EP3423325A1 - Verfahren und system zur steuerung der geschwindigkeit eines host-fahrzeugs entlang einer strasse - Google Patents

Verfahren und system zur steuerung der geschwindigkeit eines host-fahrzeugs entlang einer strasse

Info

Publication number
EP3423325A1
EP3423325A1 EP17760390.9A EP17760390A EP3423325A1 EP 3423325 A1 EP3423325 A1 EP 3423325A1 EP 17760390 A EP17760390 A EP 17760390A EP 3423325 A1 EP3423325 A1 EP 3423325A1
Authority
EP
European Patent Office
Prior art keywords
vehicle
preceding vehicle
host vehicle
deviation
road
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Withdrawn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
EP17760390.9A
Other languages
English (en)
French (fr)
Other versions
EP3423325A4 (de
Inventor
Assad ALAM
Christoffer NORÉN
Christian Larsson
Jonny Andersson
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.)
Scania CV AB
Original Assignee
Scania CV AB
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 Scania CV AB filed Critical Scania CV AB
Publication of EP3423325A1 publication Critical patent/EP3423325A1/de
Publication of EP3423325A4 publication Critical patent/EP3423325A4/de
Withdrawn legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K31/00—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator
    • B60K31/0008—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator including means for detecting potential obstacles in vehicle path
    • 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
    • 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
    • B60W40/06—Road conditions
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K2310/00—Arrangements, adaptations or methods for cruise controls
    • B60K2310/26—Distance setting methods, e.g. determining target distance to target vehicle
    • B60K2310/266—Distance setting methods, e.g. determining target distance to target vehicle releasing distance control, e.g. inhibiting control if target vehicle lost or changing lane
    • 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
    • B60W2552/00—Input parameters relating to infrastructure
    • B60W2552/05—Type of road, e.g. motorways, local streets, paved or unpaved roads
    • 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
    • B60W2552/00—Input parameters relating to infrastructure
    • B60W2552/10—Number of lanes
    • 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
    • B60W2552/00—Input parameters relating to infrastructure
    • B60W2552/15—Road slope, i.e. the inclination of a road segment in the longitudinal direction
    • 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
    • B60W2552/00—Input parameters relating to infrastructure
    • B60W2552/20—Road profile, i.e. the change in elevation or curvature of a plurality of continuous road segments
    • 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
    • B60W2552/00—Input parameters relating to infrastructure
    • B60W2552/30—Road curve radius
    • 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
    • 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
    • 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
    • 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
    • B60W2556/00—Input parameters relating to data
    • B60W2556/45—External transmission of data to or from the 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
    • B60W2556/00—Input parameters relating to data
    • B60W2556/45—External transmission of data to or from the vehicle
    • B60W2556/50—External transmission of data to or from the vehicle of positioning data, e.g. GPS [Global Positioning System] data
    • 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
    • B60W2556/00—Input parameters relating to data
    • B60W2556/45—External transmission of data to or from the vehicle
    • B60W2556/55—External transmission of data to or from the vehicle using telemetry
    • 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
    • B60W2556/00—Input parameters relating to data
    • B60W2556/45—External transmission of data to or from the vehicle
    • B60W2556/65—Data transmitted between vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/9316—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles combined with communication equipment with other vehicles or with base stations
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/9325—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles for inter-vehicle distance regulation, e.g. navigating in platoons

Definitions

  • the invention relates to a method for controlling the speed of a host vehicle along a road.
  • the invention also relates to a system for controlling the speed of a host vehicle along a road.
  • the invention also relates to a vehicle.
  • the invention in addition relates to a computer program and a computer program product.
  • the host vehicle In order to optimize driving of a vehicle such as a truck the host vehicle is provided with adaptive cruise control wherein the speed of the host vehicle is adapted to a preceding vehicle at a certain distance ahead of the host vehicle by tracking the preceding vehicle using suitable detection means. It is however hard to track preceding vehicles in sharp curves. Therefore the most probable behaviour of the preceding target vehicle is predicted in the adaptive cruise control by suitable or optimal methods.
  • This target prediction estimates the preceding vehicles movement when it is lost by the detection means. Because of the target prediction the behaviour of the adaptive cruise control feels slow and unresponsive in certain situations. During e.g. driving on a highway operation the situation that the preceding vehicle enters an off-ramp serving as a highway exit may occur, this situation resulting in the target prediction starting, since the preceding vehicle appears lost.
  • KR20130022151 discloses an adaptive cruise control system wherein the lane of the preceding vehicle is determined by means of camera unit and a radar unit. It is further detected if the preceding vehicle deviates from the line of sight of the detector unit due to e.g. a curve or a slope.
  • An object of the present invention is to provide a method for controlling the speed of a host vehicle along a road taking a preceding vehicle into account which improves control of the speed of the vehicle and hence control of driving of the vehicle.
  • Another object of the present invention is to provide a system for controlling the speed of a host vehicle along a road taking a preceding vehicle into account which improves control of the speed of the vehicle and hence control of driving of the vehicle.
  • an object of the invention is achieved by a method for controlling the speed of a host vehicle along a road taking a preceding vehicle into account.
  • the method comprises the steps of: detecting in a line of sight the direction of travel of the host vehicle so as to detect a preceding vehicle; determining whether the preceding vehicle is deviating from the detected line of sight using a line sensor (in particular a camera), deviation comprising the preceding vehicle disappearing from the detected line of sight.
  • the method further comprises the steps of: determining, if there is a deviation, the character of the deviation; and controlling the speed of the host vehicle based upon the thus determined character of said deviation.
  • the step of detecting in a line of sight the direction of travel of the host vehicle so as to detect a preceding vehicle comprises utilizing any suitable line sensor that can comprise one or more camera units and/or one or more Lidar units, i.e. laser scanner units, and/or one or more radar units.
  • the step of detecting in a line of sight the direction of travel of the host vehicle so as to detect a preceding vehicle thus comprises detecting in the direction of travel of the host vehicle so as to detect whether the preceding vehicle is in the line of sight of detection means, the line of sight essentially being in the direction of travel of the host vehicle.
  • the step of detecting in a line of sight the direction of travel of the host vehicle so as to detect a preceding vehicle comprises detecting such that the host vehicle detects the preceding vehicle when it is in path of the preceding vehicle, i.e. in the same field so that only the preceding vehicle and not vehicles in adjacent lanes are covered to such an extent that it is not clear which vehicle to follow.
  • the line of sight may possibly cover a certain additional lateral position such that it may be detected if a preceding vehicle is crossing the lanes for leaving or entering the lane of the road in which the host vehicle is travelling.
