beside the own vehicle, a shifter detecting means for judging whether or not Crushing by the other vehicle detected by the laterally adjacent vehicle detecting means is likely to occur or not before the other vehicle intervenes between the own vehicle and the preceding vehicle, a vehicle-distance adjusting means for performing a vehicle-distance magnification adjustment To increase the vehicle spacing when the licker-in detection means judges that shearing is likely to occur and a vehicle-spacing control means for controlling the vehicle-spacing based on information from the vehicle-distance-adjusting means.

The EP 1 095 833 B1 relates to a method for automatic distance control of vehicles. In the method, a distance control device sends a brake-ready signal to a brake system when, due to an environmental situation, braking is to be expected shortly. In this context, the contextual situation is to be understood as the recognition of certain characteristic traffic situations and driving behavior patterns. An environment situation may be, for example, a vehicle located on an adjacent lane, which tends to engage the lane of the vehicle to be controlled.

The DE 10 2013 009 995 A1 discloses a method for controlling the distance of a vehicle, wherein an instantaneous travel speed of the vehicle is regulated and / or controlled as a function of a detected distance to a preceding vehicle. According to the invention, a vehicle shunting in front of the vehicle is detected and a time period required for the overtaking procedure is predicted, it being determined as a function of the predicted time duration and the current vehicle speed whether the vehicle is braking by means of a low braking force as the first deceleration strategy and by means of a subsequent deceleration can be delayed as a second deceleration strategy to reduce the distance between the vehicle and the preceding vehicle to a maximum of a predetermined desired distance within the time period.

The DE 100 30 258 A1 discloses a method of controlling the distance of a vehicle to a preceding foreign vehicle by detecting state variables and vehicle characteristics as well as the distance and vehicle speed of at least one surrounding foreign vehicle and adjusting the distance to the other vehicle and the vehicle's own speed to allowable limits. To increase driving safety, the vehicle's own speed and / or the desired distance to the directly preceding foreign vehicle are determined as a function of the vehicle speed of at least one laterally displaced foreign vehicle and / or the distance between a plurality of laterally displaced foreign vehicles.

The DE 10 2013 013 242 A1 discloses a driver assistance system for vehicle longitudinal control of a vehicle with respect to a foreign vehicle, preferably for speed and / or distance control.

The methods known in the prior art consider a potential Einscherer therefore to the effect that, for example, a control parameter ("hardness") of the pitch control is adjusted to allow in the presence of an emergency situation of the Einscherers a shearing. Enabling shuffling in front of the own vehicle, as a cooperative driver would manually do in a given situation, can not be realized with the methods disclosed in the prior art.

It is therefore an object of the present invention to improve an automatic distance control system of a vehicle in that it enables a threading of foreign vehicles in front of the own vehicle in a similar manner as a cooperative driver would do.

According to the present invention, this object is achieved by a method for an automatic vehicle distance control system according to claim 1 and a vehicle distance control system according to claim 8. The dependent claims define preferred and advantageous embodiments of the invention.

In accordance with the present invention, a method for an automatic vehicle pitch control system is provided. In the method, a foreign vehicle is detected, which is located on a different lane than the own lane. Furthermore, a lane change intention of the other vehicle is detected, which indicates an intended lane change of the other vehicle from the other lane to the own lane. In a detected lane change intention is automatically determined whether a predetermined minimum distance to the other vehicle can be maintained by delaying the vehicle with a delay which is less than or equal to a predetermined maximum deceleration value. The predetermined maximum deceleration value corresponds to a desired comfort deceleration which a driver is prepared to tolerate in order to have the third party vehicle threaded in front of his own vehicle.

