EP3145776A1 - Procédé et dispositif pour augmenter la sécurité lors d'une manoeuvre de dépassement par un véhicule - Google Patents

Procédé et dispositif pour augmenter la sécurité lors d'une manoeuvre de dépassement par un véhicule

Info

Publication number
EP3145776A1
EP3145776A1 EP15728392.0A EP15728392A EP3145776A1 EP 3145776 A1 EP3145776 A1 EP 3145776A1 EP 15728392 A EP15728392 A EP 15728392A EP 3145776 A1 EP3145776 A1 EP 3145776A1
Authority
EP
European Patent Office
Prior art keywords
vehicle
overtaking
speed
lane
acc system
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Withdrawn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
EP15728392.0A
Other languages
German (de)
English (en)
Inventor
Nicolaj Stache
Ralph GREWE
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.)
Conti Temic Microelectronic GmbH
Original Assignee
Conti Temic Microelectronic GmbH
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 Conti Temic Microelectronic GmbH filed Critical Conti Temic Microelectronic GmbH
Publication of EP3145776A1 publication Critical patent/EP3145776A1/fr
Withdrawn legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/14—Adaptive cruise control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/18—Propelling the vehicle
    • B60W30/18009—Propelling the vehicle related to particular drive situations
    • B60W30/18163—Lane change; Overtaking manoeuvres
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/40—Dynamic objects, e.g. animals, windblown objects
    • B60W2554/404—Characteristics
    • B60W2554/4041—Position
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/80—Spatial relation or speed relative to objects
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/80—Spatial relation or speed relative to objects
    • B60W2554/801—Lateral distance
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2555/00—Input parameters relating to exterior conditions, not covered by groups B60W2552/00, B60W2554/00
    • B60W2555/60—Traffic rules, e.g. speed limits or right of way

Definitions

  • the invention relates to a method and a device for increasing the safety and / or comfort in an overtaking process of a vehicle whose travel speed is controlled by an ACC system.
  • ACC adaptive cruise control
  • a sensor of the vehicle equipped with the ACC system vehicle and the VELOCITY ⁇ ness and the distance of the vehicle equipped with the ACC system trailing vehicle adaptively by means of engine and Brake intervention regulated.
  • Radar systems or so-called lidar systems can be used for distance measurement, for example.
  • ACC systems are used to increase driving comfort and Ent ⁇ utilization of the concentration for the driver over long distances, in particular highways, as well as in a dense urban traffic.
  • the sensor unit of the vehicle equipped with the ACC system detects vehicles in front within a vehicle
  • Visual range of the sensor unit for example within ei ⁇ nes circle segment with a radius and a range Publ ⁇ opening angle.
  • Conventional ACC systems respond, in particular, to vehicles in front, which are located in a driving tube or field of vision of the sensor unit in front of the vehicle equipped with the ACC system. In overtaking situations, for example on a two-lane motorway, it is necessary to consider vehicles driving on neighboring lanes. Conventional ACC systems, however, show weaknesses in overhaul situations.
  • This traffic situation typically occurs in clotting ⁇ ger traffic density before when a single vehicle traveling ahead is located on the left lane, the re ⁇ tively moves slowly, and the driver of the vehicle equipped with the ACC system, the driven vehicle due to the traffic situation at a right driving want to hold, for example, when another even faster vehicle moves on the left lane from behind on the equipped with the ACC system vehicle and this the driver of the driving with the ACC system vehicle, for example, in the rearview mirror noticed.
  • the driver performs a lane change on the right lane to pass the following fast third vehicle and overtakes thereby possibly unintentionally ahead on the left lane slower vehicle in the right lane.
  • a third overtaking situation in which a conventional ACC system shows weaknesses, is the overtaking of vehicles that briefly drive on a right-hand lane on a two-lane highway and cut into the left lane due to approaching a preceding lorry.
  • the invention accordingly provides, in a first aspect, a method for increasing the safety in an overtaking operation of a vehicle whose travel speed is regulated by an ACC system, comprising the steps of:
  • the method according to the invention offers the advantage that the driver is not forced to adapt the cruising speed to avoid critical traffic situations.
