JP2017518913A - Method and apparatus for improving safety during vehicle overtaking process - Google Patents

Abstract

A method and apparatus comprising the following steps for increasing safety in an overtaking process of a vehicle (1) whose travel speed (V) is feedback controlled by an ACC system: Recognizing a potential overtaking situation (S1) that may overtake a vehicle (3; 5; 7; 8) in front of at least one lane in a certain overtaking process; If (1) can overtake a vehicle (3; 5; 7; 8) that is legally traveling ahead, it accelerates its own overtaking process, and vehicle (1) is traveling forward (3; 5; 7; 8) if it is likely to be illegally overtaken, or block the own overtaking process to enable the overtaking process of a vehicle traveling ahead (S2). (Figure 1)

Description

  The present invention relates to a method and an apparatus for improving safety and / or comfort in an overtaking (overtaking) process of a vehicle whose traveling speed is feedback controlled by an ACC system.

  Vehicles are increasingly equipped with inter-vehicle cruise control, adaptive cruise control, and ACC systems. In the ACC system, the position and speed of a vehicle traveling ahead is captured by sensors of a vehicle equipped with the ACC system, and the speed and spacing of the following vehicle equipped with the ACC system is Adaptive feedback control is performed by intervention of the brake. For example, a radar system or a so-called rider system can be used for the distance measurement. The ACC system is useful for improving riding comfort and reducing driver's concentration load during long-distance driving, particularly in an autobahn or crowded urban area. A sensor unit of a vehicle equipped with the ACC system captures a vehicle traveling in front of the sensor unit in a capturing range (viewing field region), for example, an arc having an arrival radius and an opening angle. The conventional ACC system responds to a vehicle traveling in the traveling tube (path) ahead of the vehicle equipped with the ACC system or in the field of view of the sensor unit. For example, in an overtaking situation in a two-lane autobahn, it is necessary to consider a vehicle traveling in the adjacent lane. However, the conventional ACC system has a weak point in the overtaking situation.

For example, a vehicle equipped with an ACC system travels in the left lane of an autobahn with one side of two lanes (note: all described below in the case of right-hand traffic) at a speed below the set speed V _set set in the ACC system When the vehicle changes lanes from the left lane of the autobahn in the situation to the right lane, the speed at that time of the vehicle equipped with the ACC system is higher than the speed of the vehicle traveling in the front on the left lane. If it is earlier, it may happen that the vehicle traveling in front of the left lane is unintentionally overtaken from the right side. In such a traffic situation, a vehicle that is traveling relatively slowly in the front is in the left lane, for example, a vehicle that is traveling earlier is equipped with an ACC system from the rear of the left lane. The driver of the vehicle equipped with the ACC system, for example, in the case that the driver of the vehicle equipped with the ACC system notices in the rearview mirror, the driver of the vehicle following the vehicle equipped with the ACC system This is a typical situation that can occur when the traffic volume is low, such as when trying to follow the right-hand traffic principle in consideration of the situation. In such a case, the driver changes the lane to the right lane in order to pass the third vehicle traveling at a high speed behind, but at this time, the vehicle traveling at a low speed in front of the left lane. It is possible to overtake in the right lane unintentionally.

  As a further overtaking situation in which the conventional ACC system exposes weaknesses, for example, in a one-sided two-lane autobahn, a vehicle row is formed in the left lane, and the right lane on the right side of the lane is relatively empty. There are several traffic situations, such as several low-speed vehicles, especially freight vehicles, traveling with a large distance between them. In this driving situation, it is not necessary for the driver of the vehicle to move to the relatively free right lane while driving, and the vehicle speed is slightly lower than that of the left lane. Because it only slows down, it is often comfortable. From such a situation, it may happen that the vehicle train traveling in the left lane is unintentionally overtaken on the right side.

  The third overtaking situation in which the conventional ACC system reveals weaknesses is that it travels in the right lane of a two-lane autobahn on a short-term basis and approaches the freight vehicle traveling in the front, leaving the left lane. A situation that overtakes an incoming vehicle.

  A further important overtaking situation where the conventional ACC system exposes weaknesses is that it is running slightly slowly on a two-lane road, such as an autobahn, significantly slower. For example, a relatively inconspicuous behavior that can be taken by a vehicle equipped with a conventional ACC system that attempts to overtake a vehicle that is approaching from behind a vehicle that is a freight vehicle. Such a slow overtaking process is driving the vehicle in the right lane at approximately the same speed, either because it cannot change lanes to the left lane or because the risk is very high In order to avoid a rear-end collision with a freight vehicle, a situation has arisen in which it is necessary to apply a strong brake. Such forced braking is not only unpleasant for the driver of the vehicle traveling forward, but also unnecessarily reduces the traveling speed. Thereby, the flow of the road is also significantly decelerated.

In all these overtaking situations, the conventional ACC system requires that the driver actively intervene in the feedback control of the ACC system, for example, changing the _set speed or the cruise speed V _set repeatedly. Become. This makes the operation of the ACC system less comfortable for the driver, i.e. its usefulness is reduced. In some cases, the driver may turn off the vehicle's ACC system completely. Furthermore, the weaknesses of the conventional ACC system described above can even create dangerous traffic situations in overtaking situations.