In other words, other road users are initially detected. This can be done, for example, as is customary in distance control systems, with the aid of a radar sensor. With the help of radar sensors, the distances and relative speeds of other road users are recognized to the own vehicle. Furthermore, lanes can be detected, for example with the aid of a camera sensor system. The detected vehicles can then be assigned to the recognized lanes and it is thus known whether there are vehicles on their own and / or on the left and / or right lanes and at what distance and at which speed they move. Furthermore, a lane change intention of those vehicles is determined which are located on a left or right adjacent lane in the direction of travel in front of the own vehicle and intend to change by a lane change to the right or left on the currently self-driving lanes. On the basis of distance and relative speed to the other vehicle with Einscheran intent is determined whether by a reaction of the own vehicle with the given comfort delay, the distance to the einscher willing other vehicle in the course of time does not fall below a predetermined minimum value. Thus, it is determined whether a comfortable deceleration would be sufficient to allow the monopolist foreign vehicle to engage in front of its own vehicle.

In detail, the automatic determination of whether a predetermined minimum distance to the other vehicle can be maintained by delaying one's own vehicle with the comfort delay can be carried out, for example, as follows. If a vehicle wants to change its own lane, it is checked whether this vehicle is in front of the own vehicle and whether it is slower than the own vehicle. If so, a limit value for the relative speed between the own vehicle and the other vehicle is determined from the measured distance to the other vehicle and a relative acceleration between the own vehicle and the other vehicle as well as a minimum time gap and a minimum distance. The actual relative speed between the own vehicle and the foreign vehicle is compared with the calculated relative speed limit, and if the actual relative speed is less than the limit, the own vehicle may be delayed by a delay equal to or less than the comfort delay to the other vehicle to be threaded in front of your own vehicle.

According to one embodiment, the method further comprises the step of automatically decelerating the vehicle depending on the determination whether the predetermined minimum distance to the other vehicle can be maintained by decelerating the vehicle with the deceleration which is less than or equal to the predetermined maximum deceleration value , Alternatively or additionally, as a function of this determination, the one-person foreign vehicle may be selected as the target vehicle of the distance control system, and thus automatically a distance between the vehicle and the other vehicle may be regulated while the other vehicle is still in the other lane. Thus, a cooperative driving behavior of the automatic distance control system can be achieved while allowing comfortable driving for the driver of the vehicle.

According to one embodiment, in the automatic regulation of the distance between the vehicle and the other vehicle on the other lane a predetermined minimum distance to the other vehicle can be maintained, which is shorter than a predetermined minimum distance, which is adhered to a vehicle in the own lane. In other words, in the case that the other vehicle is allowed to collapse in front of the own vehicle, a commonly used minimum distance can be reduced since it is to be expected that the foreign vehicle will accelerate during shearing and thus the shortened minimum distance will actually only for a short time is being used. This can be an unnecessarily strong deceleration of your own vehicle can be reduced and at the same time the other vehicle comfortable Einscheren be enabled.

If, by delaying the vehicle with the deceleration which is less than or equal to the predetermined maximum deceleration value, the predetermined minimum distance to the other vehicle can not be met, according to a further embodiment, a control behavior of the distance control system can be changed such that the distance control system has a deceleration value for used automatic deceleration of the vehicle, which is higher than a deceleration value, which uses the distance control system when no other vehicle is detected with lane change intent. This embodiment therefore relates to the case that a collapse of the foreign vehicle using maximum comfort delay is not possible and therefore the own vehicle is not delayed cooperatively. Since in this case, nevertheless, there is a certain probability that the other vehicle einschert anyway, the distance control system is sensitized in this case to the effect that it reacts in the case of shearing the foreign vehicle with a higher deceleration, that is harder, to avoid a dangerous situation due to too short a minimum distance.

According to the invention, the predetermined maximum deceleration value is detected via a user interface of the vehicle. For example, the user can enter the predetermined maximum delay value, ie the maximum comfort delay, directly as a numerical value or a relative value. Alternatively or additionally, the predetermined maximum deceleration value may also be influenced indirectly by the user, for example by a choice of a driving program, such as e.g. sporty or economical, or by an analysis of the driving behavior of the driver in manual longitudinal control mode.

According to one embodiment, the method is performed in parallel for a plurality of foreign vehicles that are located on lanes other than the own lane. As a result, the method can also effectively ensure, for example on multi-lane highways, a cooperative operation of one's own vehicle.