  • the method according to the invention offers, as a further advantage, that the ACC system behaves more considerately and thus increases the traffic flow.
  • the ACC system behaves more considerately and thus increases the traffic flow.
  • it allows vorausfah ⁇ Governing vehicles running only slightly slower than with the ACC system equipped vehicle, its overtaking ⁇ processes, such as traveling in trucks, safely shut off ⁇ .
  • the ACC system of the vehicle prevents its own overtaking of the vehicle, if the vehicle without significant restrictions, for example by simply suspending its own acceleration process, the preceding vehicle in a position offset a third vehicle, such as the preceding vehicle in turn driving ahead truck safely overtake.
  • a time- and fuel-consuming braking of the vorausfah ⁇ - generating vehicle is thus prevented. Further, a annoyance of controlling the vehicle ahead Fah ⁇ RERS is avoided, so that in particular possible rage reactions are avoided, which would reduce the driving safety of both transport part ⁇ participants.
  • a potential overtake situation is detected, if the current vehicle speed of the vehicle and the running speed of the preceding vehicle is below the set cruising speed of the ACC system lie ⁇ gen.
  • the overtaking operation is prevented if the vehicle threatens to overtake at least one traveling ahead driving ⁇ generating unduly right by adjusted the instantaneous driving speed of the vehicle to the Fahrge ⁇ speed of the preceding vehicle and then for an adjustable holding period is maintained.
  • the running speed of the Minim ⁇ is least detects a preceding vehicle by a sensor unit of the ACC system of the vehicle.
  • the sensor unit of the ACC system of the vehicle is formed by a radar sensor with a relatively low field of view opening angle.
  • the holding period is extended, if a further sensor unit of the vehicle with a relatively large
  • Viewing range opening angle detected another vehicle in the vicinity of the vehicle.
  • the further sensor unit of the vehicle comprises at least one vehicle camera, radar sensors and / or lidar sensors.
  • the overtaking procedure is prevented if the vehicle threatens to overtake a plurality of preceding vehicles of a vehicle group driving on a left lane on a right lane by the current vehicle speed to the minimum or minimum vehicle speed. average speed of the at least one preceding vehicle of the vehicle group or vehicle column angegli ⁇ chen, which is located in a field of view of the sensor unit of the ACC system and is detected by the sensor unit of the ACC system.
  • the overtaking operation is accelerated if the vehicle is running on a left lane and a preceding vehicle running on a right lane the vehicle is detected, the threatenssten on the left lane ⁇ scissors.
  • the vehicle driving ahead on the right-hand lane threatens to cut into the left-hand lane if the preceding vehicle actually is in front of a stationary object or a movable slower object located in front of it, in particular a truck or probably approaching.
  • a remaining overtaking time for overtaking a preceding vehicle is calculated, if a vehicle driving ahead on the right-hand lane is calculated. detected that threatens to be scored on the left lane.
  • the remaining overtaking time in dependence on the current driving speed of the vehicle driving on the left lane, the driving speed of the vehicle ahead on the right lane and a closing speed, with which the vehicle driving ahead on the right lane approaching calculates.
  • the set cruising speed and / or other control parameters of the ACC system are changed as a function of the calculated remaining overtaking time such that a separate overtaking operation is safely carried out or to allow an overtaking operation of a preceding vehicle.
  • the passing process is performed only if the driver releases the passing of the overtaking process by an input to the ACC system of the vehicle and / or no maximum speed is exceeded in the over ⁇ holvorgang.
  • the invention further provides an apparatus for increasing the safety of an overtaking maneuver of a vehicle having the angege ⁇ surrounded in claim 8 features in accordance with a second aspect.
  • the invention accordingly provides a device for increasing the safety in an overtaking operation of a vehicle, the driving speed of which is regulated by an ACC system, comprising:
  • a detection unit which detects a potential overtaking situation in which the vehicle will overtake at least one vehicle ahead on another lane in an overtaking operation
  • the overtaking maneuver is accelerated if the driving ⁇ convincing the preceding vehicle is overhauls ⁇ len in a permissible way, and wherein the overtaking operation is prevented if the vehicle threatens to overtake the preceding vehicle in unzulässi ⁇ ger manner.