  • it can be determined if the preceding vehicle is in path of the host vehicle.
  • the lane placement of the own vehicle can be compared to the lane placement of the vehicle in front of the own vehicle.
  • an improved determination of a lane change of the vehicle in front can be achieved because the deviation of lane placement can be more easily detected and /or detected at an earlier point in time.
  • Controlling the speed of the host vehicle based upon the thus determined character of said deviation comprises adapting the speed of the vehicle.
  • Adapting the speed of the vehicle comprises reducing the speed of the host vehicle, reduction of speed comprising activating brakes and/or free rolling, preferably with the drivetrain engaged, i.e. so called motoring, shifting gear for speed decrease.
  • Adapting the speed of the vehicle comprises increasing the speed of the host vehicle, increase of speed comprising giving a torque demand of increased torque, e.g. giving gas, shifting gear for speed increase.
  • control of the speed of the vehicle and hence control of driving of the vehicle is improved in that more efficient control of the speed is facilitated wherein situations where the character of the deviation/disappearance of the preceding vehicle results in that the preceding vehicle will not continue in the same lane or same road as the host vehicle control of the speed of the host vehicle does not need to be simulated taking as if the preceding vehicle will reappear in the line of sight of the host vehicle.
  • unnecessary slow and unresponsive experience of the control of the speed of the vehicle i.e. the cruise control, can be avoided.
  • the control of the speed of the vehicle is adapted to that situation.
  • the step of determining the character of the deviation comprises determining whether the deviation is likely to result in the preceding vehicle disappearing and not reappearing in the detected direction of travel of the host vehicle or whether the deviation is likely to result in the preceding vehicle reappearing in the detected direction of travel of the host vehicle.
  • efficient control of the speed of the vehicle is obtained by thus control the speed based upon the character of the deviation of the preceding vehicle and the likelihood of a disappeared preceding vehicle reappearing or not. If it is likely that the preceding vehicle will not reappear in the line of sight the control of the preceding vehicle may be more quickly adapted to a new preceding vehicle if applicable.
  • the character of the deviation comprises any of: preceding vehicle having entered a roundabout, the preceding vehicle having entered an exit from the road along which the host vehicle is travelling, the preceding vehicle having changed or is changing lane, the host vehicle having changed or is changing lane, the preceding vehicle having entered a curve, the preceding vehicle having entered a slope.
  • a character of the deviation comprising a roundabout may result in the preceding vehicle reappearing or not and may require a certain adaption of the speed of the host vehicle.
  • a character of the deviation comprising a road exit may result in the preceding vehicle not reappearing.
  • a character of the deviation comprising the preceding vehicle changing lane may involve different control of the host vehicle, the host vehicle in one case adapting the speed due to the fact that the preceding vehicle is no longer in path of the host vehicle, and according to another variant the host vehicle changes lane to the lane of the preceding vehicle and continues to adapt the speed to the preceding vehicle.
  • a character of the deviation comprising the host vehicle changing lane most likely will involve adapting the speed due to the fact that the preceding vehicle is no longer in path of the host vehicle.
  • a character of the deviation comprising the preceding vehicle having entered a curve, the preceding vehicle having entered a slope will generally result in the preceding vehicle reappearing in the line of sight wherein the speed is controlled accordingly.
  • a character of the deviation comprising the preceding vehicle having entered a slope will generally result in the preceding vehicle reappearing in the line of sight wherein the speed is controlled accordingly.
  • the method comprises the step of determining the lane of the preceding vehicle and the lane of the host vehicle.
  • the determination of the lane of the preceding vehicle and the lane of the host vehicle may be performed by means of detecting said lanes.
  • the detection of the lane of the host vehicle and the detection of the lane of the preceding vehicle may be performed with the same detection means, i.e. same detector unit/units as for detecting in the line of sight the direction of travel of the host vehicle or with different detection means.
  • the step of detecting the lane of the preceding vehicle and the step of detecting the lane of the host vehicle comprises utilizing any suitable detection means comprising one or more camera units and/or one or more Lidar units, i.e.
  • the step of determining the lane of the preceding vehicle may comprise receiving information from the preceding vehicle via vehicle-to-vehicle communication.
  • the step of determining the lane of the host vehicle may comprise data of the position of the host vehicle and map data of information of the extension of the road along which the vehicle is travelling including lanes of the road along which the vehicle is travelling.
  • the method comprises the step of determining the configuration of the road along which the host vehicle is travelling based on a determined current position of the host vehicle and extracted map information of the extension of the road along which the vehicle is travelling so as to determine possible characters of deviation of a preceding vehicle.
  • the configuration of the road along which the host vehicle is travelling may comprise a roundabout, an exit from the road along which the host vehicle is travelling, number of lanes and change of number of lanes, a curve, a slope or the like.
  • the information may thus comprise upcoming ramps/ road exits from which the preceding vehicle may exit the road, roundabouts, curves, change of number of lanes, slopes and the like that may or will result in the preceding vehicle disappearing from the line of sight, i.e. the detected direction of travel of the host vehicle.
  • the method comprises the steps of establishing contact with the preceding vehicle within a vehicle-to-vehicle communication arrangement receiving information from the preceding vehicle about intention to deviate from the detected direction of travel of the host vehicle resulting in disappearing and not reappearing or disappearing and reappearing in the detected direction of travel of the host vehicle.
  • the intention of the preceding vehicle is known, or at least likely to be known, whereas the control of the speed of the vehicle can be further improved and more efficient thus avoiding any unnecessary adaption of to the speed of the preceding vehicle.
  • quicker actions regarding control and where applicable adaption of the speed may be taken if it is communicated that the preceding vehicle will disappear and not reappear in the line of sight of the host vehicle.
  • a system for controlling the speed of a host vehicle along a road taking a preceding vehicle into account comprises means for detecting in a line of sight the direction of travel of the host vehicle so as to detect a preceding vehicle; and means for determining whether the preceding vehicle is deviating from the detected line of sight, deviation comprising the preceding vehicle disappearing from the detected line of sight.
  • the system further comprises means for determining, if there is a deviation, the character of the deviation; and means for controlling the speed of the host vehicle based upon the thus determined character of said deviation.
  • the means for determining the character of the deviation comprises means for determining whether the deviation is likely to result in the preceding vehicle disappearing and not reappearing in the detected direction of travel of the host vehicle or whether the deviation is likely to result in the preceding vehicle reappearing in the detected direction of travel of the host vehicle.