  Therefore, an object of the present invention is to provide a method and an apparatus for improving safety in the overtaking process of a vehicle whose traveling speed is feedback controlled by an ACC system.

  This object is achieved by a method having the features of claim 1 of the present invention.

The present invention, in its first aspect, provides a method comprising the following steps to increase safety in the overtaking process of a vehicle whose travel speed is feedback controlled by an ACC system:
Recognizing potential overtaking situations that a vehicle may overtake in a certain overtaking process a vehicle traveling in front of at least one lane; and
If a vehicle can overtake a vehicle that is legally traveling ahead, it will accelerate its overtaking process, and if the vehicle is likely to be illegally overtaking, or a vehicle traveling ahead Blocking (interrupting) your overtaking process to allow your overtaking process.

  The method according to the present invention offers the advantage that the driver is not forced to adapt the cruise speed in dangerous traffic situations. Thereby, the operational comfort of the ACC system is significantly improved.

  The method according to the invention has as a further advantage that the ACC system also provides a thoughtful behavior, i.e. an improvement in traffic flow. It is particularly preferred that a vehicle traveling in front that is traveling only slightly slower than a vehicle with an ACC system ensures that the overtaking process for a freight vehicle traveling ahead, for example, Allows you to exit. For this reason, the ACC system of the vehicle is not subject to great restrictions, such as not performing the acceleration process of the own vehicle, for example, a freight vehicle traveling in front of the vehicle, for example, The overtaking process of the own vehicle is blocked so that it is possible to safely overtake the third vehicle.

  As a result, it is possible to avoid sudden braking of the vehicle that is traveling ahead, wasting time and fuel. Furthermore, this also avoids annoyance of the driver of the vehicle traveling ahead, i.e. in particular the driver's tricky reaction which may threaten the driving safety of both traffic participants. Can be avoided.

  In a possible embodiment of the method according to the present invention, when the current traveling speed of the vehicle and the traveling speed of the vehicle traveling ahead are below the cruise speed set in the ACC system, Recognized as a potential overtaking situation.

  In a further possible embodiment of the method according to the invention, if there is a risk that the vehicle illegally overtakes at least one vehicle traveling forward from the right side, the current traveling speed of the vehicle is It is possible to prevent the overtaking process by maintaining the settable maintenance period in accordance with the traveling speed of the vehicle traveling ahead.

  In a further possible embodiment of the method according to the invention, the traveling speed of a vehicle traveling in front of at least one vehicle is captured by one sensor unit of the ACC system of the vehicle.

  In a further possible embodiment of the method according to the invention, the sensor unit of the ACC system of the vehicle is constituted by a radar sensor with a relatively narrow viewing area and opening angle.

  In a further possible embodiment of the method according to the invention, the maintenance period is extended when a sensor unit having a relatively large field of view and opening angle of the vehicle captures another vehicle in the vicinity of the vehicle. Is done.

  In a further possible embodiment of the method according to the invention, the further sensor unit of the vehicle includes at least one in-vehicle camera, a radar sensor and / or a rider sensor.

  In a further possible embodiment of the method according to the invention, if the vehicle has a risk of overtaking a plurality of vehicles traveling in front of a vehicle group running in the left lane from the right lane, The current traveling speed of the vehicle is within the field of view of the sensor unit of the ACC system, and is captured by the sensor unit of the ACC system. By adjusting to the minimum or average travel speed of the existing vehicle, the overtaking process is prevented.

  In a further possible embodiment of the method according to the invention, if a vehicle is traveling in the left lane and a vehicle traveling in front of the right lane that is likely to change to the left lane is recognized, The process is accelerated.

  In a further possible embodiment of the method according to the invention, a vehicle traveling in front of a stationary object in front of it, or in front of it, moving at low speed, in particular a lorry When the vehicle is approaching or is expected to approach, it is recognized that the vehicle traveling in front of the right lane is changing the lane to the left lane.

  In a further possible embodiment of the method according to the invention, if a vehicle traveling in front of the left lane is recognized in the right lane, it still remains to pass the vehicle traveling ahead. The overtaking time being calculated is calculated.

  In a further possible embodiment of the method according to the invention, the current traveling speed of the vehicle traveling in the left lane, the traveling speed of the vehicle traveling in front of the right lane, and the front of the right lane. The remaining overtaking time is calculated based on the approach speed at which the traveling vehicle approaches the object in front of it.

  In a further possible embodiment of the method according to the invention, the set cruise speed and / or other feedback control parameters of the ACC system are determined by calculation and are still remaining overtaking. Based on the time, it is changed so that the overtaking process can be carried out safely or the vehicle traveling ahead can carry out the overtaking process.

  In a further possible embodiment of the method according to the invention, the overtaking process is performed when the driver has approved the execution of the overtaking process by input to the ACC system of the vehicle and / or in the overtaking process. Only implemented if the legal maximum speed is not exceeded.

  The invention further provides, in a second aspect, an apparatus for improving safety in a vehicle overtaking process having the features of claim 8.

