DE102015226639A1 - Method and device for controlling the driving speed of a vehicle - Google Patents

Abstract

Disclosed is a method for controlling the driving speed of a vehicle (FZ), comprising the following steps: detecting a traffic sign affecting the driving speed in a road section (SA) in front of the vehicle (FZ); - Determining a target vehicle speed (Vs) depending on the detected traffic signs; - comparing the determined target driving speed (Vs) with an actual driving speed (Vi) of the vehicle (FZ); - Increasing a restoring force (Fg) of an accelerator pedal (GP) of the vehicle (FZ) when the actual vehicle speed (Vi) exceeds the target vehicle speed (Vs) or putting the accelerator pedal into vibration. Furthermore, a device (V) for carrying out said method will be described.

Description

Technical area:

The invention relates to a method and a device for regulating the driving speed of a vehicle.

State of the art:

Vehicles with an automatic distance control are known in which vehicle-mounted sensors determine the distance and the relative speed to vehicles in front. Depending on the determined distance and the determined relative speed, the driving speed of the vehicles is automatically adjusted.

The previously known automatic distance control systems are based exclusively on the distances and the relative speeds to the vehicles in front and thus moving targets in the road section in front of the (reference) vehicles.

This increases traffic safety on the one hand and reduces fuel consumption and pollutant emissions on the other.

To further increase road safety and to further reduce fuel consumption and pollutant emissions, however, a solution is needed to make vehicles safer and less fuel-intensive.

Thus, the object of the present invention is to provide a solution with which the vehicles can be operated safer and lower consumption.

Description of the invention:

This object is solved by subject matters of the independent claims. Advantageous embodiments are the subject of the dependent claims.

According to a first aspect of the invention, a method for controlling the driving speed of a vehicle is provided.

According to the method, a traffic sign influencing the driving speed is detected in a road section in front of the vehicle.

Depending on the recognized traffic signs, a desired driving speed of the vehicle is determined.

The thus determined target driving speed is then compared with an actual driving speed of the vehicle.

If the actual driving speed exceeds the setpoint driving speed, a haptic signal is output via the accelerator pedal, which can also be referred to as the accelerator pedal. The haptic signal is delivered either as a variable restoring force and / or as a vibration. The haptic signal is converted by the accelerator pedal. If the actual vehicle speed exceeds the target vehicle speed, the haptic signal is increased or released. If the actual driving speed does not exceed the setpoint driving speed, then the haptic signal is not increased in comparison to this or is not output.

If the actual vehicle speed exceeds the target vehicle speed, the force of an accelerator pedal of the vehicle is increased or the accelerator pedal is vibrated to signal to the driver even in a slightly depressed state.

In this case, traffic signs include all traffic situations that are stationary with respect to the road, which would force the driver to manually adjust the driving speed. The traffic signs thus include traffic signs, esp. Red traffic lights, stop signs, speed limit signs, crosswalks; Road conditions, especially narrow road curves; Road damage, wet road sections; Weather conditions, esp. Black ice (in the form of information on temperature and humidity on the road), rain, fog; and / or obstacles facing the road, in particular stones, fallen trees, oil spills on the road or construction site on the road.

The traffic signs do not include any moving objects in front of the vehicle, esp. No vehicles in front, or moving objects, such. As pedestrians, which are detected by an already known automatic distance control.

By detecting the traffic signs listed above, determining the target vehicle speed, and increasing the accelerator pedal force of the vehicle, the driver of the vehicle can be promptly informed of a required speed reduction. This is done by the driver perceiving the increase in the force of the accelerator pedal as a haptic feedback (according to the principle of an accelerator pedal with integrated accelerator pedal (accelerator force feedback pedal)). Alternatively or in combination with the increase of Restoring force, the accelerator pedal can be set in vibration or a strength of vibrations that performs the accelerator pedal, can be increased.

By using the traffic signs listed above, the driver can get off the gas in good time and thus increase traffic safety by reducing the driving speed in a timely manner. In addition, fuel consumption and pollutant emissions can be reduced as a result.

Thus, a solution is provided, with which the vehicles can be operated safer and lower consumption.

In particular, the vehicle can be transferred from an impending or dangerous driving speed exceeded timely and thus efficiently in a permitted and safe driving speed. The vehicle loses little overall drive energy or the kinetic energy released thereby is more efficiently recuperated or the drive train opens the clutch and turns off the engine to produce minimal friction.

Preferably, a restoring force of a brake pedal of the vehicle is further reduced when the actual vehicle speed exceeds the target vehicle speed. Alternatively or in combination, a vibration intensity of the accelerator pedal is reduced.

Preferably, the traffic indicator (such as speed limits, etc.) is transmitted to the vehicle via an infrastructure-to-vehicle data transmission (including the traffic radio) from an installation of the traffic infrastructure. The transmission can be done via another server or service provider. The transmission is thus preferably indirectly via other servers or service providers, with a direct transmission to be possible.

Alternatively or additionally, the traffic indicator is transmitted to the vehicle via a vehicle-to-vehicle data transmission from another vehicle.