  • FIG. 1 shows a simple flow diagram for the representation of a
  • Figure 2 is a sketch for illustrating a Questionholsituation in which the inventive method and the device according to the invention can be used to increase security; 3 shows a further schematic representation of an overtake situation in which the inventive method and the inventive device for raised stabili ⁇ hung security can be employed in an overtaking;
  • Figure 4 is a further schematic representation of an overtake situation in which the inventive method and the inventive device for raised stabili ⁇ hung security can be employed in an overtaking;
  • Figure 5 is another schematic representation of a Questionholsituation in which the inventive method and the device according to the invention for increasing the ⁇ increase in safety can be used in a passing process.
  • the inventive method for increasing the safety during an overtaking maneuver of a vehicle, in particular a road vehicle the ⁇ sen vehicle speed with an ACC system of the vehicle is controlled, essentially two steps Sl, S2.
  • a first step Sl is a potential Sprintholsitu ⁇ ation in which the vehicle which is equipped with the ACC system of ⁇ , will overtake at least one preceding vehicle on another vehicle lane in a passing maneuver, detected.
  • the potential overtake situation is detected, in particular, when the current driving speed of the vehicle and the driving speed of the vehicle in front are below -Il ⁇ the set cruising speed V set the ACC system.
  • a reaction of the ACC system takes place.
  • the overtaking operation is accelerated if the equipped with the ACC system, the vehicle will overtake the preceding vehicle in a permissible way, whereas the overtaking operation is prevented if the out with the ACC system ⁇ equipped vehicle threatens the preceding vehicle in Unzu ⁇ permeable Way, especially on the right, to overtake.
  • the About ⁇ fetch is preferably prevented if the vehicle threatens to overtake at least one vehicle ahead in Unzu ⁇ permeable form in violation of traffic regulations of the respective country, in particular the right by the momen ⁇ tane traveling speed of the vehicle to the Fahrgeschwin ⁇ speed of vehicle ahead and then maintained for an adjustable holding period.
  • the driving speed of the at least one preceding vehicle is detected by a sensor unit of the ACC system of the vehicle.
  • the sensor unit is formed by a radar sensor having a relatively low field of view opening angle.
  • this further sensor unit comprises a vehicle camera , further radar sensors and / or lidar sensors.
  • the overtaking process is prevented in step S2, if the vehicle equipped with the ACC system threatens, several vehicles in front of a vehicle group or driving column on a left lane, such as the left lane of a highway, on a right To overtake lanes by aligning the instantaneous travel speed of the vehicle equipped with the ACC system with a minimum or average speed of the at least one preceding vehicle of the vehicle group located in a viewing area of the sensor unit of the ACC system and by the sensor unit of the ACC system.
  • the overtaking process is accelerated in step S2, if the vehicle is driving on a left lane, for example on the left lane of a highway, and a vehicle ahead on a right lane is detected, which threatens to scissors on the left lane.
  • the vo ⁇ out-propelled vehicle is a located in front immobility ⁇ mystery object, such as a construction site, or as ⁇ approaching front located moving slower object, such as a slow-moving truck, or is likely to.
  • a remaining overtaking time for the ACC-equipped vehicle traveling on the left-hand lane of the highway is calculated to overtake the preceding vehicle if the vehicle ahead on the right-hand lane moves For example, if there is a gap between two trucks, there is a risk of cutting into the left-hand lane, thus making it possible for the two vehicles to collide.
  • the remaining overtaking time for the vehicle equipped with the ACC system on the left lane driving vehicle depending on the current driving speed of the equipped with the ACC system ⁇ vehicle, the driving speed of the vehicle ahead in the right lane vehicle and an approaching speed at which the vehicle ahead on the right lane approaches an immovable or moving object in front of it.
  • the set cruising speed V set of the ACC system and / or other Re ⁇ gel parameters calculated in dependence on the remaining Matterholzeit is changed such that the overtaking operation is si ⁇ cher performed.
  • the overtaking process is only performed if the driver of the vehicle equipped with the ACC system releases the passing of the overtaking process by an input to his ACC system and / or no speed limit or speed limit is exceeded in the overtaking.
  • Figures 2, 3, 4 show various exemplary About ⁇ holsituationen, can be used in which the inventive method advantageous for increasing security in an overtaking maneuver.
