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
  • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
  • B60W60/001—Planning or execution of driving tasks
  • B60W60/0015—Planning or execution of driving tasks specially adapted for safety
• • 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
  • 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
  • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
• • 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
  • B60W30/146—Speed limiting
• • 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
  • B60W30/162—Speed limiting therefor
• • 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
  • B60W30/17—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle with provision for special action when the preceding vehicle comes to a halt, e.g. stop and go
• • 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
  • B60W40/072—Curvature of the road
• • G—PHYSICS
  • G08—SIGNALLING
  • G08G—TRAFFIC CONTROL SYSTEMS
  • G08G1/00—Traffic control systems for road vehicles
  • G08G1/16—Anti-collision systems
  • G08G1/161—Decentralised systems, e.g. inter-vehicle communication
  • G08G1/163—Decentralised systems, e.g. inter-vehicle communication involving continuous checking
• • G—PHYSICS
  • G08—SIGNALLING
  • G08G—TRAFFIC CONTROL SYSTEMS
  • G08G1/00—Traffic control systems for road vehicles
  • G08G1/16—Anti-collision systems
  • G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
• • 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
  • B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
  • B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
  • B60W2420/403—Image sensing, e.g. optical camera
• • 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
  • B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
  • B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
  • B60W2420/408—Radar; Laser, e.g. lidar
• • 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
  • B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
  • B60W2420/54—Audio sensitive means, e.g. ultrasound
• • 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
  • B60W2520/00—Input parameters relating to overall vehicle dynamics
  • B60W2520/10—Longitudinal 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
  • 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
  • B60W2552/30—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
  • B60W2554/406—Traffic density
• • 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
  • B60W2554/804—Relative longitudinal 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
  • B60W2555/00—Input parameters relating to exterior conditions, not covered by groups B60W2552/00, B60W2554/00
  • B60W2555/20—Ambient conditions, e.g. wind or rain
• • 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
  • B60W2556/65—Data transmitted between vehicles
• • 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
  • B60W2720/00—Output or target parameters relating to overall vehicle dynamics
  • B60W2720/10—Longitudinal speed