  • the character of the deviation comprises any of: preceding vehicle having entered a roundabout, the preceding vehicle having entered an exit from the road along which the host vehicle is travelling, the preceding vehicle having changed or is changing lane, the host vehicle having changed or is changing lane, the preceding vehicle having entered a curve, the preceding vehicle having entered a slope.
  • the system comprises means for determining the lane of the preceding vehicle and means for determining the lane of the host vehicle.
  • the system comprises means for determining the configuration of the road along which the host vehicle is travelling based on a determined current position of the host vehicle and extracted map information of the extension of the road along which the vehicle is travelling so as to determine possible characters of deviation of a preceding vehicle.
  • the system comprises means for establishing contact with the preceding vehicle within a vehicle-to-vehicle communication arrangement; and means for receiving information from the preceding vehicle about intention to deviate from the detected direction of travel of the host vehicle resulting in disappearing and not reappearing or disappearing and reappearing in the detected direction of travel of the host vehicle.
  • the system for controlling the speed of a host vehicle along a road taking a preceding vehicle into account is adapted to perform the methods as set out herein.
  • an object of the invention is achieved by a vehicle comprising a system as set out herein.
  • a computer program for controlling the speed of a host vehicle along a road taking a preceding vehicle into account said computer program comprising program code which, when run on an electronic control unit or another computer connected to the electronic control unit, causes the electronic control unit to perform methods as set out herein.
  • a computer program product comprising a digital storage medium storing the computer program.
  • FIG. 1 schematically illustrates a side view of a vehicle according to the present invention
  • Fig. 2a schematically illustrates a plan view of a road with a road exit, a host vehicle travelling along the road trailing a preceding vehicle;
  • Fig. 2b schematically illustrates a plan view of a road with a curve, a host vehicle travelling along the road trailing a preceding vehicle;
  • Fig. 2c schematically illustrates a side view of a road with a slope, a host vehicle travelling along the road trailing a preceding vehicle;
  • Fig. 3a-f schematically illustrates a plan view of a road with three lanes, a host vehicle travelling in one of the lanes and a preceding vehicle is positioned in different lateral positions relative to the line of sight of the direction of travel of the host vehicle;
  • Fig. 4 schematically illustrates a plan view of a road with a roundabout, a host vehicle travelling along the road trailing a preceding vehicle;
  • Fig. 5 schematically illustrates a block diagram of a system for controlling the speed of a host vehicle along a road taking a preceding vehicle into account according to an embodiment of the present invention
  • Fig. 6 schematically illustrates a block diagram of a method for controlling the speed of a host vehicle along a road taking a preceding vehicle into account according to an embodiment of the present invention
  • Fig. 7 schematically illustrates a computer according to an embodiment of the present invention.
  • link refers to a communication link which may be a physical connector, such as an optoelectronic communication wire, or a non- physical connector such as a wireless connection, for example a radio or microwave link.
  • Fig. 1 schematically illustrates a side view of a vehicle 1 according to the present invention.
  • the exemplified vehicle 1 is a heavy vehicle in the shape of a truck.
  • the vehicle according to the present invention could be any suitable vehicle such as a bus or a car.
  • the vehicle according to the present invention could be an autonomous vehicle.
  • the vehicle comprises a system I for controlling the speed of a host 1 vehicle along a road R taking a preceding vehicle into account.
  • Fig. 2a schematically illustrates a plan view of a road R with a road exit L1 e, a host vehicle 1 travelling along the road R trailing a preceding vehicle 2.
  • the host vehicle 1 is detecting in a line of sight LS the direction of travel T1 of the host vehicle 1 so as to detect a preceding vehicle 2.
  • the preceding vehicle has a direction of travel T2.
  • the preceding vehicle 2 has deviated from the line of sight LS and exited the road R at the road exit Li e.
  • the deviation of the preceding vehicle 2 exiting the road R constitutes a character of deviation resulting in the preceding vehicle disappearing from the line of sight LS and not reappearing in the line of sight LS if the host vehicle 1 is continuing on along the road R.
  • the direction of travel T2 of the preceding vehicle corresponds to the extension of the road exit L1 e which differs from the direction of travel T1 of the host vehicle 1 .
  • the speed of the host vehicle is controlled based upon the thus determined character of the deviation constituted by the vehicle having entered a road exit and disappearing and not reappearing.
  • Fig. 2b schematically illustrates a plan view of a road R with a curve, a host vehicle 1 travelling along the road R trailing a preceding vehicle 2.
  • the host vehicle 1 is detecting in a line of sight LS the direction of travel T1 of the host vehicle 1 so as to detect a preceding vehicle 2.
  • the preceding vehicle has a direction of travel T2.
  • the preceding vehicle 2 has deviated from the line of sight LS by entering a curve of the road R.
  • the deviation of the preceding vehicle 2 entering the curve of the road R constitutes a character of deviation resulting in the preceding vehicle disappearing from the line of sight LS and reappearing in the line of sight LS.
  • the direction of travel T2 of the preceding vehicle corresponds to the extension of the curve which differs from the direction of travel T1 of the host vehicle 1 .
  • the speed of the host vehicle is controlled based upon the thus determined character of the deviation constituted by the preceding vehicle 2 having entered a curve of the road and disappearing and reappearing.
  • Fig. 2c schematically illustrates a side view of a road R with a slope, a host vehicle 1 travelling along the road R trailing a preceding vehicle 2;
  • the host vehicle 1 is detecting in a line of sight LS the direction of travel T1 of the host vehicle 1 so as to detect a preceding vehicle 2.
  • the preceding vehicle has a direction of travel T2.
  • the preceding vehicle 2 has deviated from the line of sight LS by entering a slope of the road R.
  • the deviation of the preceding vehicle 2 entering the slope of the road R constitutes a character of deviation resulting in the preceding vehicle disappearing from the line of sight LS and reappearing in the line of sight LS.
  • the direction of travel T2 of the preceding vehicle corresponds to the extension of the slope which differs from the direction of travel T1 of the host vehicle 1 .
  • Fig. 3a-f schematically illustrates a plan view of a road R with three lanes L1 , L2, L3, a host vehicle 1 travelling in one of the lanes and a preceding vehicle 2 is positioned in different lateral positions relative to the line of sight LS of the direction of travel of the host vehicle 1 .
  • the host vehicle 1 is detecting in a line of sight LS the direction of travel T1 of the host vehicle 1 so as to detect a preceding vehicle 2.
  • the preceding vehicle has a direction of travel T2.