  • FIG 2 moves in with the inventive system ACC equipped vehicle 1 on a two-lane road ⁇ SSE, in particular a motorway with a left Fahrstrei ⁇ fen L and a right lane R.
  • the equipped with the ACC system vehicle 1 moves in the example presented Darge ⁇ with a driving speed V on the right traffic lane R.
  • the traffic situation shown in Figure 2 arises when the vehicle 1 is originally on a left lane L of the highway moves and performs a lane change from the rear approaching vehicle 2 on the same lane to the right to the rear coming fast vehicle 2 on the left lane L to pass. This happens in many cases, especially when equipped with the ACC system vehicle 1 behind a relatively slow vehicle 3 travels behind and this can not overtake.
  • the driving speed V of the vehicle evading to the right is lower than the cruising speed V se set in its ACC system.
  • the ACC system of the vehicle 1 recognizes a potential overtaking situation after the lane change on the right lane R. the vehicle 1 will overtake at least one vehicle 2 traveling ahead on another lane, namely the left lane L, in an overtaking operation. This is recognized, for example, if the current current driving speed V of the vehicle 1, the driving speed of the preceding vehicle 3 are below the set cruising speed V set of the ACC system of the vehicle 1. In this case, the vehicle 1 threatens the preceding vehicle 3 in an inadmissible way, namely to overtake on the right.
  • step S2 prevents the overtaking when the equipped with the ACC system vehicle 1 threatens to overtake the preceding vehicle 3 in an undue right.
  • the prevention of the overtaking is preferably carried out automatically by the ACC system of the vehicle 1.
  • the ACC system of the Fahrzeu ⁇ ges 1 prevents this case preferably the illegal overtaking ⁇ operation by the current running speed V of driving ⁇ tool 1 at the traveling speed of the preceding vehicle Fahr ⁇ tool 3 adapted and then for an adjustable Gardau ⁇ he maintained, for example, a few seconds. In this way, it is prevented that the vehicle 1 the preceding ⁇ vehicle 3 overtaken on the right lane R respectively happens, so that the preceding vehicle 3 has suffi ⁇ accordingly space to also perform a lane change to the right lane R. In this case, the fast vehicle coming from behind can overtake both vehicles 1, 3 on the left lane L safely.
  • the vehicle 1 is equipped with an ACC system which has a sensor unit which detects the vehicle speed V of a vehicle driving ahead ⁇ .
  • this sensor unit can be formed by a radar sensor having a relatively low field of view opening angle.
  • This field of view of the radar sensor of the vehicle equipped with the ACC system ⁇ vehicle 1 is shown schematically in Figure 2.
  • the ACC system of the vehicle 1 has a further sensor unit, the viewing area SB2 has a relatively large bombard Scheme- opening angle.
  • This further sensor unit may be, for example, a vehicle camera, further radar sensors and / or lidar sensors. In the embodiment shown in FIG.
  • the ACC has System of the vehicle 1 via two sensor units, namely a first sensor unit whose viewing area SB1 has a relatively low viewing area opening angle and a second sensor unit whose viewing area SB2 has a relatively large viewing area opening angle.
  • a holding period H at which the vehicle 1 is a retains the Fahrge ⁇ speed of the preceding vehicle 3 equalized driving speed, extended if the second sensor unit of the vehicle with the relatively large bombardbe ⁇ rich opening angle SB2 a another vehicle, in particular the on the left lane L laterally preceding vehicle 3, detected in the vicinity of the vehicle 1.
  • the behavior of the ACC system by the adapted Ge ⁇ speed is maintained by an adjustable holding time H before the ACC system accelerates the vehicle 1 is improved.
  • the adjusted lowered Fahrgeschwindig ⁇ speed for a period of, for example, ten seconds is maintained before the ACC system of the vehicle 1 accelerates again to the set cruising speed V set . If the preceding vehicle 3 accelerates sufficiently, it falls back into the field of view of the ACC sensor system of the ACC system, and control can be performed on the object recognized on the left lane L.
  • be ⁇ is in a preferred embodiment of the ACC system by a further sensor unit with a wide reformbe ⁇ rich SB2 the possibility of the hold time ⁇ manoeuvrable to extend as long as not H.