That is, the present invention provides an apparatus that enhances safety in the overtaking process of a vehicle whose travel speed is feedback controlled by an ACC system, including:
A recognition unit that recognizes potential overtaking situations that may overtake a vehicle traveling in front of at least one other lane in the overtaking process;
However, if the vehicle can legally overtake a vehicle that is traveling ahead, your overtaking process will be accelerated, and conversely, if overtaking by the vehicle is likely to be illegal, The overtaking process is blocked.

Is a simplified flow chart for illustrating an embodiment of the method according to the invention for improving safety in a vehicle overtaking process; Is a sketch showing an overtaking situation in which the method according to the invention and the device according to the invention for improving safety are employed; Is a further schematic depiction of the overtaking situation in which the method according to the invention and the device according to the invention for improving safety in the overtaking process are employed; Is a further schematic depiction of the overtaking situation in which the method according to the invention and the device according to the invention for improving safety in the overtaking process are employed; Fig. 4 is a further schematic depiction of an overtaking situation in which the method according to the invention and the device according to the invention for improving safety in an overtaking process are employed.

Hereinafter, the method according to the present invention for improving the safety in the vehicle overtaking process and the possible embodiments of the device according to the present invention will be described in detail with reference to the accompanying drawings.
As is clear from FIG. 1, the method according to the invention for improving the safety of a vehicle, in particular a road vehicle whose speed is feedback controlled by the vehicle ACC system, is basically In particular, it has two steps S1 and S2.

In a first step S1, a potential overtaking situation is recognized in which a vehicle equipped with an ACC system may overtake a vehicle traveling ahead of at least one other lane in the overtaking process. In a possible embodiment, in particular when the vehicle's current travel speed and the travel speed of the vehicle traveling ahead are below the cruise speed V _set set in the ACC system, Recognized as an overtaking situation.

  If a potential overtaking situation is recognized, the ACC system reacts in the next step S2. In doing so, if a vehicle equipped with the ACC system can legally overtake a vehicle traveling ahead, the overtaking process is accelerated, and conversely, overtaking that is illegal for vehicles equipped with the ACC system, especially If it is likely to overtake the right side, the overtaking process is blocked. The overtaking process involves driving at least one vehicle traveling ahead if it may overtake it illegally in the country's road traffic law, particularly from the right side. This is avoided by adjusting the vehicle speed at that time to the speed and maintaining it for a settable maintenance period.

  In one possible embodiment, the traveling speed of a vehicle traveling in front of at least one vehicle is captured by one sensor unit of the vehicle's ACC system. In a possible embodiment, the sensor unit is constituted by a radar sensor having a relatively narrow viewing area and opening angle. In a possible embodiment of the method according to the invention, when a sensor unit having a relatively large field of view and opening angle of the vehicle captures another vehicle in the vicinity of the host vehicle, the maintenance period is extended. Is done. This further sensor unit includes, in some possible embodiments, an in-vehicle camera, an additional radar sensor, and / or a rider sensor.

  In a possible embodiment, in step S2, a vehicle equipped with an ACC system is a vehicle group traveling in the left lane, for example, the left lane of an autobahn, or a vehicle traveling in front of a plurality of trains. The vehicle's current traveling speed is within the field of view of the sensor group of at least one ACC system traveling in front of the vehicle group or train. Yes, the overtaking process is prevented by matching the current travel speed of the vehicle equipped with the ACC system to the minimum or average travel speed of the vehicle being captured by the sensor unit of the ACC system.

  In a further possible embodiment of the method according to the invention, in step S2, the vehicle travels in the left lane and travels to the right lane in front of the left lane, for example the left lane of the autobahn. If the vehicle inside is recognized, the overtaking process is accelerated. This is the case, for example, when a vehicle traveling in front of a stationary object in front of it, for example, a construction site, or in front of it, an object moving at a low speed, for example, a cargo traveling at a low speed. Recognized when the vehicle is actually approaching or expected to approach. In a possible embodiment, in such a situation, for example, a vehicle traveling in front of the right lane between two freight vehicles can change lanes to the left lane, and two vehicles can collide. If so, the overtaking time remaining for a vehicle equipped with the ACC system traveling in the left lane of the autobahn to pass ahead of the vehicle traveling ahead is calculated.

In a possible embodiment, the overtaking time remaining in a vehicle traveling in the left lane equipped with the ACC system is the current traveling speed of the vehicle equipped with the ACC system, in front of the right lane. It is calculated depending on the traveling speed of the traveling vehicle and the approaching speed at which the vehicle traveling in front of the right lane approaches an immovable or moving object in front of the right lane. In certain possible embodiments, the cruising speed V _set and / or other regression control parameters of the _set ACC system may be dependent on the calculated remaining overtaking time. The process is changed so that it can be carried out safely. In certain possible embodiments, the overtaking process is then performed when the driver of the vehicle equipped with the ACC system approves by input to the ACC system and / or during the overtaking process. Or only if the speed limit is not exceeded.

  2, 3 and 4 show different examples of overtaking situations where the method according to the invention is advantageous for improving the safety in the overtaking process.