The lane change intent of the foreign vehicle is inventively detected by a turn signal of a turn signal of the other vehicle is detected with, for example, a camera sensor of the own vehicle, or by receiving a message from the other vehicle via a radio communication connection between the own vehicle and the other vehicle from the other vehicle. The message may include, for example, the blinker status in the form of a cooperative awareness message (CAM). According to the invention, the lane change intent of the other vehicle can be determined by detecting a surrounding area in front of the other vehicle and determining an approach of the other vehicle to an obstacle on the other lane. When the other vehicle approaches this obstacle at undiminished or high speed, it can be considered that the other vehicle will seek a lane change to avoid the obstacle. The obstacle may e.g. be the end of a speeding strip at a freeway ramp. By means of the previously described possibilities for detecting a lane change intention of the other vehicle, a cooperative behavior of the own vehicle can be ensured and thus the traffic safety can be increased and an overall vehicle throughput in road traffic can be improved.

According to the present invention, there is further provided a vehicle distance control system comprising a detection device and a processing device. The detection device is used to detect one or more foreign vehicles, which are located on a lane other than the own lane. Further, the detection device is for detecting a lane change intent of the one or more foreign vehicles. The lane change intent indicates an intended lane change of the foreign vehicle from the other lane to the own lane. The processing device is capable of determining whether a predetermined minimum distance to the other vehicle can be maintained by delaying the own vehicle with a delay which is less than or equal to a predetermined maximum deceleration value. The predetermined maximum deceleration value corresponds to a deceleration value which a driver of the own vehicle feels as a comfortable deceleration value, which the driver is willing to accept in his own journey, in order to enable a foreign vehicle to thread or shear in front of his own vehicle.

The distance control system is further configured to carry out one or more of the previously described methods, and therefore also includes the previously described advantages of the previously described method.

The present invention further relates to a vehicle with the above-described distance control system. The above-described distance control system can in particular be integrated into a customary adaptive distance control system, whereby already commonly used sensors and a commonly present processing device can be used in an advantageous manner, so that only small additional costs for implementation of the method described above arise in the vehicle.

• 1 zeigt schematisch ein Fahrzeug gemäß einer Ausführungsform der vorliegenden Erfindung auf einer Fahrbahn in Verbindung mit mehreren Fremdfahrzeugen.
• 2 zeigt ein Verfahren für ein automatisches Abstandsregelungssystem gemäß einer Ausführungsform der vorliegenden Erfindung.
• 3 bis 6 zeigen Richtungsfelder bei einer Annäherung des eigenen Fahrzeugs an ein Fremdfahrzeug, welche das Verfahren der 2 näher erläutern.

The present invention will be described below in detail with reference to the drawings.

• 1 schematically shows a vehicle according to an embodiment of the present invention on a roadway in connection with several foreign vehicles.
• 2 shows a method for an automatic distance control system according to an embodiment of the present invention.
• 3 to 6 Direction fields in an approach of the own vehicle to a foreign vehicle, which is the method of 2 explain in more detail.

1 shows a vehicle 10 For example, a passenger car or a truck, which on a lane 12 in the direction of the arrow 11 moves. The vehicle 10 becomes hereinafter also referred to as "own vehicle". The vehicle 10 includes a detection device 13 and a processing device 14 , The detection device 13 is capable of other vehicles, such as vehicles 20 . 30 and 40 , on your own lane 12 or on neighboring lanes 22 . 42 within a detection area, which is indicated by the dashed lines 15 is characterized to capture. The detection device 13 For example, it may include a radar system, a lidar system, an ultrasound system, a camera-based optical system, or a combination thereof. The processing device 14 is with the detection device 13 coupled and able, due to information in the environment of the vehicle 10 in the coverage area 15 Signals to a longitudinal control of the vehicle 10 spend to the vehicle 10 either accelerate, decelerate or run at a constant speed. The combination of the detection device 13 and the processing device 14 For example, it may provide the functionality of adaptive proximity control, such as the vehicle 10 automatically at a predetermined distance to a preceding vehicle on the same lane, so for example at a predetermined distance to the vehicle 30 , respectively. Furthermore, the processing device 14 be configured below with reference to the 2 to 6 described method to perform a so-called cooperative behavior of the vehicle 10 in road traffic, which allows vehicles from neighboring lanes, such as the vehicles 20 or 40 , safe and easy on your own track 12 can change.