  • a mono or stereo camera may be provided, the Ge ⁇ speed of the vehicle V is maintained as long and no acceleration on the cruising speed V set he follows ⁇ as the camera of the vehicle 1, a preceding vehicle 3 outside the narrow field of view SB1 of the darsensors of the ACC system 1 on the left lane L detected. In this case, therefore, no control is performed on the object with insufficient speed information, but acceleration to the set cruise speed V set is prevented. Since, in most cases, the vehicle does not decelerate on the left lane L, a right overtaking operation is surely prevented.
  • FIG. 3 shows a further traffic situation in which the method according to the invention is used.
  • the vehicle 1 has an ACC system with a sensor unit, comprising the egg ⁇ NEN relatively narrow field of view SB1, as shown in FIG. 3
  • the vehicle 1 which is equipped with the ACC system moves on the right lane R a two-lane road, especially a highway, with a speed V.
  • the traffic density is particularly on the left lane L of the highway relatively large.
  • a slower vehicle such as a truck 4
  • the driver of the vehicle 1 moves his vehicle in the right lane R in order not to stress his concentration, whereby typically the driving speed of the vehicles 5-1, 5-2, 5-3, traveling on the left lane L, 5-4, 5-5 is only slightly greater than the speed V of the vehicle equipped with the ACC system 1.
  • some of the vehicles 5-i on the left lane L are not in the field of vision SB1 the sensor unit of the ACC system of the vehicle 1, whereas others further vehicles in front are located in the viewing area SB1 of the sensor unit of the ACC system.
  • the speed specification can also be derived from vehicles traveling further ahead, located in the field of vision SB1 of the ACC sensor system, for example vehicles 5-4, 5-5.
  • vehicles are selected or selected in a medium distance range, for example from a distance El to a distance E2, which are in the field of view SB1 of the ACC sensor system.
  • a minimum travel speed of all vehicles of the selected vehicle group that lie between the distance E1 and the distance E2 is detected and used as the control default for the ACC system.
  • filtering of the speed signal can preferably be used to increase the comfort of the ACC system.
  • the traveling speeds of the vehicle group, at ⁇ play of the vehicles 5-3, 5-4 are calculated for the speed ⁇ handicap of the ACC system.
  • Fi gure 3 a traffic situation overtake using typical features can be detected.
  • the traveling speed V set of the ACC system 1 is set higher than the speed of the preceding vehicle on the left lane L vehicle or vehicle group column, a potential Matterholsi ⁇ situation is detected.
  • a mög ⁇ handy embodiment may be facilitated with the ACC system of the vehicle 1 the driver of the vehicle 1, the interaction by the driver receives an indication of a time for a comfortable lane change to the left lane L of the ACC system.
  • the driver can five seconds before the ACC control the speed of the vehicle 1 due to the preceding vehicle 4 redu ⁇ sheet, he keep an indication of the ACC system of the vehicle 1 ⁇ so that it still a comfortable lane change to the left lane L can perform.
  • the driver of the vehicle 1 receives from his ACC system a subtle visual indication for making the lane change, for example ⁇ by a lamp in the instrument cluster or in the HUD lights up.
  • FIG. 4 schematically shows a further traffic situation in which the method according to the invention can be advantageously used.
  • a vehicle 1 equipped with an ACC system moves on a left lane L of a two-lane road, in particular a motorway.
  • the passing process of the vehicle 1 can be automatically accelerated if the vehicle 1 travels on a left lane L and a vehicle 7 driving ahead on the right lane R is recognized, wel ⁇ ches threatens on the left lane L at a given time, in particular by approaching a front befind ⁇ pending object, such as the truck 6, the left traveling ⁇ strip physicallyscheren L.
  • the preceding vehicle on the right lane R vehicle 7 threatens surgescheren on the left lane L if the preceding vehicle 7 is a in front of it non ⁇ moveable object, such as a construction site, or in front of it moving slower object, such as the truck 6 shown in Figure 4, actually or probably approaches.
  • the preceding vehicle on the right Fahrstrei ⁇ fen R 7 vehicle approaches an object in front of it.