In FIG. 2, the vehicle 1 equipped with the ACC system according to the present invention is traveling on a one-sided two-lane road having a left lane L and a right lane R, particularly on an autobahn. In the example shown, the vehicle 1 equipped with the ACC system is traveling in the right lane R at a traveling speed V. In the traffic situation shown in FIG. 2, for example, the vehicle 1 that was previously traveling in the left lane L recognizes the vehicle 2 approaching the same lane from the rear, and the high-speed approaching from the rear This may occur when the vehicle 2 changes the lane to the right so that the vehicle can pass the left lane L. This is an example that can occur frequently especially when the vehicle 1 equipped with the ACC system travels behind the vehicle 3 running at a relatively low speed and cannot be overtaken. In such a traffic situation, the traveling speed V of the following vehicle 1 on the right side is slower than the cruise speed V _set set in the ACC system. The ACC system for vehicle 1 is a potential overtaking situation in which, after a lane change to right lane R, vehicle 1 overtakes a vehicle 2 traveling in another lane, ie, ahead of left lane L, in the overtaking process. Recognize This is recognized, for example, when the traveling speed V of the vehicle 1 at that time is equal to or lower than the traveling speed of the traveling vehicle 3 that is slower than the set cruise speed V _set of the ACC system of the vehicle 1. In this case, there is a risk that the vehicle 1 may overtake the vehicle 3 traveling ahead illegally, that is, from the right side. In such a situation, if the vehicle 3 traveling in the left front also changes from the rear to the right lane R in order to pass the high-speed vehicle 2 in particular, the vehicle 3 and the right side are moved in this situation. There may be a rear-end collision in which the passing vehicles 1 come into contact with each other, and the vehicle 2 approaching from behind collides with the vehicle 3 traveling in front of the left lane L at low speed from behind. Therefore, in the method according to the present invention for improving safety, in such a case, the vehicle 1 equipped with the ACC system seems to illegally overtake the vehicle 3 traveling ahead in step S2. If so, the overtaking process is blocked. Such blocking of the overtaking process is automatically performed by the ACC system of the vehicle 1. At this time, the ACC system of the vehicle 1 preferably keeps the illegal overtaking by setting the traveling speed V of the vehicle 1 at the current time to the traveling speed of the vehicle 3 traveling in front of the vehicle 1. Stop by maintaining this for a period of time, for example a few seconds. As a result, the vehicle 1 is prevented from overtaking or passing the vehicle 3 traveling forward from the right lane R, and the vehicle 3 traveling forward can also be changed to the right lane R. Sufficient space is left. In such a case, it is possible to pass both vehicles 1 and 3 on the left lane L without danger to a high-speed vehicle approaching from behind. In a possible embodiment, the vehicle 1 equipped with the ACC system is equipped with a sensor unit that captures the traveling speed V of the vehicle traveling ahead. In a possible embodiment, the sensor unit may be constituted by a radar sensor having a relatively narrow viewing area and opening angle. The field of view of the radar sensor of the vehicle 1 equipped with the ACC system is shown schematically in FIG. In a preferred embodiment, the vehicle 1 equipped with the ACC system is also equipped with a further sensor unit whose field of view SB2 has a relatively wide field of view and opening angle. This further sensor unit can be, for example, an in-vehicle camera, a further radar sensor and / or a rider sensor. In the embodiment shown in FIG. 2, the vehicle 1 equipped with the ACC system includes two sensor units, namely a first sensor unit in which the visual field area SB1 has a relatively narrow visual field area / opening angle, and a visual field area. The SB2 includes a second sensor unit having a relatively wide visual field area and opening angle. In a preferred embodiment of the method according to the invention, the maintenance period H during which the vehicle 1 maintains in accordance with the traveling speed of the vehicle 3 traveling ahead is a relatively wide field of view and opening angle SB2. The second sensor unit of the vehicle is extended when another vehicle, in particular, the vehicle 3 traveling in front of the left lane L in the vicinity of the vehicle 1 is captured. The behavior of the ACC system is improved by maintaining the adjusted speed for a configurable maintenance period H before the vehicle 1 is accelerated by the ACC system. In other words, the traveling speed that has been reduced by being combined is maintained for a certain period, for example, 10 seconds, before the ACC system of the vehicle 1 accelerates again to the _set cruise speed V _set . When the vehicle 3 traveling ahead is sufficiently accelerated and reenters the field of view of the ACC sensor of the ACC system, feedback control can be performed on the object recognized on the left lane L. Furthermore, in a preferred embodiment of the ACC system, the maintenance time H can be continued as long as necessary by means of a further sensor unit having a wide field of view SB2. That is, for example, a mono camera or a stereo camera is mounted on the vehicle 1, and the camera 1 of the vehicle 1 is traveling ahead on the left lane L outside the narrow visual field SB1 of the radar sensor of the ACC system. While the vehicle 3 is being captured, the vehicle speed V is maintained, and acceleration to the cruise speed V _set is not performed. In such a case, the feedback control for the object for which sufficient speed information cannot be obtained is not performed, and the acceleration to the _set cruise speed V _set is prevented. In many cases, the vehicle on the left lane L does not decelerate, so right overtaking can be avoided.