Alternatively or additionally, the traffic indicator is transmitted from a navigation system for position determination to the vehicle.

Alternatively or additionally, the traffic sign is determined by means of at least one vehicle-side sensor system for detecting the vehicle environment (lidar, radar, camera, etc.).

Alternatively or additionally, the traffic sign is detected by a manual input by the driver of the vehicle. This manual input is preferably stored in a vehicle-side data memory or in a vehicle-external data memory with which the vehicle is preferably in permanent data connection (in English "cloud" or "cloud storage").

According to a further aspect of the invention, an apparatus for controlling the traveling speed of a vehicle is provided.

The device comprises a recognition arrangement for recognizing a traffic sign influencing the driving speed in a road section in front of the vehicle.

The device further comprises a determination arrangement for determining a desired driving speed as a function of the recognized traffic sign.

The device also comprises a comparison arrangement for comparing the determined target driving speed with an actual driving speed of the vehicle.

The device further comprises an adjusting arrangement configured to increase a force of a gas pedal of the vehicle, when the actual driving speed exceeds the target driving speed and / or set up for putting the accelerator pedal in vibrations when the actual driving speed (Vi) the target driving speed ( Vs) exceeds or for increasing vibrations when the actual vehicle speed (Vi) exceeds the target vehicle speed (Vs).

Preferably, the actuator assembly is further configured to reduce a force of a brake pedal of the vehicle when the actual vehicle speed exceeds the target vehicle speed.

Advantageous embodiments of the method described above are, as far as possible, transferable to the above-mentioned device, to be regarded as advantageous embodiments of the device.

Description of the drawing:

In the following, an exemplary embodiment of the invention with reference to the accompanying drawings is explained in more detail. The single FIGURE shows a schematic representation of a vehicle FZ with a device V according to an embodiment of the invention for controlling the driving speed of a vehicle FZ.

The device V comprises a recognition arrangement EK, which is set up Identify traffic signs in a road section SA in front of the vehicle FZ, which can affect the driving speed of the vehicle.

For this purpose, the recognition arrangement EK comprises a vehicle-side navigation device NV, which receives from navigation satellites ST data on road sections SA, which lie in front of the vehicle FZ. Based on these data, the navigation device NV determines information about road curves, road width, road grade of road sections SA and so on.

The recognition arrangement EK further comprises a communication unit KM, which is set up by transmitters AN public or private transport infrastructure and other not shown in the figure vehicles eg. Via radio links information about traffic conditions, road conditions, such. B. road damage SB to get in the leading road sections SA. The information received also includes information on construction sites, dynamic traffic signs such. B. dynamic speed limits. The data can also come from a service provider who collects or passes on this data or can be transmitted by a traffic control center.

The recognition arrangement EK also comprises a manual input unit, for example in the form of a tempo input unit, with which the driver of the vehicle FZ can manually input a vehicle speed as a speed limit for a road section SA, which is then detected by the recognition device EK (eg, vehicle) when driving the corresponding road section SA B. by means of the navigation device NV) is automatically recognized. The data thus manually entered by the driver are stored in a vehicle-external data memory and, after a successful verification of the correctness, also made available to other road users.

The recognition arrangement EK additionally comprises a number of sensors SS for detecting the vehicle surroundings, in particular the road sections SA in front of the vehicle FZ. These sensors SS include, for example, a lidar or radar sensor for detecting standing obstacles, such. As of stones, fallen trees in front of the vehicle FZ, and / or a camera for detecting traffic signs including the traffic lights in front of the vehicle FZ.

The device V further comprises a detection arrangement EM, which is signal-technically connected on the signal input side to a signal output of the recognition arrangement EK and is set up to determine a desired vehicle speed Vs of the vehicle FZ as a function of the traffic sign recognized by the recognition arrangement EK.

The device V also comprises a comparison arrangement VG, which is signal-technically connected on the signal input side to a signal output of the determination arrangement EM and is set up to compare the setpoint travel speed Vs determined by the determination arrangement EM with the current actual travel speed Vi of the vehicle FZ.

The device V additionally comprises an actuating arrangement ST, which is signal-technically connected on the signal input side of the comparison arrangement VG and is set up to regulate the actuating force Fg of an accelerator pedal GP and the actuating force Fb of a brake pedal BP of the vehicle FZ, depending on the comparison result of the comparison arrangement VG.

The device V further comprises the accelerator pedal GP and the brake pedal BP, with which the driver of the vehicle FZ can accelerate or brake the vehicle FZ. The accelerator pedal GP and the brake pedal BP are each electrically connected to the actuating arrangement ST with a signal connection. The actuating force Fg of the accelerator pedal GP and the actuating force Fb of the brake pedal BP are controlled by the actuating arrangement ST.

After the device V has been described in detail with reference to the figure, its operation is described in more detail below:
During the driving operation of the vehicle FZ, the navigation device NV obtains from the navigation satellites ST information about the state of the road section SA in front of the vehicle FZ, which is immediately traveled by the vehicle FZ, and transmit the information about the state to the downstream determination device EM.