  • the remaining Sprintzeit is a calculation unit of the ACC system of the vehicle 1 in response to the mo ⁇ mentanen running speed V of the vehicle 1, the Fahrge ⁇ speed of the preceding vehicle on the right lane vehicle 7 and an approach speed calculation ⁇ net with which the vehicle is traveling ahead on the right lane R to the object 7 located in front, in ⁇ play a truck 6 approaches.
  • the set Reisege ⁇ speed V set of the vehicle 1 or other control parameters of the ACC system of the vehicle 1 are then changed depending on the calculated remaining overtaking time such that the overtaking can be completed safely.
  • the overtaking operation in which the vehicle 1, the preceding vehicle 7 on the left lane L ⁇ overtaken L, performed only if the driver of the vehicle 1, the performing of this overtaking by an input to the ACC system of the vehicle 1 releases and / or no speed limit or speed limit of the highway is exceeded in the overtaking.
  • the overtaking situation shown in Figure 4 can be detected by the ACC system of the vehicle 1, when the range of the ACC sensor is sufficient to measure the gap LÜ on the right lane R. In this case, it can be directly recognized that a possible overtaking situation with limited overtaking time is available.
  • the traffic situation shown in Figure 4 typically occurs at a rather low traffic volume, which is in larger Distances on the right lane R are slowly moving trucks, which are spaced by gaps. It may happen that a front truck is not yet in the sensor range of the ACC sensor system of the vehicle 1 and the preceding vehicle 7 einschert on the left Fahr ⁇ lane L. However, in one possible embodiment, a similar traffic situation can be deduced from the history of the trucks passing on the right-hand lane R.
  • the airspeed and by means of time ⁇ measurement on the average distance between different trucks on the right lane closed or calculated this distance can be concluded after a Ausscheren the preceding vehicle 7 behind a truck 5 on a potential overtake situation with limited overtaking, even if the further preceding truck 6 is not yet in the field of vision SB the ACC sensor of the vehicle 1 is located. Furthermore, it is mög ⁇ Lich that of a Ausschervorgang of the preceding vehicle 7 immediately prior to the truck 5, ie, can be closed by a small distance that an overtake situation exists, which allows an overtaking limited Matterholzeit.
  • the time required for the overtaking process is preferably minimized in the range of permissible limit values.
  • a maximum allowable acceleration with kickdown is made.
  • a dynamic control tuning can be made, which also allows a slight speed overshoot. It is possible that the difference in driving speed to the set in the ACC system travel speed V set is not sufficient to ERS the overtaking within the still available Kochholzeit time close ⁇ . In this case, the set cruising speed V set is not reached over ⁇ to accelerate the overtaking and then fall back on the cruise speed V set in a possible embodiment.
  • the ACC system may include a velocity tolerance on the set travel speed V se t / where exceeding the cruising speed Ma ⁇ SSE the speed tolerance is permitted, for example, +10 km / h at an overtaking limited für fürholzeit.
  • This tolerance value can be predetermined in a possible embodiment itself.
  • the speed tolerance value may be configurable using a user interface.
  • the speed tolerance value is implicitly selected in a further possible embodiment from the dynamics of the ACC system, eg the target time gap.
  • the function provided by the method according to the invention can be temporarily deactivated when the speed limit is detected and can only be reactivated once a speed limit or speed limit has been removed.
  • a mr ⁇ Schende on the road speed limit or speed limit can be detected for example by means of a camera of the vehicle 1 or ⁇ means of the navigation system.
  • the overtaking operation is performed only if the driver of the driving tool 1, the implementation of the overtaking process by an input to the ACC system of the vehicle 1 releases.
  • ⁇ ser confirmation for carrying out the overtaking maneuver on the part of the ACC system is required to ⁇ by the driver.
  • the driver can be given a visual, visual or acoustic indication of the existing detected over ⁇ holsituation. Reacts the driver of the vehicle 1, then by giving, for example, an acceleration command ⁇ "Accelerate” or "Resume", the Sprintholvor ⁇ gear is started without changing the travel speed setting.
  • the driver of the vehicle 1 can confirm the passing operation by operating the accelerator pedal.
