EP3280624A1 - Système de commande et procédé pour permettre le rabattement d'un autre véhicule à moteur depuis une voie de circulation adjacente lorsque le véhicule à moteur équipé dudit système se trouve en mode acc - Google Patents

Système de commande et procédé pour permettre le rabattement d'un autre véhicule à moteur depuis une voie de circulation adjacente lorsque le véhicule à moteur équipé dudit système se trouve en mode acc

Info

Publication number
EP3280624A1
EP3280624A1 EP16717574.4A EP16717574A EP3280624A1 EP 3280624 A1 EP3280624 A1 EP 3280624A1 EP 16717574 A EP16717574 A EP 16717574A EP 3280624 A1 EP3280624 A1 EP 3280624A1
Authority
EP
European Patent Office
Prior art keywords
motor vehicle
lane
ego
vehicle
laterally
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Withdrawn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
EP16717574.4A
Other languages
German (de)
English (en)
Inventor
Andreas Stahl
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.)
ZF Active Safety GmbH
Original Assignee
Lucas Automotive 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 Lucas Automotive GmbH filed Critical Lucas Automotive GmbH
Publication of EP3280624A1 publication Critical patent/EP3280624A1/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Withdrawn legal-status Critical Current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
    • B60W30/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
    • 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
    • B60W30/143—Speed 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
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
    • B60W40/04—Traffic conditions
    • 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
    • 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
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/80—Spatial relation or speed relative to objects
    • B60W2554/802—Longitudinal 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
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/80—Spatial relation or speed relative to objects
    • B60W2554/803—Relative lateral speed
    • 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
    • B60W2554/804—Relative longitudinal speed