Definitions

• the present invention relates to a method and a device for automatically controlling the longitudinal dynamics of a vehicle having a sensor system by means of the anticipated vehicles are detected and on detection of preceding vehicles, the own vehicle speed is reduced by a means for detecting a traffic congestion
• the automatically longitudinally-dynamically controlled vehicle can reach the predetermined distance to the traffic jam with a small amount
• Safety device for motor vehicles with an apron sensor system for locating objects in front of the vehicle and a control unit known that evaluates the signals of the apron sensors to the risk of imminent
• a control unit known that evaluates the signals of the apron sensors to the risk of imminent
• the controller is set up to use the data the supplementary sensor system calculates a longitudinal guidance strategy that minimizes the overall risk taking into account objects in the other environment.
• the core of the present invention is to provide a method and a device, by means of which a vehicle, in particular an automatically or autonomously guided vehicle upon detection of a preceding
• a vehicle in particular a
• the automatically longitudinally-dynamically controlled vehicle on reaching the predetermined distance to the traffic jam end with a low differential speed compared to the speed of the traffic jam end the remaining, predetermined distance to
• the vehicle has a further sensor system by means of which subsequent vehicles are detected and, upon detection of the preceding traffic congestion after the vehicle has been decelerated at a predetermined distance to the end of the congestion, the vehicle is at a low differential speed with respect to the speed with respect to the speed the traffic jam end only then unlocks the remaining predetermined distance to the traffic jam when a
• the vehicle after braking the vehicle at a predetermined distance dl at the end of the congestion, the vehicle with a low differential speed compared to the speed of the traffic jam end only the remaining predetermined distance dl unlocks the traffic jam end, if by means of further sensors a subsequent vehicle has been detected, which falls below a second predetermined distance d2. This ensures that the subsequent vehicle has reduced most of its differential speed and only then unlocks its own vehicle to the remaining traffic jam, so that in driving situations with small distances and only low differential speeds are driven. Furthermore, it is advantageous that the automatically controlled longitudinal dynamics
• the differential speed is then regarded as largely degraded when the relative speed is a difference of a maximum of 30 km / h, in particular of a maximum of 20 km / h or a maximum of 10 km / h.
• the currently used road type is detected by means of a sensor system, in particular by means of the first and / or the second sensor system, and the method is activated as a function of the currently traveled road type. This ensures that the Aufschen in traffic jam is activated only if the vehicle is a highway, a multi-lane highway or a developed as a freeway
• the recognition of the road type can be done, for example, by additional information in the map data of a
• Navigation device done by data that are provided by an infrastructure service, for example via a mobile phone connection or detected by a sensor by the sensor detects that drive to the left of the busy lane and / or right next to the currently traveled lane other vehicles.
• sensor can For example, a radar sensor or a video sensor or a
• Lidarsensorik or ultrasonic sensors are used.
• the traffic density refers to the number of vehicles that pass a section within a predetermined time unit or the number of vehicles that pass a point on the road within a certain time unit.
• the traffic density can furthermore be detected, for example, by means of an environmental sensor system, since the number of overtaking and overtaken vehicles as well as the number of adjacent vehicles can be detected by means of the sensor system.
• the traffic density can be detected by means of measuring the traffic density at motorway bridges and these data are communicated to the vehicle via a radio link.
• mobile service providers to provide the traffic density information via the occupancy of the mobile fingerchanks and this information is supplied to the vehicle, for example via a radio interface.
• Weather conditions for example, by means of a vehicle sensor system such as a windshield wiper sensor, a video camera, a
• This information can be provided from additional information of the map data of a navigation device or can be provided from the history of the route currently being traveled.
• the control device for regulating the longitudinal speed of the vehicle the vehicle continues on reaching the predetermined distance to the traffic jam end so that it with a low differential speed compared to the speed of the traffic jam end the remaining, predetermined distance to
• Absolute speed of own vehicle knows.
• the vehicle has a sensor in the form of a radar sensor, a lidar sensor or a stereo video camera.
• Systems using a monocamera, an ultrasonic sensor are also possible.
• a low differential speed is provided, d. H. if the
• Relative speed is a difference of a maximum of 30 km / h, in particular of a maximum of 20 km / h or a maximum of 10 km / h.
• the vehicle has a further sensor system by means of which following vehicles are detected and, upon detection of the preceding traffic jam, after the vehicle has been decelerated, the control device for controlling the longitudinal speed outputs control signals to drive and deceleration devices of the vehicle. This will achieves that at a predetermined distance to the end of the
• Traffic jamming only then unlocks the remaining, predetermined distance to the traffic jam end, if by means of the other sensors a
• the vehicle after braking the vehicle at a predetermined distance to the end of the congestion, the vehicle with a small
• Traffic jamming only then unlocks the remaining, predetermined distance to the traffic jam when the further sensor has detected a subsequent vehicle and the distance to the own vehicle falls below a second, predetermined distance.
• preceding vehicles and / or the further sensors for detecting subsequent vehicles each one or more environmental sensors based on radar technology, video technology, lidar technology and / or ultrasound technology is or are and / or from an interface for data transmission via a car-to-car communication (C2) exists and / or an interface to
• C2 car-to-car communication
• a control element which is provided for a control unit, in particular a head unit of an automatic vehicle guidance function or autonomous vehicle guidance function of a motor vehicle.
• a program is stored on the control, which is executable on a computing device, in particular on a microprocessor or signal processor, and suitable for carrying out the method according to the invention.
• the invention is realized by a program stored on the control program, so that this provided with the program control in the same way represents the invention, as the method to whose execution the program is suitable.
• Figure 1 is an exemplary traffic situation to explain the
• FIG. 2 shows three partial drawings of an exemplary traffic situation for
• FIG. 3 is a schematic block diagram of an embodiment of the invention
• FIG. 4 shows an example flow chart for explaining the
• the own vehicle is slowed down thereby continuously and comfortably in the speed.
• the disadvantage here is that the automatically guided vehicle is the last vehicle in the traffic jam situation and another vehicle can almost unrestrained approach the congestion situation. If that vehicle does not initiate a stop maneuver or emergency stop maneuver, it may be that there is a collision, which can cause serious damage due to lack of distance before the longitudinally-dynamically controlled vehicle.
• This ego vehicle 2 has a first sensor system 3, in particular an environment sensor system to the front, which has a detection area 4 of the first sensor system 3. Furthermore, the ego vehicle 2 has a further sensor 5, which in particular as
• a preceding vehicle 7 which for example drives standing or very slowly, as it approaches a traffic jam. Due to the traffic congestion, 7 additional vehicles 8 are shown next to and in front of the preceding vehicle. The other vehicles 8 and the preceding vehicle 7 move here by means of only a low speed, due to the
• Traffic congestion is given and is exemplified with vl.
• the ego vehicle 2 traveling at the speed vO has a higher speed due to the circumstance v0> vl and has to decelerate before the jam end and reduce its own speed vO.
• a following vehicle 9 moves, which moves at a speed v2 and follows the ego vehicle 2. Due to the traffic jam situation in which the vehicle 7 in front and the other vehicles 8 are already located, the ego vehicle 2 and the following vehicle 9 must be braked with the least possible collision risk.
• FIG. 2 three partial drawings a to c are shown for this purpose.
• the busy road 1 is shown, on which the ego vehicle 2 with the speed vO moves.
• dl is in front of the own vehicle 2, the preceding vehicle 7 and on the adjacent lane, the other vehicle 8, which are either due to the congestion situation at a standstill or drive only at low speed vl. This requires that
• the road 1 with the further vehicle 8 and the preceding vehicle 7 is shown.
• the vehicle 7 approaches the ego vehicle 2 at the speed vO and has fallen below the minimum distance dl, since it unlocks the preceding vehicle 7 in this phase.
• the following vehicle 9 follows the ego vehicle 2 at a distance d that is less than the second distance value d2. Should there be a collision during this stopping maneuver, the distances between the vehicles are sufficiently large to avoid billiards and the
• Data exchange device 14 which may be designed as an internal bus, a calculation device 13 supplied.
• a method according to the invention runs in the form of software which consists of the
• Input data determines and provides output signals and the
• a power-determining actuator 16 may be provided for a prime mover, such as a power regulator for an electric motor, a
• Throttle valve adjustment device or a fuel quantity measuring device of an internal combustion engine. Likewise can as subordinate
• Adjusting element 16, 17 may be provided a deceleration device 17 of the vehicle 2, with which the vehicle 2 can be braked without actuation of the driver.
• a deceleration device 17 of the vehicle 2 By controlling the power-determining control element 16 and the delay device 17, it is possible to set and regulate the speed vO of the vehicle 2 according to the method according to the invention.
• FIG. 4 shows an example flowchart of the invention
• step 20 This starting step 20 may be done, for example, when the vehicle 2 is started when the
• Vehicle 2 ascends on a multi-lane road or a highway or the driver of the vehicle 2 by pressing a control element the
• step 21 it is checked whether a preceding object 7 has been detected by means of the first sensor 3 mounted on the vehicle front side. If the busy road is clear and the first sensor 3 has not detected a preceding vehicle 7, then step 21 branches back and checks as long as there are any preceding vehicles 7 until it has been detected positively. In the case that in step 21 a
• step 21 further branches to yes and is continued in step 22.
• step 22 it is checked whether a traffic jam has been detected. This can be done, for example, by the vehicle 2 receives information via a radio interface, which is a vorausbefindlichen
• Traffic congestion indicates or by using the attached to the front of the vehicle 2 first sensor 3 on all passable lanes standing or slow moving vehicles 7, 8 are detected. As long as no
• Vehicle tail is detected, branches back step 24 and is continued in step 24, so that the process waits until a subsequent
• step 25 continues to branch off to "yes" and the ego vehicle 2 is moved in step 26 to the jam end in the form of the preceding vehicle 7 by the vehicle 2 continues at a low speed vO, only slightly above the speed vl the preceding vehicles 7, 8 is located. If the jam end is reached and a minimum distance is reached, then the method is ended in the following step 27, wherein the jam situation has changed so that the ego vehicle 2 no longer forms the end of the jam, but in the traffic jam with less