  • the release of overtaking can be active without reference to a particular time ⁇ space after detecting the overtaking situation. If it is detected based on the speed of the preceding vehicle 7, the length of the gap LÜ, the maximum acceleration and velocity of the vehicle 1, that a overhauls ⁇ len of the vehicle 7, provided that this be in the gap LÜ ⁇ place is not possible, overtaking is prevented or aborted.
  • the safety in a passing process of a vehicle in different overtaking situations is significantly increased.
  • the invention procedural ⁇ ren and the inventive device provides a more comfortable control and easy operation for the driver.
  • the functionality of a conventional ACC system is extended by the inventive method to further driving situations, in particular overtaking situations, whereby driver interventions are minimized.
  • the avoidance of right-overtaking operations in the case of a highly automated based driving relevant.
  • the traffic situation on a neighboring lane is taken into account for deriving a speed specification for the ACC system.
  • the inventive method provides an improvement of the overtaking behavior of the vehicle, which is equipped with the ACC system, by an extended situation analysis of the traffic situation.
  • the inventive apparatus for increasing the safety during an overtaking maneuver of a vehicle whose traveling speed is controlled by an ACC system may be integrated in a driver assistance system ⁇ .
  • the method according to the invention will be explained in connection with exemplary traffic situations, as illustrated in FIGS. 2, 3, 4.
  • the invention Ver ⁇ drive is also suitable for a variety of other traffic situations, in particular of potential overtaking situations, on one or more lanes.
  • the method according to the invention is also suitable, for example, for country roads with a lane in each direction.
  • the approaching speeds of vehicles approaching in the fast lane are also preferably taken into account.
  • the overtaking operation is accelerated with the invention shown SEN method, if the equipped with the ACC system vehicle can pass a vehicle traveling ahead in zuläs ⁇ siger manner without risk of collision with the oncoming vehicle.
  • the overtaking operation is prevented if the vehicle threatens to overtake the preceding vehicle in unzulässi ⁇ ger se, for example when a collision threatens due to the oncoming vehicle lane on the left with the inventive method.
  • Other potentially critical overtaking situations are possible.
  • potentially critical overtaking situations can also be detected if a so-called ghost driver meets the vehicle 1 equipped with the ACC system 1 on a motorway on the left-hand lane L.
  • the method according to the invention is differentiated between different types of roads, namely, for example, whether it is a two-lane highway or a four-lane highway.
  • ⁇ potential overtaking situations can be detected over a different number of lanes in each direction, for example, in a six-lane highway having three lanes in each direction. In this case, different overtaking situations can be taken into account, depending on whether the vehicle is on the left, middle or right lane of the three-lane highway in the direction of travel.
  • Complex driving situations or overtaking situations can be detected by means of one or more ACC sensor units with different viewing areas SB and viewing opening angles.
  • the ACC system not only has sensor units with a forward-looking field of view SB, but also sensor units with a rearward viewing area SB to recognize from the rear fast approaching vehicles that are critical to a traffic ⁇ or Can lead to overtaking.
  • the ACC system of the vehicle 1 has a plurality of ACC sensor units with different viewing ranges SBi and viewing angles ⁇ both forward and backward to detect complex overtaking situations and, in response to the detected complex overtaking situation, either overtaking to accelerate or reduce prevent or delay.
  • the ACC system with its sensors can also recognize how many lanes are available on the road, for example, two lanes as in Figures 2, 3, 4 or three lanes of a total of six-lane highway with three Lanes in each direction.
  • the ACC system according to the invention can recognize on the basis of sensorily recognized lane markings, in particular lanes, on which lane the vehicle is currently located.
  • the ACC sensor system on which lanes, for example, a slowing vehicle ahead is located and on wel ⁇ chem lanes approaching from behind a fast vehicle approaches.
  • a complex situation analysis of overtaking ⁇ situation on the basis of the detected lane and the traveling ahead on the various lanes and succeeding vehicles and their absolute speeds and relative speed to the own Vehicle 1 performed in real time.
  • an acceleration operation of the own vehicle by changing of control parameters is then either accelerated or delayed or prevented.
  • the preceding vehicle 8 approaching the truck 9 can no longer make a lane change to the left because the distance between the slowly overtaking vehicle equipped with the ACC system and the vehicle traveling on the right lane R is too close has become low.