Definitions

  • a control system and a method for enabling a shunting of another motor vehicle from a neighboring lane in the ACC operation of the own motor vehicle ⁇ disclosed.
  • This system and method is particularly possible by the presence of ACC (Autonomous / Adaptive Cruise Control) in motor vehicles.
  • ACC Autonomous / Adaptive Cruise Control
  • Einscheren with a safe lane change of the one lane, for example, the fast lane in the "slower" track (eg in continental Europe or the US from the left to the right lane), or from the "slower" lane in the fast lane be possible with the presently disclosed control system and method.
  • An ACC device that reduces the driver's distance to the vehicle ahead and adjusts the speed of his own motor vehicle to the speed of a preceding vehicle is described, for example, in EP-A-0 612 641.
  • the question of enabling a Einschererens another motor vehicle from a neighboring lane in the ACC operation of the own motor vehicle is not addressed therein.
  • the ACC device of the own motor vehicle should allow ACC operation even with a tough traffic flow on multi-lane roads in the same direction a safe and for the driver of his own car stress-free shearing a relative to his own vehicle moving other motor vehicle in a neighboring lane.
  • An ACC device is based among other things on an environment sensor of the own vehicle (radar, lidar, camera, ultrasound, ).
  • the environment sensor system can detect objects in the environment of their own motor vehicle over time.
  • the ACC device can also perform autonomous driving interventions on the own motor vehicle, which approximate or correspond to operations of the braking device or the accelerator pedal of the own motor vehicle by the driver.
  • These autonomous driving operations include both autonomous delays as well as autonomous accelerations to keep a current distance between the own motor vehicle and a preceding other motor vehicle substantially constant. This distance is dependent on the speed of your own motor vehicle. It is set by the ACC device of its own motor vehicle to a safety distance, which is based on the speed of the own motor vehicle.
  • a control system set up and used for use in a motor vehicle determines, based on environment data obtained from one or more surroundings sensors located on the motor vehicle, that while the ACC device can be active in one's own motor vehicle, another motor vehicle, that moves relative to its own motor vehicle in a neighboring lane, has a tendency to change in the lane of its own motor vehicle.
  • the environmental sensors are set up to provide an electronic control of the control system with the area laterally before, laterally next to and / or laterally behind the vehicle reproducing environmental data that are characteristic of this tendency to change.
  • the control system is at least arranged and determined as soon as the environment data representing this tendency have exceeded a predetermined significance threshold, by autonomous driving interventions (i) the distance to another other motor vehicle, which is in the same lane ahead of the vehicle relative to its own motor vehicle own motor vehicle moves to increase, and / or (ii) to reduce the driving speed of the own motor vehicle, unless detected by the environmental sensors no other other motor vehicle, which moves relative to its own motor vehicle in the same lane in front of the car, in order the other motor vehicle, which moves relative to its own motor vehicle in a neighboring lane, to give the opportunity to perform a lane change from the adjacent lane to the lane of the own motor vehicle.
  • the control system may also be at least arranged and determined that the ACC device following the lane change the other motor vehicle, which now moves relative to its own motor vehicle in the same lane in front of its own motor vehicle, as a new rule object for the ACC Operation of own motor vehicle to use.
  • control system disclosed herein provides a defined amount of luff space in its own lane.
  • the solution presented here is particularly suitable for situations with a tough traffic flow, in which the motor vehicles drive both their own lane and the neighboring lane at a low driving speed and a short distance from the respective preceding vehicle.
  • the vehicles in the lanes are moving at a similar speed; For example, the speed of the other vehicle considered is within a tolerance band of the speed of the own motor vehicle.
  • the proposed solution is based on the recognition that a more intensive evaluation of the driving environment of one's own motor vehicle is conducive to the promotion of traffic safety and a reduction of stress for the drivers. The results of this evaluation of the driving environment are then to be used when driving your own motor vehicle.
  • the present system can directly satisfy a Einscher tendency of the other motor vehicle from the other lane in the own lane independently of the own driver.
  • the control system can be set up and determined to detect and evaluate additional environment data from the area laterally next to and / or laterally behind the own motor vehicle. This allows to recognize a vehicle with Einscher tendency from the other lane in the own lane early and to initiate the necessary steps.
  • a Einscher tendency of a vehicle from the other lane in the own lane by detecting and evaluating any transverse movements of the other vehicle from the other lane, or the status of the direction change indicator (turn signal) of the other vehicle can be considered.
  • Transverse movements of the other vehicle are detected in a variant in the control system by image processing of video data from one or more cameras on their own motor vehicle.
  • the own motor vehicle has laterally at the front in the corner region of the egg ⁇ own vehicle at least one radar sensor with a surveillance area.
  • This radar sensor provides the electronic control, which receives signals that detects environmental data, processes these signals and data and generates control and / or output signals.
  • both the information captured by image processing of video data from one or more cameras and the information acquired by the at least one radar sensor in the electronic control can be processed in order to determine the Einscher tendency from the other traffic lane to recognize one's own lane safely and early.
  • Fig. 1 shows schematically a first driving situation in which drive a private motor vehicle on a left lane while the ACC operation in a dependent of the own speed distance behind another motor vehicle, while another Motor vehicle with its direction change indicator signals the intention to scissor from the right lane to the left lane.