  • Fig. 3a illustrates the host vehicle 1 travelling in the same lane L2 as the preceding vehicle 2, the host vehicle 1 thus being in path of the preceding vehicle 2 and thus the control of the speed of the host vehicle 1 is based on the preceding vehicle in a conventional cruise control manner.
  • Fig. 3b and 3d illustrates the host vehicle 1 travelling in the lane L2 and the preceding vehicle deviating such that it is in between lanes, in between lanes L2 and L3 in fig. 3b and in between lanes L2 and L1 in fig. 3d.
  • the deviation of the preceding vehicle 2 being laterally positioned in between lanes constitutes a character of deviation. If the preceding vehicle 2 is deviating in between lanes such that it is leaving the lane L2 in which the host vehicle 1 is travelling the speed of the host vehicle 1 may be controlled based upon the thus determined character of the deviation constituted by the preceding vehicle 2 being in between lanes and disappearing. Hereby the control of the speed of the host vehicle 1 may be adapted already when the preceding vehicle is starting to disappear from the line of sight LS and thus efficient control is obtained.
  • the speed of the host vehicle 1 may be controlled based upon the thus determined character of the deviation constituted by the preceding vehicle 2 being in between lanes and reappearing.
  • the control of the speed of the host vehicle 1 may be adapted to the preceding vehicle already when the preceding vehicle is starting to appear/reappear in the line of sight LS and thus efficient control is obtained.
  • Fig. 3c and 3e illustrates the host vehicle 1 travelling in the lane L2 and the preceding vehicle deviating such that it has changed lane to an adjacent lane, lane L3 and in fig. 3c and lane L1 in fig. 3e.
  • the deviation of the preceding vehicle 2 being laterally positioned in another lane than the lane of the road along which the host vehicle 1 is travelling constitutes a character of deviation.
  • the speed of the host vehicle 1 may be controlled based upon the thus determined character of the deviation constituted by the preceding vehicle 2 having changed lane and disappearing and most likely not reappearing.
  • Fig. 3f illustrates the preceding vehicle 2 deviating due to the host vehicle 1 having changed lane from the lane 2 of the preceding vehicle to an adjacent lane L3, here left lane L3.
  • the deviation of the preceding vehicle 2 being laterally positioned in another lane than the lane of the road along which the host vehicle 1 is travelling due to the host vehicle 1 changing lanes constitutes a character of deviation.
  • the speed of the host vehicle 1 may controlled based upon the thus determined character of the deviation constituted by the host vehicle 1 having changed lane and disappearing and most likely not reappearing.
  • Fig. 4 schematically illustrates a plan view of a road R with a roundabout RA, a host vehicle 1 travelling along the road R trailing a preceding vehicle 2.
  • the host vehicle 1 is detecting in a line of sight LS the direction of travel T1 of the host vehicle 1 so as to detect a preceding vehicle 2.
  • the preceding vehicle has a direction of travel T2.
  • the preceding vehicle 2 has deviated from the line of sight LS by entering a roundabout RA of the road R.
  • the deviation of the preceding vehicle 2 entering the roundabout RA of the road R constitutes a character of deviation resulting in the preceding vehicle disappearing from the line of sight LS. If the preceding vehicle will reappear again or not depends on whether the preceding vehicle 2 and the host vehicle 1 take the same route through and exits the roundabout RA at the same exit.
  • the direction of travel T2 of the preceding vehicle corresponds to the extension of the roundabout RA at the current position of the preceding vehicle 2 which differs from the direction of travel T1 of the host vehicle 1 .
  • the speed of the host vehicle is controlled based upon the thus determined character of the deviation constituted by the preceding vehicle 2 having entered a roundabout RA of the road and disappearing and reappearing or disappearing and not reappearing.
  • the deviation of the preceding vehicle 2 and the character of the deviation is determined in accordance with the present invention.
  • the determination of the deviation of the preceding vehicle 2 and the character of the deviation may thus involve detecting in the line of sight of the direction of travel of the host vehicle 1 .
  • the determination of the deviation of the preceding vehicle 2 and the character of the deviation may also involve for the host vehicle to establish contact with and receiving information from the preceding vehicle 2 regarding intention to deviate from the detected direction of travel of the host vehicle resulting in disappearing and not reappearing or disappearing and reappearing in the detected direction of travel of the host vehicle.
  • the control may also involve determining the configuration of the road along which the host vehicle is travelling based on a determined current position of the host vehicle and extracted map information of the extension of the road along which the vehicle is travelling so as to determine possible characters of deviation of a preceding vehicle.
  • Fig. 5 schematically illustrates a system I for controlling the speed of a host vehicle along a road taking a preceding vehicle into account.
  • the system I comprises an electronic control unit 100.
  • the system I comprises means 1 10 for detecting in a line of sight the direction of travel of the host vehicle so as to detect a preceding vehicle.
  • the means 1 10 for detecting in a line of sight the direction of travel of the host vehicle so as to detect a preceding vehicle comprises any suitable detector unit.
  • the means 1 10 for detecting in a line of sight the direction of travel of the host vehicle so as to detect a preceding vehicle comprises according to an embodiment one or more Lidar units, i.e. laser scanner units, and/or one or more camera units and/or one or more radar units.
  • the means 1 10 for detecting in a line of sight the direction of travel of the host vehicle so as to detect a preceding vehicle comprises is arranged on the host vehicle driving along the road.
  • the means 1 10 for detecting in a line of sight the direction of travel of the host vehicle so as to detect a preceding vehicle is adapted to detect such that the host vehicle detects the preceding vehicle when it is in path of the preceding vehicle, i.e. in the same field so that only the preceding vehicle and not vehicles in adjacent lanes are covered to such an extent that it is not clear which vehicle to follow.
  • the line of sight may possibly cover a certain additional lateral position such that it may be detected if a preceding vehicle is crossing the lanes for leaving or entering the lane of the road in which the host vehicle is travelling.
  • the system I comprises means 120 for determining whether the preceding vehicle is deviating from the detected line of sight, deviation comprising the preceding vehicle disappearing from the detected line of sight.
  • the means 120 for determining whether the preceding vehicle is deviating from the detected line of sight comprises the means 1 10 and the electronic control unit 100, wherein information from the means 1 10 of detected line of sight is processed by means of the electronic control unit 100 so as to determined possible deviation of the preceding vehicle.
  • the system I comprises means 130 for means for determining, if there is a deviation, the character of the deviation.
  • the means for determining the character of the deviation comprises means 132 for determining whether the deviation is likely to result in the preceding vehicle disappearing and not reappearing in the detected direction of travel of the host vehicle or whether the deviation is likely to result in the preceding vehicle reappearing in the detected direction of travel of the host vehicle.