  • this potential overtake is detected, in particular at the Ge ⁇ speed of the preceding vehicle in the right lane R slow trucks 9, the speed of the right lane R approaching behind the vehicle 8 and of distance between the truck 9 and the behind it approaching vehicle 8.
  • other signals are evaluated in addition to the speed information, crizspielswei ⁇ se optical traffic signals, in particular brake and Blink ⁇ signals.
  • the vehicle 1 with respect to egg ⁇ nem preceding vehicle 8 behaves more considerate and allows him, notably a lane change to the left lane L to overtake the significantly slower-moving truck 9. This increases the fluidity of the traffic and provides a more intuitive behavior of the equipped with the ACC system ⁇ vehicle 1.
  • the right-ahead vehicle 8 also has an ACC system, after recognizing this specific traffic situation according to Figure 5 optionally additionally own overtaking of the vehicle 8 to overtake the Trucks 9 accelerates.
  • the vehicle 1 prevents its overtaking operation relative to the vehicle 8 and at the same time the overtaking of the vehicle 8 is accelerated or abbreviated relative to the preceding truck 9.
  • the two ACC systems of the vehicle 1 and the vehicle 8 cooperate in order to optimize the traffic flow.
  • This communication can be done via a back-end system or directly via a wireless interface between the two vehicles 1, 8.
  • the truck also has an inventive ACC system
  • the ACC systems of the vehicle 1, the vehicle. 8 and the truck 9 communicate with each other and on the basis of a predetermined optimization criterion the traffic or driving flow of all affected vehicles, especially the vehicles 1, 8, 9, optimize.
  • This co-operative interaction of the ACC systems not only improves traffic flow but also increases safety for all road users. Further embodiments are possible.
  • the detected traffic situation or overtaking situation also vehicles of different types and / or priority be Wegsichti ⁇ gen.
  • the vehicle 1 may be a in use be ⁇ findaji ambulance and / or a police car.
  • a high priority of such a vehicle on the basis of a transmitted signal beispielswei ⁇ se a switched off blue light in the setting of the acceleration and / or deceleration process of equipped with ACC systems other vehicles detected and in the control or regulation of the engine and / or considered by the brake system.
  • a particularly kosichtsvol ⁇ les behavior of a vehicle equipped with the ACC system vehicle against such a rescue and / or police car can be reached by the inventive method.
  • it can be achieved that a patient transport trolley with high priority is prevented from unnecessary braking and acceleration processes so as to ensure the safety and / or health of the person transported therein.

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  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Traffic Control Systems (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)

Abstract

L'invention concerne un procédé et un dispositif pour augmenter la sécurité lors d'une manœuvre de dépassement effectuée par un véhicule (1) dont la vitesse de déplacement (V) est commandée par un système ACC (régulateur de vitesse adaptatif), comprenant les étapes de : détection (S1) d'une situation de dépassement potentielle, dans laquelle le véhicule (1) va dépasser, par une manœuvre de dépassement, au moins un véhicule (3; 5; 7; 8) roulant devant lui sur une voie de circulation; accélération (S2) de la manœuvre de dépassement dans le cas où le véhicule (1) va dépasser le véhicule (3; 5; 7; 8) roulant devant lui d'une manière autorisée, et empêchement de la manœuvre de dépassement dans le cas où le véhicule (1) menace de dépasser le véhicule (3; 5; 7; 8) roulant devant lui d'une manière non autorisée ou pour permettre une manœuvre de dépassement d'un véhicule roulant devant lui.
EP15728392.0A 2014-05-22 2015-04-30 Procédé et dispositif pour augmenter la sécurité lors d'une manoeuvre de dépassement par un véhicule Withdrawn EP3145776A1 (fr)

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DE102014209756 2014-05-22
DE102015206177 2015-04-07
PCT/DE2015/200289 WO2015176723A1 (fr) 2014-05-22 2015-04-30 Procédé et dispositif pour augmenter la sécurité lors d'une manœuvre de dépassement par un véhicule

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JP (1) JP2017518913A (fr)
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JP2017518913A (ja) 2017-07-13
DE112015001152A5 (de) 2016-12-22

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