2 shows a method 50 with process steps 51 - 58 , In a first step 51 other road users, in particular other vehicles on adjacent lanes are detected. In 1 For example, the vehicles 20 and 40 recorded, which is on the lanes 22 or. 42 are located and in the direction of the arrows 21 or. 41 move. Furthermore, vehicles can also drive in their own lane 12 So for example the vehicle 30 , which is in the direction of the arrow 31 in front of your own vehicle 10 moves, be detected. The detection can be done, for example, as is often the case with distance control systems, using a radar sensor.

With the help of the detection device can in step 52 to each of the other vehicles 20 . 30 . 40 a corresponding distance dx and a corresponding relative velocity dv be determined. Furthermore, lanes can 12 . 22 and 42 be recognized for example by means of a suitable camera sensors and recognized vehicles 20 . 30 . 40 can recognize the detected lanes 12 . 22 . 42 be assigned. Thus, it is known whether there are vehicles on their own lane and / or on the left and / or right adjacent lanes, at which distance they are located and at which relative speed they are moving. In step 53 a lane change intent is determined by vehicles which are located on a left or right adjacent lane in the direction of travel in front of the own vehicle and which intend to change by a lane change to the right or left to the currently self-driving lane. In the in 1 example shown, for example, the vehicle 20 from the lane 22 in your own lane 12 change and the vehicle 40 For example, from the lane 42 in your own lane 12 switch. Vehicles that have a lane change intent from an adjacent lane in their own lane will be referred to in the following description as "Einscherer". Accordingly, a lane change intention will be hereinafter also referred to as a "collier intention". The recognition of this so-called Einscheran intent can be based on different sources. For example, a set turn signal, as in 1 by the reference numerals 23 . 24 for the vehicle 20 such as 43 and 44 for the vehicle 40 is shown with the aid of a camera of the detection device 13 be recognized. Furthermore, for example, a turn signal status in a so-called cooperative awareness message (CAM) via a vehicle-vehicle communication from the neighboring foreign vehicles 20 . 40 to your own vehicle 10 be transferred, whereby the lane change intention is signaled. Furthermore, the lane change intent, for example, from a relative speed of the other vehicle to another vehicle, which drives the other vehicle ahead, be determined. For example, the foreign vehicle can approach this further vehicle and a lane change intent can be detected from a speed difference of this approach. Furthermore, the lane change intent may be detected from a situation which is for the vehicle 40 in 1 is shown. In the in 1 The situation ends the lane 42 which the vehicle 40 is traveling. From the speed of the vehicle 40 currently drives and a remaining length of the lane 42 can be concluded on whether the vehicle 40 a lane change intended or not. Such a situation is typically found, for example, on motorway ramps. The end of the lane 42 For example, with the help of a camera sensor of the detection device 13 be detected or determined from information on a digital road map.

Next, based on distance dx and relative speed dv of the other vehicle determined with Einscherapsicht, whether by a reaction of the own vehicle with a predetermined delay, in particular with a so-called "comfort delay", the distance to the einscherwilligen vehicle in the course of time does not fall below a predetermined minimum value. In other words, it is determined whether a comfortable deceleration is sufficient to allow the foreign vehicle with Einscheran intent to collapse in front of the own vehicle. This can be determined, for example, in step 54 a delay is determined, which is required to make the other vehicle einscheren considering a minimum distance to be observed. In step 55 For example, this required deceleration can be compared with the desired comfort delay and, depending on the comparison, the decommissioning can be made possible by a cooperative deceleration of the own vehicle (step 56 ) or the foreign vehicle with Einscheran intent to be ignored (step 57 ), so no cooperative behavior can be realized.