FIG. 3 shows a further traffic situation in which the method according to the invention is employed. The vehicle 1 is equipped with an ACC system including a sensor unit having a relatively narrow visual field area SB1 as shown in FIG. In a traffic situation as shown, a vehicle 1 equipped with an ACC system is traveling at a speed V on a two-lane road on one side, in particular the right lane R of the autobahn. In the traffic situation as shown in FIG. 3, the traffic volume, particularly the traffic volume in the left lane L of the autobahn, is relatively high. While the plurality of vehicles 5 are traveling in a row on the left lane L, the vehicle 1 travels on the right lane R with a large distance from a low-speed vehicle, for example, the freight vehicle 4. ing. In this traffic situation, the driver of the vehicle 1 is traveling in the right lane R in order to save concentration, but the vehicles 5-1 and 5-2 are traveling in the train on the left lane L. The running speed V of 5-3, 5-4, and 5-5 is only slightly faster than the speed V of the vehicle 1 equipped with the ACC system, as is typical in this situation. As is clear from FIG. 3, several vehicles 5-i on the left lane L are not in the field of view SB1 of the sensor unit of the ACC system of the vehicle 1, while other vehicles traveling in front are It is in the field of view SB1 of the sensor unit of the ACC system. As is clear from FIG. 3, the vehicles 5-1 and 5-2 immediately adjacent to the left lane L travel on the autobahn substantially in parallel with the vehicle 1 for a long period. Not in the capture area. Therefore, in such a traffic situation, it is possible to determine the speed setting value from a vehicle that is traveling further forward in the field of view SB1 of the ACC sensor, for example, the vehicles 5-4 and 5-5. In a possible embodiment, a vehicle is selected or selected that is a medium distance, for example a distance E2 from a distance E1 in the field of view SB1 of the ACC sensor. In one possible embodiment, the lowest speed in all vehicles of the selected vehicle group between distance E1 and distance E2 is captured and used as the feedback control reference value for the ACC system. Unlike conventional ACC feedback control, a speed signal filter can preferably be employed here to increase the comfort of the ACC system. In an alternative embodiment, a simple average value or a loaded average value of the traveling speed of the vehicle group, for example, the vehicles 5-3 and 5-4, can be determined as the speed reference value of the ACC system. is there. In the traffic situation shown in FIG. 3, the overtaking situation can be recognized from typical characteristics. In the traffic situation shown in FIG. 3, there is no one in the sensor area SB1 on the right lane R where the vehicle 1 is also traveling, or the vehicle 4 is hardly traveling, or the vehicle 4 is at a relatively large interval. A relatively large number of vehicles are traveling on the left lane L at short intervals. In this situation, if the cruising speed V _set of the ACC system 1 is set to be higher than the speed of the vehicle group or vehicle train traveling in front of the left lane L, the potential overtaking situation is recognized. .

In all traffic situations where there is a lane on the left side of the vehicle 1 and the vehicle 1 is approaching a vehicle traveling ahead at a high cruise speed _Vset , the driver must enter the left side to carry out the overtaking process. Before changing to the lane L, there may be a situation where the vehicle 1 is braked in a sense by the ACC system of the vehicle 1. For example, in the traffic situation as shown in FIG. 3, when the vehicle 1 approaches the freight vehicle 4 traveling in front of the same right lane R, in the conventional ACC system, before the driver changes the lane to the left lane. It can happen that it is braked. In a possible embodiment, the driver of the vehicle 1 can easily communicate with the ACC system of the vehicle 1 because the driver can obtain advice on comfortable lane change timing to the left lane L from the ACC system. . In order to be able to carry out a comfortable lane change to the left lane L, for example, the driver can change the speed of the vehicle 1 to the vehicle 5 seconds before the speed of the vehicle 1 is reduced due to the vehicle 4 traveling ahead. Advice from one ACC system can be obtained. For example, the driver of the vehicle 1 gives discreet visual advice from the ACC system, such as turning on a lamp in an instrument cluster or HUD (head-up display), which suggests that a lane change be performed. Can be obtained.