  • the character of the deviation comprises any of: preceding vehicle having entered a roundabout, the preceding vehicle having entered an exit from the road along which the host vehicle is travelling, the preceding vehicle having changed or is changing lane, the host vehicle having or is changing changed lane, the preceding vehicle having entered a curve, the preceding vehicle having entered a slope.
  • the system I comprises means 140 for controlling the speed of the host vehicle based upon the thus determined character of said deviation.
  • the means 140 for controlling the speed of the host vehicle based upon the thus determined character of said deviation comprises control within a cruise control arrangement of the vehicle.
  • the means 140 for controlling the speed comprises means for adapting the speed of the vehicle.
  • the means for adapting the speed of the vehicle comprises means for reducing the speed of the host vehicle, reduction of speed comprising activating brakes and/or free rolling free rolling, preferably with the drivetrain engaged, i.e. so called motoring, shifting gear for speed decrease.
  • the means for adapting the speed of the vehicle comprises means for increasing the speed of the host vehicle, increase of speed comprising giving a torque demand of increased torque, e.g. giving gas, shifting gear for speed increase.
  • the system I comprises means 150 for determining the lane of the preceding vehicle.
  • the means 150 for determining the lane of the preceding vehicle comprises means 152 for detecting the lane of the preceding vehicle.
  • the means 152 for detecting the lane of the preceding vehicle is according to an embodiment comprised in or comprises the means 1 10 for detecting in a line of sight the direction of travel of the host vehicle so as to detect a preceding vehicle.
  • the means 150 for determining the lane of the preceding vehicle comprises means 154 for receiving information from the preceding vehicle about the lane in which the preceding vehicle is travelling within a vehicle-to-vehicle communication arrangement.
  • the means 154 is according to an embodiment comprised in the means 180 and means 190 described below.
  • the system I comprises means 160 for determining the lane of the host vehicle.
  • the means 160 for determining the lane of the host vehicle comprises means 162 for detecting the lane of the host vehicle.
  • the means 162 for detecting the lane of the host vehicle is according to an embodiment comprised in or comprises the means 1 10 for detecting in a line of sight the direction of travel of the host vehicle so as to detect a preceding vehicle.
  • the means 160 for determining the lane of the host vehicle comprises according to an embodiment means 164 for determining the current position of the host vehicle and means 166 for extracting map information of the road along which the vehicle is travelling comprising lanes of the road along which the vehicle is travelling.
  • the means 164 and means 166 are according to an embodiment comprised in the means 170 described below.
  • the system I comprises means 1 70 for determining the configuration of the road along which the host vehicle is travelling based on a determined current position of the host vehicle and extracted map information of the extension of the road along which the vehicle is travelling so as to determine possible characters of deviation of a preceding vehicle.
  • the configuration of the road along which the host vehicle is travelling may comprise a roundabout, an exit from the road along which the host vehicle is travelling, number of lanes and change of number of lanes, a curve, a slope or the like.
  • the means 170 for determining the configuration of the road along which the host vehicle is travelling comprises means 172 for determining the current position of the host vehicle.
  • the means 172 for determining the position of the vehicle comprises according to an embodiment a global positioning system, GPS, for continuously determining the position of the vehicle along the road on which it is travelling.
  • GPS global positioning system
  • the means 170 for determining the configuration of the road along which the host vehicle is travelling comprises means 174 for extracting map information of the extension of the road along which the vehicle is travelling so as to determine possible characters of deviation of a preceding vehicle.
  • the means 174 for extracting map information of the extension of the road along which the vehicle is travelling so as to determine possible characters of deviation of a preceding vehicle comprises according to an embodiment a map information unit comprising map data comprising information about the extension of the road along which the vehicle is travelling comprising information about possible characters of deviation of a preceding vehicle.
  • the system I comprises means 1 80 for establishing contact with the preceding vehicle within a vehicle-to-vehicle communication arrangement V2V.
  • the other vehicle may comprise means 200 for receiving and communicating information, e.g. an electronic control unit or the like.
  • the system I comprises means 1 90 for receiving information from the preceding vehicle about intention to deviate from the detected direction of travel of the host vehicle resulting in disappearing and not reappearing or disappearing and reappearing in the detected direction of travel of the host vehicle.
  • the preceding vehicle may comprise means 200 for establishing contact and communicating and receiving information, the means 200 comprising/constituting e.g. an electronic control unit or the like.
  • the electronic control unit 100 is operably connected to the means 1 10 for detecting in a line of sight the direction of travel of the host vehicle so as to detect a preceding vehicle via a link 10.
  • the electronic control unit 100 is via the link 10 arranged to receive a signal from said means 1 10 representing detection data for the detected line of sight.
  • the electronic control unit 100 is operably connected to the means 120 for determining whether the preceding vehicle is deviating from the detected line of sight via a link 20a.
  • the electronic control unit 100 is via the link 20a arranged to send a signal to said means 120 representing detection data for the detected line of sight.
  • the electronic control unit 100 is operably connected to the means 120 for determining whether the preceding vehicle is deviating from the detected line of sight via a link 20b.
  • the electronic control unit 100 is via the link 20b arranged to receive a signal from said means 120 representing data for possible deviation comprising degree of deviation.
  • the electronic control unit 100 is operably connected to the means 130 for determining, if there is a deviation, the character of the deviation via a link 30a.
  • the electronic control unit 100 is via the link 30a arranged to send a signal to said means 130 representing data for deviation comprising degree of deviation.
  • the electronic control unit 100 is operably connected to the means 130 for determining, if there is a deviation via a link 30b.
  • the electronic control unit 100 is via the link 30b arranged to receive a signal from said means 130 representing data for character of the deviation.
  • the electronic control unit 100 is operably connected to the means 132 for determining whether the deviation is likely to result in the preceding vehicle disappearing and not reappearing in the detected direction of travel of the host vehicle or whether the deviation is likely to result in the preceding vehicle reappearing in the detected direction of travel of the host vehicle via a link 32a.
  • the electronic control unit 100 is via the link 32a arranged to send a signal to said means 130 representing data for d for character of the deviation.
  • the electronic control unit 100 is operably connected to the means 132 for determining whether the deviation is likely to result in the preceding vehicle disappearing and not reappearing in the detected direction of travel of the host vehicle or whether the deviation is likely to result in the preceding vehicle reappearing in the detected direction of travel of the host vehicle via a link 32b.
  • the electronic control unit 100 is via the link 32b arranged to receive a signal from said means 130 representing data for.