wobei dx_soll = tau_min . (v1 + v2) /2 gilt. Die Mindestzeitlücke tau_min ist die Zeit, welche mindestens vergehen sollte, bevor das eigene Fahrzeug einen Punkt passiert, an welchem das Fremdfahrzeug sich gerade befindet. Der Mindestabstand dx_soll bezeichnet einen Mindestabstand zwischen dem eigenen Fahrzeug und dem Fremdfahrzeug, welcher nicht unterschritten werden sollte. Die Geschwindigkeit v1 ist die Geschwindigkeit des eigenen Fahrzeugs und die Geschwindigkeit v2 ist die Geschwindigkeit des Fremdfahrzeugs. Die Relativbeschleunigung da ist die Differenz aus der Beschleunigung des Fremdfahrzeugs und dem vorgegeben maximalen Verzögerungswert, also der maximalen Komfortverzögerung. Unter der Annahme, dass das Fremdfahrzeug nicht beschleunigt, entspricht die Relativbeschleunigung da der Komfortverzögerung. Die aktuelle Relativgeschwindigkeit dv wird mit dem so bestimmten Grenzwert für die Relativgeschwindigkeit dv_max verglichen und wenn die tatsächliche Relativgeschwindigkeit dv kleiner oder gleich dem Grenzwert für die Relativgeschwindigkeit dv_max ist, kann durch Verzögern des eigenen Fahrzeugs mit einer Verzögerung von maximal der Komfortverzögerung das Fremdfahrzeug vor dem eigenen Fahrzeug einfädeln. Demzufolge kann im Schritt 56 das Fremdfahrzeug als neues Regelobjekt für das Abstandsregelungssystem des Fahrzeugs 10 ausgewählt werden, sodass das Fahrzeug 10 automatisch geeignet verzögert wird und, nach einem Einfädeln von beispielsweise dem Fahrzeug 40 auf die eigene Fahrspur 12, dem Fahrzeug 40 in einem geeigneten Abstand folgen kann. Es wird dann also nicht mehr auf das aktuell im eigenen Fahrstreifen 12 vorausfahrende Fahrzeug 30 geregelt, sondern auf das aktuell noch auf dem benachbarten Fahrstreifen 42 befindliche einscherwillige Fahrzeug 40. Dabei kann vorteilhafterweise die Abstandsregelung derart parametriert werden, dass ein kürzerer Sollabstand eingestellt wird, solange auf das einscherwillige Fahrzeug reagiert wird. Dadurch wird auf Kosten eines vorübergehenden Eintauchens in den Sicherheitsabstand ein komfortables Fahrverhalten erzeugt. Ist die tatsächliche Relativgeschwindigkeit dv jedoch größer als der zuvor beschriebene Grenzwert für die Relativgeschwindigkeit dv_max, wird das einscherwillige Fremdfahrzeug in Schritt 57 ignoriert. Zusätzlich kann die Abstandsregelung des Abstandsregelungssystems empfindlicher eingestellt werden, um in dem Fall, dass das Fremdfahrzeug trotzdem vor dem eigenen Fahrzeug einschert, entsprechend schnell reagieren zu können.In detail, for example, the calculation described below can be carried out when it has been determined that a foreign vehicle wants to change from an adjacent lane to its own lane and this foreign vehicle is in front of their own vehicle and drives more slowly than their own vehicle. For this purpose, a limit value for the relative speed dv _max to the other vehicle from the measured distance dx to the other vehicle and the parameters relative acceleration da, minimum time gap tau _min and minimum distance dx _{soll is} calculated using the following equation: $$d{v}_{max}=\sqrt{2\cdot da\cdot \left(dx-d{x}_{sOll}\right)}.$$