FIG. 4 schematically shows a further traffic situation in which the method according to the invention can be preferably employed. In the traffic situation shown in FIG. 4, the vehicle 1 equipped with the ACC system is traveling on a two-lane road on one side, particularly the left lane L of the autobahn. The vehicle 7 traveling forward at a relatively low speed avoids the vehicle 1 by changing the lane to the right lane R. At this time, the vehicle 7 traveling forward is at two relatively low speeds. For example, the distance L U between the two freight vehicles 5 and 6 has been entered. However, if the distance L U between the two freight vehicles 5 and 6 is relatively small, the vehicle 7 traveling in front of the freight vehicle 5, particularly the driver of the vehicle 7 traveling in front of the freight vehicle 5, If not noticed, there is a possibility of coming out again in the left lane L. Depending on the size of the distance L U, in a possible embodiment of the method according to the invention, the vehicle 1 is traveling in the left lane L and the vehicle 7 traveling in front of the right lane R is at a certain point in time. When the vehicle 1 comes out in the left lane L, particularly when there is a risk of coming out into the left lane L when approaching an object in front of it, particularly the freight vehicle 6, the overtaking process of the vehicle 1 is automatically performed. Accelerated. For example, the danger that the vehicle 7 traveling in front of the right lane R will come out to the left lane L is that the vehicle 7 traveling in front of the vehicle 7 is a stationary object in front of it, for example, a construction site or Recognized when an object traveling at a low speed in front of it, for example, a freight vehicle 6 as shown in FIG. 4, is actually approaching or is expected to approach. . In a possible implementation variation, in this case, if the vehicle 7 traveling in front of the right lane R is approaching an object in front of it, the vehicle traveling in front of the vehicle 1 is preferably used. In one possible embodiment, the overtaking time remaining for overtaking 7 is calculated, and the remaining overtaking time is calculated by the calculation unit of the ACC system of the vehicle 1 at that time of the vehicle 1. Traveling speed V, the traveling speed V of the vehicle 7 traveling in front of the right lane, and the approach speed at which the vehicle 7 traveling in front of the right lane R approaches an object in front of it, for example, the freight vehicle 6. Calculated depending on. The _set cruise speed V _set of the vehicle 1 or other feedback control parameters of the ACC system of the vehicle 1 depends on the remaining overtaking time determined by the calculation at this time. The process is changed so that it can still be safely terminated. Preferably, the overtaking process in which the vehicle 1 overtakes the vehicle 7 traveling ahead is from the left lane L when the driver of the vehicle 1 approves the overtaking process by input to the ACC system of the vehicle 1. And / or only if the legal maximum speed of the autobahn or the speed limit is not exceeded during the overtaking process.

  The overtaking situation as shown in FIG. 4 can be recognized by the ACC system of the vehicle 1 if the reach of the ACC sensor is sufficient to measure the distance L U of the right lane R. In such a case, it can be directly recognized that the overtaking situation has a limited overtaking time. The traffic situation as shown in FIG. 4 is a typical case that can occur in a situation where the traffic is free, and the freight vehicle is traveling in the right lane R at a low speed with a large space between each. However, here, when the forward freight vehicle is still outside the sensor reach distance of the ACC sensor of the vehicle 1, the vehicle 7 traveling ahead may come out to the left lane L. From a history of freight vehicles that have passed the right lane R, similar traffic situations can be predicted in certain possible embodiments. For this purpose, the average distance between the respective freight vehicles on the right lane is determined or calculated based on the known relative speed, self-speed and time measurement. At this time, if it is recognized that the lorry appears regularly in the right lane R, the potential overtaking time for the vehicle 7 traveling ahead to come out from behind a certain freight vehicle 5 is limited. Even if the freight vehicle 6 traveling ahead is not yet in the field of view SB of the ACC sensor of the vehicle 1, it can be recognized. Further, it can be recognized that the passing situation is that the passing time of the vehicle 7 traveling forward is limited immediately before the freight vehicle 5, that is, from a process that comes out at a small interval. For example, if an overtaking situation with a limited overtaking time, such as the overtaking situation shown in FIG. 4, is recognized, the time required for overtaking is preferably minimized within a legal range. Is done. In one possible embodiment, the maximum allowable acceleration is performed by kickdown. In addition, changing the feedback control parameters of the ACC system implements a dynamic feedback control setting that allows some overspeed.

It may happen that the difference between the travel speed and the cruise speed V _set set in the ACC system is not sufficient to ensure that the overtaking process is completed within the available overtaking time. In such a case, in some possible embodiments, in order to accelerate the overtaking process, the set cruise speed V _set is exceeded and then decelerated again to the cruise speed V _set. Is implemented. This can be done by the ACC system giving for example a speed tolerance of _set cruise speed V _set +10 km / h, for an overtaking process with limited overtaking time, Excess is allowed within the speed tolerance. In certain possible embodiments, this tolerance can be set by itself. In an alternative embodiment, this speed tolerance is configurable via a user interface. This speed tolerance may also be potentially selected based on the ACC system dynamism, ie the target time gap, in a further possible embodiment. In order not to exceed the legal or recommended maximum speed V _max , the function provided by the method according to the present invention is stopped for a certain period of time when the speed limit is recognized, and is limited to a speed limit or speed limit. It is reactivated after it is recognized that is released. The speed limit or speed limit effective on a certain road can be recognized by the camera of the vehicle 1 or the navigation system, for example.

  In a further possible embodiment, the overtaking process is performed only if the driver of the vehicle 1 approves the execution of the overtaking process by input to the ACC system of the vehicle 1. In this embodiment, the ACC system requires approval by the driver to perform the overtaking process. The driver can be shown with visual, visual and audible reports that a recognized overtaking situation is imminent for this purpose. If the driver of the vehicle 1 reacts to this by issuing, for example, an acceleration command “Accelerate” or “Resume”, the overtaking process is started without changing the cruise speed setting. In an alternative embodiment, the driver of the vehicle 1 approves the overtaking process by stepping on the accelerator pedal. In both cases, the approval of the overtaking process may be active without reporting for a period of time after the overtaking situation is recognized. Due to the speed of the vehicle 7 traveling ahead, the length of the interval LU, and the maximum acceleration and speed of the vehicle 1, it was recognized that overtaking of the vehicle 7 was not possible at least while it was within the interval LU. If this is the case, the overtaking process is avoided or aborted.