About the communication unit KM receives the vehicle FZ via radio links DU of the transmitters AN public or private transport infrastructure and other not shown in the figure vehicles information about traffic conditions, road conditions, such. B. road damage SB, in the road section SA and forward the information about the traffic situation and the road conditions to the downstream determination arrangement EM.

The various sensors SS detect standing obstacles, such. B. road damage SB, and traffic signs such. B. red light AM, in the road section SA and pass the information about the obstacles and the traffic signs and the downstream detection arrangement EM.

The determination arrangement EM evaluates the information obtained and, based on this information, determines a target vehicle speed Vs of the vehicle FZ with which the vehicle FZ should travel on said road section SA, and forwards the determined target vehicle speed Vs to the downstream comparison arrangement VG.

The comparison arrangement VG compares the transmitted target vehicle speed Vs with the actual vehicle speed Vi of the vehicle FZ, which receives the comparison arrangement VG from, for example, a wheel speed sensor not shown in the figure, and passes the comparison result (for example a difference between the set vehicle speed Vs and the actual driving speed Vi) to the downstream positioning arrangement ST on.

Based on the result of the comparison (eg the difference), the adjusting arrangement ST determines a required actuating force Fg (for example by means of an actuator) with which the accelerator pedal GP is counter-pressed or increases the actuating force of the accelerator pedal GP to the ascertained actuating force Fg increased force Fg is made more difficult for the driver to press the accelerator GP. The increased actuating force Fg also acts as a haptic signal, which alerts the driver to a required braking of the vehicle FZ and, in particular, causes the pressure on the accelerator pedal to be reduced and / or the brake pedal to be actuated.

When passing the road section SA with the road damage SB, by operating a cruise control lever not shown in the figure, the driver can determine the actual travel speed with which the vehicle FZ passes the road section SA and which the driver feels appropriate with the information about the geographical position of the vehicle Store vehicle FZ in a data memory of the navigation device NV.

This stored driving speed can then be read on the next driving on the same road section SA in conjunction with the geographical position of the vehicle FZ and the vehicle FZ is then traveled in the road section SA with this stored driving speed.

The above described method is esp. Compliant with the standard "Surface Vehicle Standard" of "SAE International".

Claims (9)

 Method for controlling the driving speed of a vehicle (FZ), comprising the following steps: Detecting a traffic sign influencing the driving speed in a road section (SA) in front of the vehicle (FZ); - Determining a target vehicle speed (Vs) depending on the detected traffic signs; - comparing the determined target driving speed (Vs) with an actual driving speed (Vi) of the vehicle (FZ); - Increasing a control force (Fg) of an accelerator pedal (GP) of the vehicle (FZ) when the actual vehicle speed (Vi) exceeds the target vehicle speed (Vs), and / or putting the accelerator pedal (GP) in vibration. The method of claim 1, wherein the traffic sign comprises traffic signs (AM), weather conditions, road conditions (SB) and / or standing obstacles in / on the road section (SA) in front of the vehicle (FZ). Method according to one of the preceding claims, the traffic information is transmitted via an infrastructure-to-vehicle data transmission (DU) from a system (FA, AM) of the traffic infrastructure to the vehicle (FZ). Method according to one of the preceding claims, wherein the traffic sign is transmitted via a vehicle-to-vehicle data transmission from another vehicle to the vehicle (FZ). Method according to one of the preceding claims, wherein the traffic sign of a navigation device (NV) for position determination of the vehicle (FZ) is transmitted.  Method according to one of the preceding claims, wherein the traffic sign is determined by means of at least one vehicle-side sensor system (SS) for detecting the vehicle environment. Method according to one of the preceding claims, wherein the traffic sign is detected by a manual input by the driver of the vehicle (FZ). Device (V) for controlling the driving speed of a vehicle (FZ), comprising: - a recognition arrangement (EK) for detecting a traffic sign influencing the driving speed in a road section (SA) in front of the vehicle (FZ); - A determination arrangement (EM) for determining a target vehicle speed (Vs) as a function of the detected traffic sign; - A comparison arrangement (VG) for comparing the determined target vehicle speed (Vs) with an actual vehicle speed (Vi) of the vehicle (FZ); - An actuator assembly (ST) adapted to increase a restoring force (Fg) of an accelerator pedal (GP) of the vehicle (FZ) when the actual vehicle speed (Vi) exceeds the target vehicle speed (Vs), and / or arranged to displace the accelerator pedal in vibrations when the actual vehicle speed (Vi) exceeds the target vehicle speed (Vs). The apparatus of claim 9, wherein the actuator assembly is further configured to reduce a control force (Fb) of a brake pedal (BP) of the vehicle (FZ) when the actual vehicle speed (Vi) exceeds or is set at the target vehicle speed (Vs). To reduce or terminate vibrations of the brake pedal when the actual vehicle speed (Vi) exceeds the target vehicle speed (Vs).

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