  • the electronic control unit 100 is operably connected to the means 140 for controlling the speed of the host vehicle based upon the thus determined character of said deviation via a link 40.
  • the electronic control unit 100 is via the link 40 arranged to receive a signal from said means 140 representing data for controlling the speed of the host vehicle based upon the thus determined character of the deviation.
  • the electronic control unit 100 is operably connected to the means 150 for determining the lane of the preceding vehicle via a link 50.
  • the electronic control unit 100 is via the link 50 arranged to receive a signal from said means 150 representing data for determined lane of the preceding vehicle.
  • the electronic control unit 100 is operably connected to the means 152 for detecting the lane of the preceding vehicle of the preceding vehicle via a link 52.
  • the electronic control unit 100 is via the link 52 arranged to receive a signal from said means 152 representing data for detected lane of the preceding vehicle.
  • the electronic control unit 100 is operably connected to the means 154 for receiving information from the preceding vehicle about the lane in which the preceding vehicle is travelling within a vehicle-to-vehicle communication arrangement via a link 54.
  • the electronic control unit 100 is via the link 54 arranged to receive a signal from said means 154 representing communication data from the preceding vehicle about determined lane of the preceding vehicle.
  • the electronic control unit 100 is operably connected to the means 160 for determining the lane of the host vehicle via a link 60.
  • the electronic control unit 100 is via the link 60 arranged to receive a signal from said means 160 representing data for determined lane of the host vehicle.
  • the electronic control unit 100 is operably connected to the means 162 for detecting the lane of the host vehicle of the host vehicle via a link 62.
  • the electronic control unit 100 is via the link 62 arranged to receive a signal from said means 162 representing data for detected lane of the host vehicle.
  • the electronic control unit 100 is operably connected to the means 164 for determining the current position of the host vehicle via a link 64.
  • the electronic control unit 100 is via the link 64 arranged to receive a signal from said means 164 representing position data for current position of the host vehicle.
  • the electronic control unit 100 is operably connected to the means 166 for extracting map information of the road along which the vehicle is travelling comprising lanes of the road along which the host vehicle is travelling via a link 66.
  • the electronic control unit 100 is via the link 66 arranged to receive a signal from said means 166 representing data for lane along which the host vehicle is travelling.
  • the electronic control unit 100 is operably connected to the means 170 for determining the configuration of the road along which the host vehicle is travelling via a link 70.
  • the electronic control unit 100 is via the link 70 arranged to receive a signal from said means 170 representing data for configuration of the road along which the host vehicle is travelling.
  • the electronic control unit 100 is operably connected to the means 172 for determining the current position of the host vehicle via a link 72.
  • the electronic control unit 100 is via the link 72 arranged to receive a signal from said means 172 representing position data for position of the host.
  • the electronic control unit 100 is operably connected to the means 174 for extracting map information of the road along which the host vehicle is travelling via a link 74.
  • the electronic control unit 100 is via the link 74 arranged to receive a signal from said means 174 representing data for possible characters of deviation of a preceding vehicle.
  • the electronic control unit 100 is operably connected to the means 1 80 means 180 for establishing contact with the preceding vehicle within a vehicle-to- vehicle communication arrangement via a link 80.
  • the electronic control unit 100 is via the link 80 arranged to receive a signal from said means 1 80 representing data for establishing contact with the preceding vehicle.
  • the electronic control unit 100 may also send data via the link 80.
  • the electronic control unit 100 is operably connected to the means 190 for receiving information from the preceding vehicle about intention to deviate from the detected direction of travel of the host vehicle resulting in disappearing and not reappearing or disappearing and reappearing in the detected direction of travel of the host vehicle via a link 90.
  • the electronic control unit 100 is via the link 90 arranged to receive a signal from said means 190 representing data about intention to deviate from the detected direction of travel of the host vehicle.
  • the data comprises information about intention to deviate from the detected direction of travel of the host vehicle resulting in disappearing and not reappearing or disappearing and reappearing in the detected direction of travel of the host vehicle.
  • the electronic control unit 1 00 may also send data via the link 90.
  • Fig. 4 schematically illustrates a block diagram of a method for controlling the speed of a host vehicle along a road taking a preceding vehicle into account according to an embodiment of the present invention.
  • the method for controlling the speed of a host vehicle along a road taking a preceding vehicle into account comprises a step S1 .
  • this step it is detected in a line of sight the direction of travel of the host vehicle so as to detect a preceding vehicle.
  • the method for controlling the speed of a host vehicle along a road taking a preceding vehicle into account comprises a step S2. In this step it is determined whether the preceding vehicle is deviating from the detected line of sight, deviation comprising the preceding vehicle disappearing from the detected line of sight.
  • the method for controlling the speed of a host vehicle along a road taking a preceding vehicle into account comprises a step S3, which is performed if there is a deviation, i.e. if the preceding vehicle is determined to deviate from the detected line of sight. In this step the character of the deviation is determined.
  • the method for controlling the speed of a host vehicle along a road taking a preceding vehicle into account comprises a step S4.
  • the speed of the host vehicle is controlled based upon the thus determined character of said deviation.
  • Controlling the speed of the host vehicle based upon the thus determined character of said deviation comprises adapting the speed of the vehicle.
  • Adapting the speed of the vehicle comprises reducing the speed of the host vehicle, reduction of speed comprising activating brakes and/or free rolling free rolling, preferably with the drivetrain engaged, i.e. so called motoring, shifting gear for speed decrease.
  • Adapting the speed of the vehicle comprises increasing the speed of the host vehicle, increase of speed comprising giving a torque demand of increased torque, e.g. giving gas, shifting gear for speed increase.
  • the step of detecting in a line of sight the direction of travel of the host vehicle so as to detect a preceding vehicle comprises utilizing any suitable detection means comprising one or more camera units and/or one or more Lidar units, i.e. laser scanner units, and/or one or more radar units.
  • the step of detecting in a line of sight the direction of travel of the host vehicle so as to detect a preceding vehicle thus comprises detecting in the direction of travel of the host vehicle so as to detect whether the preceding vehicle is in the line of sight of detection means, the line of sight essentially being in the direction of travel of the host vehicle.
  • the step of detecting in a line of sight the direction of travel of the host vehicle so as to detect a preceding vehicle comprises detecting such that the host vehicle detects the preceding vehicle when it is in path of the preceding vehicle, i.e. in the same field so that only the preceding vehicle and not vehicles in adjacent lanes are covered to such an extent that it is not clear which vehicle to follow.
  • the line of sight may possibly cover a certain additional lateral position such that it may be detected if a preceding vehicle is crossing the lanes for leaving or entering the lane of the road in which the host vehicle is travelling.