  With the method according to the present invention and the system according to the present invention, the safety of the vehicle overtaking process is significantly improved in various overtaking situations. Furthermore, the method according to the invention and the device according to the invention provide a comfortable feedback control and simple operation for the driver. In addition, although the functions of the conventional ACC system are extended to further driving situations, in particular overtaking situations, by means of the method according to the invention, driver intervention is minimized. In particular, avoiding the right overtaking process is important in highly automated driving. In the method according to the invention, traffic situations in adjacent lanes are also taken into account in determining the speed setpoint for the ACC system. The method according to the invention provides an improvement in the overtaking behavior of a vehicle equipped with an ACC system by means of a situation analysis of traffic situations. The device according to the present invention for enhancing safety in the overtaking process of a vehicle whose traveling speed is feedback controlled by the ACC system can be incorporated in the driver assistant system.

  The method according to the present invention will be described based on the traffic situation example shown in FIGS. The method according to the invention is suitable in many other traffic situations, in particular in potential overtaking situations on single-lane or multi-lane roads. Furthermore, the method according to the present invention is also suitable, for example, for general roads with one lane on each side. In this embodiment, the approach speed of a vehicle that preferably runs on the lane used for overtaking is also considered. The overtaking process is accelerated by the method according to the invention when a vehicle equipped with an ACC system can legally be overtaken without risk of a collision with an oncoming vehicle. On the contrary, when there is a risk of a collision with a vehicle facing the left lane, for example, when the vehicle traveling ahead is likely to be overtaken in an unacceptable manner, the method according to the present invention This prevents the overtaking process.

There can be additional potentially dangerous overtaking situations. For example, in one possible embodiment, on the autobahn, the left lane L shape is also a potentially dangerous addition if a so-called “reverse vehicle” is facing the vehicle 1 equipped with the ACC system 1. The situation is recognized. In a further possible embodiment of the method according to the invention, different types of roads are classified, for example, one-way two-lane national road or a total of four-lane autobahn. Furthermore, a potential overtaking situation can also recognize a different number of lanes in each direction of travel, for example a total of six lanes, i.e. an outburn of three lanes on each side. In this case, various overtaking situations can be considered depending on whether the vehicle is in the left lane, the center lane, or the right lane of the three-lane autobahn on one side. A complicated traveling situation or an overtaking situation can be recognized by one or a plurality of ACC sensor units having different visual field regions SB and different visual field / opening angles. In a possible embodiment, the ACC system not only has a sensor unit whose field of view SB is directed forward but also a sensor unit whose field of view SB is directed backwards. Equipped to recognize vehicles approaching at high speeds that may cause overshoot situations. In a preferred embodiment, the ACC system of the vehicle 1 recognizes a complex overtaking situation by recognizing a plurality of ACC sensor units with various front-and-rear viewing fields SB _i and field-of-view angles α _i. To accelerate, prevent, or delay the overtaking process in response to a complex overtaking situation. In a more preferred embodiment, the ACC system uses its sensors to enable the road to be used, for example, two lanes as shown in FIGS. How many lanes can be used. Furthermore, the ACC system according to the present invention can recognize, in particular, the traveling lane in which the vehicle is running at that time, by the lane mark recognized by the sensor. As a result, it is possible to recognize, for example, which lane has a vehicle traveling forward at a low speed and which lane has a high-speed vehicle approaching from behind by using the ACC sensor. In a preferred embodiment, the method according to the present invention and the ACC system according to the present invention allow a complex situation analysis of an overtaking situation to be carried forward in a lane different from the recognized lane and its absolute speed, and Based on the relative speed with respect to the vehicle 1, it can be performed in real time. Preferably, based on the situation analysis performed in real time by the data processing unit of the ACC system, the acceleration process of the vehicle is accelerated, delayed or prevented by changing the feedback control parameters. The

  A further possible traffic situation in which the method according to the invention for improving safety can be adopted is that, as shown in FIG. 5, the vehicle 1 equipped with the ACC system is in the ACC system on the left lane L of the autobahn. It is said that it approaches the vehicle 8 that is traveling in front of the right lane R that is traveling slightly slower than the vehicle 1 equipped with. When the relative speed between the two vehicles 1 and 8 is small, the overtaking process in which the vehicle 1 equipped with the ACC system overtakes the vehicle 8 traveling in the right lane R takes a relatively long time. In this situation, when a vehicle 8 traveling in front of the right lane R at approximately the same speed approaches a freight vehicle 9 traveling relatively slowly in front of the right lane R, the vehicle 8 suddenly It may happen that the brakes must be applied. The reason for this is that the distance between the vehicle 1 equipped with the ACC system that is slowly overtaking and the vehicle 8 traveling in the right lane R has become too small, so That is, the traveling vehicle 8 cannot change the lane to the left side. According to the method according to the present invention, such a potential overtaking situation is particularly caused by the speed of the freight vehicle 9 traveling in front of the right lane R at a low speed, the vehicle approaching from the rear of the right lane R. 8 and the distance between the freight vehicle 9 and the vehicle 8 traveling behind it. After such a traffic situation has been recognized, the method according to the present invention is such that the position of the vehicle 1 traveling in the left lane L equipped with the ACC system, the right lane R traveling slightly forward in the right lane R. The acceleration of the vehicle 1 equipped with the ACC system is stopped or delayed based on the position of the existing vehicle 8. In certain possible embodiments, in addition to speed information, other signals such as, for example, visual traffic signals, in particular brakes and turn signal signals, are evaluated.