Landscapes

• Engineering & Computer Science (AREA)
• Automation & Control Theory (AREA)
• Transportation (AREA)
• Mechanical Engineering (AREA)
• Physics & Mathematics (AREA)
• General Physics & Mathematics (AREA)
• Mathematical Physics (AREA)
• Human Computer Interaction (AREA)
• Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
• Traffic Control Systems (AREA)
• Controls For Constant Speed Travelling (AREA)
• Regulating Braking Force (AREA)

Applications Claiming Priority (2)

Publications (1)

Family

ID=64083100

Family Applications (1)

Country Status (7)

Families Citing this family (6)

Family Cites Families (20)

• 2017
  • 2017-12-20 DE DE102017223480.6A patent/DE102017223480A1/de active Pending
• 2018
  • 2018-10-31 EP EP18796432.5A patent/EP3727976A1/de active Pending
  • 2018-10-31 KR KR1020207020442A patent/KR102473879B1/ko active IP Right Grant
  • 2018-10-31 CN CN201880082220.XA patent/CN111491843B/zh active Active
  • 2018-10-31 US US16/763,546 patent/US11505210B2/en active Active
  • 2018-10-31 JP JP2020534530A patent/JP7144518B2/ja active Active
  • 2018-10-31 WO PCT/EP2018/079850 patent/WO2019120727A1/de unknown

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