  • Fig. 2 shows schematically a second driving situation in which the own motor vehicle has determined on its left lane the Einscher tendency of the other motor vehicle and has increased the distance to the preceding further motor vehicle, so that the other motor vehicle with the possibility of perceiving before to cut one's own motor vehicle from the right lane to the left lane.
  • Fig. 3 shows schematically a third driving situation in which the ACC device of the own motor vehicle in the left lane after the completed Einscheren the other motor vehicle, the distance of the own motor vehicle to the sheared other motor vehicle in dependence on the speed of the own motor vehicle to a safety distance adjusts.
  • the driving situation shown schematically in Fig. 1 is typical for a tough traffic flow.
  • the motor vehicles in the lanes are moving at a similar speed.
  • An own motor vehicle ego is here on a left lane with its own speed v_ego under ⁇ away, while another vehicle alter_l on the right lane with the same or almost the same, but slightly increased speed v_alter_l drives.
  • the own motor vehicle ego has an electronic control unit ECU which receives signals which detects environmental data, which processes these signals and environmental data and generates the control and / or output signals.
  • a radar sensor not illustrated in detail laterally in the corner region of the own vehicle ego has a first monitoring area Ua.
  • a radar sensor Rv located at the front in the central area of the own vehicle ego has a second monitoring area Ub.
  • the radar sensors Rv and Re provide the electronic control ECU radar signals about the distance, the speed difference between the own vehicle ego and the other vehicle alter_l, and the direction of travel and / or the rotation angle of the other motor vehicle alter_l about its vertical axis.
  • the described here set up for use in a motor vehicle and certain control system has, in addition to the two radar sensors, if necessary, further environmental sensors (video, ultrasound, lidar, etc.) for detecting the environment of the own vehicle ego.
  • the electronic control unit ECU processes the environment data obtained from the surroundings sensor (s) (radar sensors Rv, Re) located on the motor vehicle in order to determine whether another motor vehicle alter_l which is in a left-hand or right-hand neighbor track relative to its own motor vehicle ego about the same speed or slightly faster moves, has a tendency to change in the lane of your own motor vehicle ego.
  • the environmental sensors Rv, / e of the electronic control unit ECU provide the area laterally in front, laterally next to and / or laterally behind the vehicle reproducing environment data.
  • the environmental sensors continuously detect one or more other vehicles participating in the traffic laterally in front, laterally beside and / or laterally behind the own motor vehicle ego in order to determine parameters about the driving situation (s) of the other vehicle (s). These characteristics include, for example, speed, location as a function of time, direction of travel of the other vehicle (s).
  • This electronic control unit ECU of the control system can be at least configured and determined, during a predetermined period of time, for example, the overtaking process, or continuously in the electronic control ECUd ⁇ e driving situation of the own motor vehicle ego reproducing driving data from existing in its own motor vehicle eo Detect signalers.
  • These signal generators may include, for example, the tachometer or the electronic control system of the brake system (ABS, ESP), which emits a signal representing the speed of its own motor vehicle ego to the electronic control unit ECU.
  • the electronic control ECU determines, based on the driving situation of the own vehicle ego reproducing driving data and the characteristics of the tendency of one or more participating in traffic other vehicles laterally before, laterally beside and / or laterally behind the own motor vehicle ego, whether one or more of these other vehicles has a tendency to change into the lane of their own motor vehicle ego. If the control system determines that the environment data representing this trend has exceeded a predetermined significance threshold, the control system triggers autonomous driving interventions by the distance to another other vehicle alter_2 that is in the same lane relative to its own motor vehicle ego the own motor vehicle ego moves to increase.
  • control system causes the driving speed of the own motor vehicle ego to decrease, unless the environment sensors detect any other other motor vehicle alter_2 that moves in the same traffic lane in front of its own motor vehicle ego relative to its own motor vehicle ego.
  • alter_l another motor vehicle, alter_l, which moves relative to its own motor vehicle ego ' m the adjacent lane, given the opportunity to perform a lane change from the adjacent lane to the lane of the own motor vehicle ego.
  • the ACC device in its own motor vehicle ego uses following the lane ⁇ change another motor vehicle alter_l, which now moves ego relative to its own motor vehicle ego ' m the same lane in front of the own motor vehicle, as a new rule object for the ACC operation of own motor vehicle ego.
  • the radar, video, ultrasound, and / or lidar sensors are also configured as environmental sensors for the region laterally in front, laterally beside and / or laterally behind the own vehicle ego, any transverse movements of the other vehicle in the direction from the other lane out in the own lane, and / or to detect the status of at least one turn indicator of the other vehicle.
  • This Einscher tendency of another motor vehicle alter_l can be seen.
  • the environment data from these sensors are evaluated in the control system to determine whether there is a Einscher tendency, and if so, to what extent.
  • the transverse movements of the other vehicle or activities of at least one change of direction indicator of the other vehicle are determined by image processing of video data from one or more cameras on one's own motor vehicle ego.
  • the electronic control unit ECU determines the transverse movements of the other vehicle by signal analysis of radar data from one or more radar sensors on its own motor vehicle ego.
  • this condition is the traffic flow in the adjacent, slower lane, e.g. be right. If, for example, a slower vehicle is detected in front of the motor vehicle behaving similarly to the traffic flow in its own lane, this condition can additionally be used.
  • the control system triggers autonomous driving interventions by the distance to another other motor vehicle a / ter_2 r relative to its own motor vehicle ego same lane before the own motor vehicle ego moves to increase.
  • the control system causes the driving speed of the own motor vehicle ee is reduced, unless the environment sensors another motor vehicle alter_2, which moves relative to its own motor vehicle ego ⁇ n the same lane before the own motor vehicle ego, is detected.