where dx _soll = tau _min . (v1 + v2) / 2 applies. The minimum time gap tau _min is the time that should at least pass before your own vehicle passes a point at which the other vehicle is currently located. The minimum distance dx _should designate a minimum distance between the own vehicle and the foreign vehicle, which should not be fallen below. The speed v1 is the speed of the own vehicle and the speed v2 is the speed of the other vehicle. The relative acceleration da is the difference between the acceleration of the other vehicle and the predetermined maximum deceleration value, ie the maximum comfort deceleration. Assuming that the other vehicle does not accelerate, the relative acceleration there corresponds to the comfort delay. The current relative speed dv is compared with the thus determined limit value for the relative speed dv _max and when the actual relative speed dv is less than or equal to the limit value for the relative speed dv _max , the other vehicle can delay by decelerating the own vehicle with a maximum delay of the comfort delay Thread your own vehicle. Consequently, in step 56 the foreign vehicle as a new rule object for the distance control system of the vehicle 10 be selected so that the vehicle 10 is automatically delayed suitable and, after a threading of, for example, the vehicle 40 in your own lane 12 the vehicle 40 can follow at an appropriate distance. It is then no longer on the current in their own lane 12 preceding vehicle 30 regulated, but on the currently still on the adjacent lane 42 located einscherwillige vehicle 40 , In this case, advantageously, the distance control can be parameterized in such a way that a shorter desired distance is set, as long as the monopolistic vehicle is responding. As a result, a comfortable driving behavior is generated at the expense of a temporary immersion in the safety distance. If, however, the actual relative speed dv is greater than the limit value for the relative speed dv _max described above, then the one-person-willing foreign vehicle will be in step 57 ignored. In addition, the distance control of the distance control system can be made more sensitive in order to be able to respond quickly in the event that the other vehicle einschert before his own vehicle.

In the method described above, it is thus assessed whether or not a single-vehicle vehicle is to be taken into account in the distance control. Not only is a likelihood of a shearing taken into account, but it is also assessed whether a delay with a defined comfort delay will be sufficient, in order not to fall below a defined minimum distance. The comfort delay can be determined by the driver of the vehicle 10 be chosen or changed directly or indirectly. For example, the comfort delay can be adjusted in combination with other parameters by choosing a "comfortable" or "dynamic" system tuning or suspension tuning. The driver is thereby given the opportunity to determine for himself which delay he tolerates in order to accommodate a vehicle willing to thread. This allows the driver to influence the automatic distance control system to what extent it will behave cooperatively with other vehicles in road traffic. This can avoid or reduce situations in which the driver of a distance-controlled vehicle obstructs or delays other vehicles and reacts uncomfortably to them, or by manual intervention in the longitudinal guidance, for example by a temporary Deactivation of the automatic longitudinal control system, which forces a cooperative behavior.

The method steps and calculations described above are described below in connection with the in 3 to 6 shown so-called "direction fields" once again clarified. With the help of the detection device 13 of your own vehicle 10 are a distance to, for example, the other vehicle 40 and a relative speed between the own vehicle 10 and the foreign vehicle 40 known. The foreign vehicle 40 is located on the adjacent lane 42 in the direction of travel in front of your own vehicle 10 and intends to blink like that 43 . 44 is displayed in front of your own vehicle 10 einzuscheren.

During an approach maneuver of two vehicles, the distance and relative speed of the vehicles to each other change. At the end of the approach maneuver, the relative velocity is zero. An approach maneuver can therefore be illustrated in a state space of distance and relative speed, as it is, for example, in 3 is shown. The distance changes as a result of the relative speed. The relative speed thus requires a change in distance. A given state will therefore move as a result of a relative velocity in the state space in the distance dimension. A state change can be entered in the state space as a so-called trajectory. Trajectories in the state space can be eg straight lines or parabolas. In the 3 to 6 is on the x-axis respectively the distance between the own vehicle 10 and the foreign vehicle 40 plotted and on the y-axis, the relative speed between the own vehicle 10 and the foreign vehicle 40 , The arrows in the directional field indicate where the distance and the relative speed between the vehicles change at the respective relative speed. In 3 is the relative acceleration between the vehicles zero, ie the relative speed between the vehicles does not change. At a negative relative speed approaches your own vehicle 10 thus increasingly the foreign vehicle 40 , which reduces the distance. As long as the foreign vehicle 40 in front of your own vehicle 10 the distance is positive. This area is through a box-shaped area 60 in 3 characterized. The area above the area 60 relates to positive relative speeds, ie the other vehicle 40 is faster than your own vehicle 10 , whereby the distance increases increasingly. This case is of lesser importance for the shearing. The area to the left of the area 60 concerns a negative distance between the own vehicle 10 and the foreign vehicle 40 ie the other vehicle 40 is either at the same height to your own vehicle or behind your own vehicle. These cases, too, are only of secondary relevance for the consideration of the shearing.