  • it can be determined if the preceding vehicle is in path of the host vehicle.
  • control of the speed of the vehicle and hence control of driving of the vehicle is improved in that more efficient control of the speed is facilitated wherein situations where the character of the deviation/disappearance of the preceding vehicle results in that the preceding vehicle will not continue in the same lane or same road as the host vehicle control of the speed of the host vehicle does not need to be simulated taking as if the preceding vehicle will reappear in the line of sight of the host vehicle.
  • unnecessary slow and unresponsive experience of the control of the speed of the vehicle i.e. the cruise control, can be avoided. If it is determined that the character of the deviation of the preceding vehicle will likely result in the preceding vehicle reappearing the control of the speed of the vehicle is adapted to that situation.
  • the step of determining the character of the deviation comprises determining whether the deviation is likely to result in the preceding vehicle disappearing and not reappearing in the detected direction of travel of the host vehicle or whether the deviation is likely to result in the preceding vehicle reappearing in the detected direction of travel of the host vehicle.
  • efficient control of the speed of the vehicle is obtained by thus control the speed based upon the character of the deviation of the preceding vehicle and the likelihood of a disappeared preceding vehicle reappearing or not. If it is likely that the preceding vehicle will not reappear in the line of sight the control of the preceding vehicle may be more quickly adapted to a new preceding vehicle if applicable.
  • the character of the deviation comprises any of: preceding vehicle having entered a roundabout, the preceding vehicle having entered an exit from the road along which the host vehicle is travelling, the preceding vehicle having changed or is changing lane, the host vehicle having changed or is changing lane, the preceding vehicle having entered a curve, the preceding vehicle having entered a slope.
  • a character of the deviation comprising a roundabout may result in the preceding vehicle reappearing or not and may require a certain adaption of the speed of the host vehicle.
  • a character of the deviation comprising the preceding vehicle changing lane may involve different control of the host vehicle, the host vehicle in one case adapting the speed due to the fact that the preceding vehicle is no longer in path of the host vehicle, and according to another variant the host vehicle changes lane to the lane of the preceding vehicle and continues to adapt the speed to the preceding vehicle.
  • a character of the deviation comprising the host vehicle changing lane most likely will involve adapting the speed due to the fact that the preceding vehicle is no longer in path of the host vehicle.
  • a character of the deviation comprising the preceding vehicle having entered a curve, the preceding vehicle having entered a slope will generally result in the preceding vehicle reappearing in the line of sight wherein the speed is controlled accordingly.
  • a character of the deviation comprising the preceding vehicle having entered a slope will generally result in the preceding vehicle reappearing in the line of sight wherein the speed is controlled accordingly.
  • the method comprises the step of determining the lane of the preceding vehicle and the lane of the host vehicle.
  • the determination of the lane of the preceding vehicle and the lane of the host vehicle may be performed by means of detecting said lanes.
  • the detection of the lane of the host vehicle and the detection of the lane of the preceding vehicle may be performed with the same detection means, i.e. same detector unit/units as for detecting in the line of sight the direction of travel of the host vehicle or with different detection means.
  • the step of detecting the lane of the preceding vehicle and the step of detecting the lane of the host vehicle comprises utilizing any suitable detection means comprising one or more line sensors such as one or more camera units and/or one or more Lidar units, i.e.
  • the step of determining the lane of the preceding vehicle may comprise receiving information from the preceding vehicle via vehicle-to- vehicle communication.
  • the step of determining the lane of the host vehicle may comprise data of the position of the host vehicle and map data of information of the extension of the road along which the vehicle is travelling including lanes of the road along which the vehicle is travelling.
  • the method comprises the step of determining the configuration of the road along which the host vehicle is travelling based on a determined current position of the host vehicle and extracted map information of the extension of the road along which the vehicle is travelling so as to determine possible characters of deviation of a preceding vehicle.
  • the configuration of the road along which the host vehicle is travelling may comprise a roundabout, an exit from the road along which the host vehicle is travelling, number of lanes and change of number of lanes, a curve, a slope or the like.
  • the information may thus comprise upcoming ramps/ road exits from which the preceding vehicle may exit the road, roundabouts, curves, change of number of lanes, slopes and the like that may or will result in the preceding vehicle disappearing from the line of sight, i.e. the detected direction of travel of the host vehicle.
  • the method comprises the steps of establishing contact with the preceding vehicle within a vehicle-to-vehicle communication arrangement receiving information from the preceding vehicle about intention to deviate from the detected direction of travel of the host vehicle resulting in disappearing and not reappearing or disappearing and reappearing in the detected direction of travel of the host vehicle.
  • the intention of the preceding vehicle is known, or at least likely to be known, whereas the control of the speed of the vehicle can be further improved and more efficient thus avoiding any unnecessary adaption of to the speed of the preceding vehicle.
  • quicker actions regarding control and where applicable adaption of the speed may be taken if it is communicated that the preceding vehicle will disappear and not reappear in the line of sight of the host vehicle.
  • Apparatus 500 comprises a non-volatile memory 520, a data processing device 510 and a read/write memory 550.
  • Non-volatile memory 520 has a first memory portion 530 wherein a computer program, such as an operating system, is stored for controlling the function of apparatus 500.
  • apparatus 500 comprises a bus controller, a serial communication port, l/O-means, an A/D-converter, a time date entry and transmission unit, an event counter and an interrupt controller (not shown).
  • Non-volatile memory 520 also has a second memory portion 540.
  • a computer program P comprising routines for controlling the speed of a host vehicle along a road taking a preceding vehicle into account according to an embodiment of the present invention.
  • the program P comprises routines for detecting in a line of sight the direction of travel of the host vehicle so as to detect a preceding vehicle.
  • the program P comprises routines for determining whether the preceding vehicle is deviating from the detected line of sight, deviation comprising the preceding vehicle disappearing from the detected line of sight.
  • the program P comprises routines for determining, if there is a deviation, the character of the deviation.
  • the program P comprises routines for controlling the speed of the host vehicle based upon the thus determined character of said deviation.
  • the routines for determining the character of the deviation comprises determining whether the deviation is likely to result in the preceding vehicle disappearing and not reappearing in the detected direction of travel of the host vehicle or whether the deviation is likely to result in the preceding vehicle reappearing in the detected direction of travel of the host vehicle.
  • the character of the deviation comprises any of: preceding vehicle having entered a roundabout, the preceding vehicle having entered an exit from the road along which the host vehicle is travelling, the preceding vehicle having changed or is changing lane, the host vehicle having changed or is changing lane, the preceding vehicle having entered a curve, the preceding vehicle having entered a slope.