Landscapes

  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Mathematical Physics (AREA)
  • Traffic Control Systems (AREA)

Abstract

L'invention concerne un procédé de commande permettant, dans un véhicule à moteur, sur la base de données de champ environnant obtenues d'un ou de plusieurs capteurs périphériques situés sur le véhicule à moteur, lorsqu'un système régulateur de vitesse et d'espacement (ACC) est actif dans ledit véhicule à moteur, de déterminer qu'un autre véhicule à moteur qui se déplace sur une voie adjacente par rapport au véhicule à moteur équipé dudit système a tendance à passer dans la voie de circulation de celui-ci, les capteurs périphériques étant conçus pour fournir des données de champ environnant représentant la zone située latéralement devant le véhicule équipé dudit système, latéralement à côté dudit véhicule et/ou latéralement derrière celui-ci, et, dès que les données de champ environnant représentant cette tendance ont dépassé un seuil significatif prédéfini, des interventions sur la conduite menées de manière autonome (i) étant déclenchées en vue d'augmenter la distance par rapport à un autre véhicule à moteur qui se déplace devant le véhicule à moteur équipé dudit système sur la même voie de circulation que celui-ci, et/ou (ii) de réduire la vitesse de roulage du véhicule à moteur équipé dudit système, si les capteurs périphériques n'ont détecté aucun autre véhicule à moteur se déplaçant devant le véhicule à moteur équipé dudit système sur la même voie de circulation que celui-ci, afin de donner ainsi la possibilité à un autre véhicule à moteur se déplaçant sur la voie adjacente par rapport au véhicule à moteur équipé dudit système d'effectuer un changement de voie de manière à passer de la voie adjacente à la voie sur laquelle circule le véhicule à moteur équipé dudit système.
EP16717574.4A 2015-04-07 2016-03-31 Système de commande et procédé pour permettre le rabattement d'un autre véhicule à moteur depuis une voie de circulation adjacente lorsque le véhicule à moteur équipé dudit système se trouve en mode acc Withdrawn EP3280624A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102015004478.8A DE102015004478A1 (de) 2015-04-07 2015-04-07 Steuerungs-System und Verfahren zum Ermöglichen eines Einscherens eines anderen Kraftfahrzeugs aus einer Nachbarspur im ACC-Betrieb des eigenen Kraftfahrzeugs
PCT/EP2016/057054 WO2016162256A1 (fr) 2015-04-07 2016-03-31 Système de commande et procédé pour permettre le rabattement d'un autre véhicule à moteur depuis une voie de circulation adjacente lorsque le véhicule à moteur équipé dudit système se trouve en mode acc

Publications (1)

Publication Number Publication Date
EP3280624A1 true EP3280624A1 (fr) 2018-02-14

Family

ID=55802333

Family Applications (1)

Application Number Title Priority Date Filing Date
EP16717574.4A Withdrawn EP3280624A1 (fr) 2015-04-07 2016-03-31 Système de commande et procédé pour permettre le rabattement d'un autre véhicule à moteur depuis une voie de circulation adjacente lorsque le véhicule à moteur équipé dudit système se trouve en mode acc

Country Status (5)

Country Link
US (1) US20180111617A1 (fr)
EP (1) EP3280624A1 (fr)
CN (1) CN107438545A (fr)
DE (1) DE102015004478A1 (fr)
WO (1) WO2016162256A1 (fr)

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DE102015004478A1 (de) 2016-10-13
WO2016162256A1 (fr) 2016-10-13
US20180111617A1 (en) 2018-04-26

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