In 4 is a directional field when approaching your own vehicle 10 to the other vehicle 40 shown with a relative acceleration of 2 m / s ² , ie the relative speed between the own vehicle 10 and the foreign vehicle 40 changes to the effect that the relative speed decreases, since the own vehicle is delayed. Due to the relative acceleration at which the own vehicle 10 is delayed more than the preceding vehicle 40 , distance and relative velocity change and trajectories in state space become parabolas. Starting from a state between your own vehicle 10 and the foreign vehicle 40 which by the point 70 in 4 is shown, distance and relative speed change between the own vehicle 10 and the foreign vehicle 40 as it is through the parable 71 in 4 is shown until at a distance of approximately 10m, the relative speed between the vehicles is zero and therefore the distance does not decrease further.

For a simplified representation of the state space can also be considered as space from distance and relative speed square, as in 5 is shown. The parabolic trajectories then have the form of straight lines. The slope of the straight line is determined by the relative acceleration of the two vehicles. The relative acceleration may, for example, correspond to the comfort delay, and if a minimum distance is predetermined, a trajectory is completely defined. For example, the minimum distance by the minimum time gap tau (for example, 1 second) and the current speed of einher willing vehicle 40 be determined. Furthermore, the minimum distance can correspond to a speed-independent minimum distance. With the aid of the comfort delay of, for example, -2 m / s ² , a relative acceleration a _{rel is} determined. Assuming that the preceding monohull foreign vehicle 40 does not change its speed and therefore its acceleration is zero, the relative acceleration is a _rel = 0 - a _komf = 2 m / s ² . By choosing the minimum distance and the comfort delay so is a straight line 80 in the state space defined by distance and relative speed square. This straight line 80 divides the quadrant with negative relative speed and positive distance, ie a slower einscherwilliges vehicle is located in front of your own vehicle 10 in two areas. In a first area 81 the distance is greater and the relative speed is smaller in absolute terms than on the straight line 80 , In a second area 82 the distance is smaller or the relative speed is greater in magnitude than on the straight line 80 , If the situation between your own vehicle 10 and the foreign vehicle 40 in the first area 81 is due to a comfortable delay a predetermined minimum distance to einscher willing other vehicle 40 comply with this if the current speed on the own lane 12 replaced. The monohull vehicle 40 can be supported in this case by early regulation in his project and thus on the own lane 12 switch. Is the situation between your own vehicle 10 and the foreign vehicle 40 while in the second area 82 , more than the comfort delay is required to maintain a predetermined minimum distance. Therefore, at least not as a precautionary reaction to the adjacent vehicle, but only when the other vehicle 40 actually einschert.

The comfort delay and also the minimum distance can be adjustable when approaching a einscher willing third party vehicle. For example, the driver may directly set some kind of "cooperation level", or this setting may be linked to other settings, such as comfortable system tuning or dynamic system tuning of the chassis or engine. Increasing the comfort delay increases the number of situations in which a single-minded vehicle responds proactively. In the 6 the first area increases 81 , In other words, in this case, the readiness to brake increases compared to a foreign vehicle frolics. Conversely, a reduction in the comfort delay results in a lower number of situations in which reacting to einscher willing other vehicles. In extreme cases, a comfort delay of zero would under no circumstances react proactively to a single-minded other vehicle. In this case, the first area disappears 81 completely and with it the readiness, by a delay of own vehicle 10 to a monopolistic foreign vehicle 40 to react.

In the event that a einscherwilliges foreign vehicle 40 is recognized, but ignored, because the overall situation, for example, in the second area 82 can be adjusted in their "hardness" so that they can react more quickly, if the einher willing other vehicle 40 but in front of your own vehicle 10 on your own lane 12 replaced.