  • the program P comprises routines for determining the lane of the preceding vehicle and the lane of the host vehicle.
  • the program P comprises routines for determining the configuration of the road along which the host vehicle is travelling based on a determined current position of the host vehicle and extracted map information of the extension of the road along which the vehicle is travelling so as to determine possible characters of deviation of a preceding vehicle.
  • the program P comprises routines for establishing contact with the preceding vehicle within a vehicle-to-vehicle communication arrangement.
  • the program P comprises routines for receiving information from the preceding vehicle about intention to deviate from the detected direction of travel of the host vehicle resulting in disappearing and not reappearing or disappearing and reappearing in the detected direction of travel of the host vehicle.
  • the computer program P may be stored in an executable manner or in a compressed condition in a separate memory 560 and/or in read/write memory 550. When it is stated that data processing device 510 performs a certain function it should be understood that data processing device 510 performs a certain part of the program which is stored in separate memory 560, or a certain part of the program which is stored in read/write
  • Data processing device 510 may communicate with a data communications port 599 by means of a data bus 515.
  • Non-volatile memory 520 is adapted for communication with data processing device 510 via a data bus 512.
  • Separate memory 560 is adapted for communication with data processing device 510 via a data bus 51 1 .
  • Read/write memory 550 is adapted for communication with data processing device 510 via a data bus 514.
  • To the data communications port 599 e.g. the links connected to the control units 100 may be connected.
  • data processing device 510 When data is received on data port 599 it is temporarily stored in second memory portion 540. When the received input data has been temporarily stored, data processing device 510 is set up to perform execution of code in a manner described above.
  • the signals received on data port 599 can be used by apparatus 500 for detecting in a line of sight the direction of travel of the host vehicle so as to detect a preceding vehicle.
  • the signals received on data port 599 can be used by apparatus 500 for determining whether the preceding vehicle is deviating from the detected line of sight, deviation comprising the preceding vehicle disappearing from the detected line of sight.
  • the signals received on data port 599 can be used by apparatus 500 for determining, if there is a deviation, the character of the deviation.
  • the signals received on data port 599 can be used by apparatus 500 for and controlling the speed of the host vehicle based upon the thus determined character of said deviation.
  • the signals used by apparatus 500 for determining the character of the deviation comprises determining whether the deviation is likely to result in the preceding vehicle disappearing and not reappearing in the detected direction of travel of the host vehicle or whether the deviation is likely to result in the preceding vehicle reappearing in the detected direction of travel of the host vehicle.
  • the character of the deviation comprises any of: preceding vehicle having entered a roundabout, the preceding vehicle having entered an exit from the road along which the host vehicle is travelling, the preceding vehicle having changed or is changing lane, the host vehicle having changed or is changing lane, the preceding vehicle having entered a curve, the preceding vehicle having entered a slope.
  • the signals received on data port 599 can be used by apparatus 500 for determining the lane of the preceding vehicle and the lane of the host vehicle.
  • the signals received on data port 599 can be used by apparatus 500 for determining the configuration of the road along which the host vehicle is travelling based on a determined current position of the host vehicle and extracted map information of the extension of the road along which the vehicle is travelling so as to determine possible characters of deviation of a preceding vehicle.
  • the signals received on data port 599 can be used by apparatus 500 for establishing contact with the preceding vehicle within a vehicle-to-vehicle communication arrangement.
  • the signals received on data port 599 can be used by apparatus 500 for receiving information from the preceding vehicle about intention to deviate from the detected direction of travel of the host vehicle resulting in disappearing and not reappearing or disappearing and reappearing in the detected direction of travel of the host vehicle.
  • Parts of the methods described herein can be performed by apparatus 500 by means of data processing device 510 running the program stored in separate memory 560 or read/write memory 550. When apparatus 500 runs the program, parts of the methods described herein are executed.

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Physics & Mathematics (AREA)
  • Mathematical Physics (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Traffic Control Systems (AREA)
EP17760390.9A 2016-03-02 2017-02-17 Verfahren und system zur steuerung der geschwindigkeit eines host-fahrzeugs entlang einer strasse Withdrawn EP3423325A4 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
SE1650271A SE542264C2 (en) 2016-03-02 2016-03-02 Method and system for controlling the speed of a host vehicle along a road
PCT/SE2017/050149 WO2017151034A1 (en) 2016-03-02 2017-02-17 Method and system for controlling the speed of a host vehicle along a road

Publications (2)

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EP3423325A1 true EP3423325A1 (de) 2019-01-09
EP3423325A4 EP3423325A4 (de) 2019-08-21

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CN109080633B (zh) * 2018-07-27 2020-10-16 吉利汽车研究院（宁波）有限公司 一种路口场景下的巡航车速控制装置及方法
CN109050531B (zh) * 2018-07-27 2020-11-03 吉利汽车研究院（宁波）有限公司 一种巡航车速控制装置及方法
FR3123865A1 (fr) * 2021-06-09 2022-12-16 Psa Automobiles Sa Procédé et système pour gérer le fonctionnement d’un régulateur de vitesse adaptatif d’un appareillage d’aide à la conduite d’un véhicule automobile

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GB9606384D0 (en) * 1996-03-26 1996-06-05 Jaguar Cars Cruise control systems
DE19736964B4 (de) * 1997-08-25 2011-01-20 Continental Automotive Gmbh Verfahren zur Bestimmung eines Regelobjektes
DE10004525B4 (de) * 2000-02-02 2013-10-02 Volkswagen Ag Verfahren zur Geschwindigkeits- und Abstandsregelung eines Kraftfahrzeuges
DE102005036049A1 (de) * 2005-08-01 2007-02-08 Robert Bosch Gmbh Verfahren zur Erkennung eines Abbiegevorgangs und Fahrerassistenzsystem für Kraftfahrzeuge
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DE102007036417A1 (de) * 2007-08-02 2009-02-05 Daimler Ag Verfahren zum Betreiben eines Abstandsregelsystems für Fahrzeuge
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KR20130022151A (ko) * 2011-08-25 2013-03-06 현대자동차주식회사 차간거리 제어시스템에서의 돌발상황 처리 장치 및 그 방법
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JP6067623B2 (ja) * 2014-06-27 2017-01-25 本田技研工業株式会社 走行制御装置

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SE542264C2 (en) 2020-03-31
EP3423325A4 (de) 2019-08-21
WO2017151034A1 (en) 2017-09-08
SE1650271A1 (en) 2017-09-03

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