LIST OF REFERENCE NUMBERS

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vehicle

11

arrow

12

own lane

13

detection device

14

processing device

15

detection range

20

foreign vehicle

21

arrow

22

other lane

23.24

turn signal

30

foreign vehicle

31

arrow

40

foreign vehicle

41

arrow

42

other lane

43.44

turn signal

50

method

51-58

step

60

Area

70

Point

71

parabola

80

Just

81.82

Area

Claims (8)

A method for an automatic distance control system of a vehicle, the method comprising: - detecting a foreign vehicle (40), wherein the foreign vehicle (40) on a different lane (42) than the own lane (12) of the vehicle (10) is located, and Detecting a lane change intent of the foreign vehicle (40), the lane change intent indicating an intended lane change of the foreign vehicle (40) from the other lane (42) to the own lane (12), automatically determining whether by decelerating the vehicle (10) with a delay which is less than or equal to a predetermined maximum deceleration value, a predetermined minimum distance to the other vehicle (40) can be met, characterized in that the predetermined maximum deceleration value is detected via a user interface of the vehicle (10), and in that detecting the lane change intent of the foreign vehicle (40) comprises: - detecting a turn signal (43, 44) of a turn signal of the foreign vehicle (40), and / or - receiving a message from the foreign vehicle (40) via a radio communication link between the vehicle (10 ) and the foreign vehicle (40), and / or - determining an approach of the foreign vehicle (40) to an obstacle on the other lane (42). Method according to Claim 1 characterized in that the method further comprises: automatically decelerating the vehicle (10) in accordance with the determination of whether by decelerating the vehicle (10) with the deceleration that is less than or equal to the predetermined maximum deceleration value, the predetermined minimum distance to the other vehicle (40) can be met. Method according to Claim 1 or 2 characterized in that the method further comprises: automatically controlling a distance between the vehicle (10) and the foreign vehicle (40) while the foreign vehicle (40) is on the other lane (42) when it is determined that delaying the vehicle (10) with the deceleration which is less than or equal to the predetermined maximum deceleration value, the predetermined minimum distance to the foreign vehicle (40) can be maintained. Method according to Claim 3 , characterized in that in the automatic regulation of the distance between the vehicle (10) and the foreign vehicle (40) a predetermined minimum distance to the other vehicle (40) is maintained, which is shorter than a predetermined minimum distance, which to a vehicle (30) on the own lane (12) is respected. Method according to one of the preceding claims, characterized in that, if by delaying the vehicle (10) with the delay which is less than or equal to the predetermined maximum deceleration value, the predetermined minimum distance to the foreign vehicle (40) can not be met Control behavior of the distance control system is changed such that the distance control system uses a deceleration value for automatically decelerating the vehicle (10), which is higher than a deceleration value, which the distance control system uses when no other vehicle (40) is detected with lane change intention. Method according to one of the preceding claims, characterized in that the method is carried out in parallel for a plurality of foreign vehicles (20, 40) which are located on other lanes (22, 42) than their own lane (12). Method according to one of the preceding claims, characterized in that the detection of the foreign vehicle (40) comprises - detecting a relative speed between the vehicle (10) and the foreign vehicle (40), and / or - detecting a distance between the vehicle (10) and the foreign vehicle (40), and / or - detecting a plurality of traffic lanes (12, 22, 42) of a roadway and associating the vehicle (10) and the foreign vehicle (20, 40) to a respective traffic lane of the plurality of traffic lanes (12, 22, 42 ). A distance control system for a vehicle, comprising: - a detection device (13) for detecting a foreign vehicle (40), wherein the foreign vehicle (40) on a different lane (42) than the own lane (12) of the vehicle (10) is located, and for detecting a lane change intent of the foreign vehicle (40), the lane change intent indicating an intended lane change of the foreign vehicle (40) from the other lane (42) to the own lane (12), and - a processing device (14) configured determine whether, by delaying the vehicle (10) with a delay which is less than or equal to a predetermined maximum deceleration value, a predetermined minimum distance to the other vehicle (40) can be met, characterized in that the predetermined maximum deceleration value via a user interface of the vehicle (10) is detected, and that detecting the lane change intent of the other vehicle s (40) comprises: detecting a turn signal (43, 44) of a turn signal of the foreign vehicle (40), and / or receiving a message from the foreign vehicle (40) via a radio communication link between the vehicle (10) and the foreign vehicle (40 ), and / or - determining an approach of the foreign vehicle (40) to an obstacle on the other lane (42).

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