  In the implementation variant shown here, the vehicle 1 equipped with the ACC system shows a caring behavior with respect to the vehicle 8 traveling ahead, in particular a freight vehicle 9 that is traveling significantly slowly. It is possible to change the lane to the left lane L to overtake. Thereby, the flow of road traffic improves and the more intuitive behavior of the vehicle 1 equipped with the ACC system is provided. If the vehicle 8 traveling right ahead is also equipped with the ACC system, it recognizes such a specific traffic situation shown in FIG. 5 and optionally overtakes the vehicle 8 to overtake the freight vehicle 9. The process is accelerated. In this implementation variation, the overtaking process of the vehicle 1 with respect to the vehicle 8 is suppressed, and at the same time, the overtaking process of the vehicle 8 with respect to the freight vehicle 9 traveling ahead is accelerated or shortened.

  In one possible embodiment, the ACC systems of both vehicle 1 and vehicle 8 cooperate to optimize traffic flow. This communication is possible via a back-end system or directly via a wireless interface between both vehicles 1, 8. Further, when the freight vehicle is also equipped with the ACC system according to the present invention, the ACC system of the vehicle 1, the vehicle 8, and the freight vehicle 9 communicate with each other in a possible embodiment. On the basis of the optimization conditions, the traffic flow of all the involved vehicles, in particular the vehicles 1, 8, 9 or the flow of travel are optimized. Such mutual cooperation of the ACC system not only improves the traffic flow but also improves the safety of all traffic participants.

  Further embodiments are possible. For example, a recognized traffic situation or an overtaking situation can take into account various types of vehicles and / or priorities. For example, the vehicle 1 can be an ambulance in operation and / or a police vehicle. The high priority of these vehicles, indicated by emitted signals, e.g. extinguished revolving lights, can be used when setting up the acceleration and / or deceleration processes of other vehicles equipped with an ACC system. It can be recognized and taken into account in engine and / or brake control or feedback control. A particularly careful behavior of vehicles equipped with the ACC system with respect to ambulances and / or police vehicles can also be achieved with the method according to the invention. For example, ambulances with high priority can be freed from meaningless braking and acceleration processes, thereby ensuring the safety and / or health of the transported person.

Claims (16)

A method comprising the following steps to increase safety in the overtaking process of a vehicle (1) whose travel speed (V) is feedback controlled by an ACC system:
(A) Potential overtaking situations in which vehicle (1) may overtake a vehicle (3; 5; 7; 8) traveling in front of at least one lane in a certain overtaking process. Recognizing (S1); and
(B) If the vehicle (1) can overtake the vehicle (3; 5; 7; 8) that is legally traveling ahead, it accelerates its overtaking process, and the vehicle (1) If it is likely that the moving vehicle (3; 5; 7; 8) will be illegally overtaken, or to allow the overtaking process of the vehicle (3; 5; 7; 8) traveling ahead Step (S2) to prevent the overtaking process. When the traveling speed (V) at that time of the vehicle (1) and the traveling speed of the vehicle traveling ahead are lower than the cruise speed (V _set ) set in the ACC system of the vehicle (1), The method of claim 1, wherein the method is recognized as a potential overtaking situation.   If the vehicle (1) may illegally overtake at least one vehicle (3; 5) traveling forward from the right side, the current traveling speed of the vehicle (1) Method according to claim 1 or 2, characterized in that the overtaking process of the vehicle (1) is prevented by maintaining a settable maintenance period in accordance with the travel speed of the vehicle (3; 5). .   The running speed of a vehicle (3; 5; 7; 8) traveling in front of at least one vehicle is captured by one sensor unit of the ACC system of the vehicle (1). The method of 1 item | term.   5. The method according to claim 4, characterized in that the sensor unit of the ACC system of the vehicle (1) is constituted by a radar sensor with a relatively narrow viewing area and opening angle.   From the preceding claim, the maintenance period is extended when another sensor unit having a relatively large field of view and opening angle of the vehicle (1) captures another vehicle in the vicinity of the vehicle. 6. The method according to one of 5 above.   Method according to claim 6, characterized in that the further sensor unit of the vehicle (1) includes at least one camera, one radar sensor and / or a rider sensor.   When there is a possibility that the vehicle (1) may overtake a plurality of vehicles (5) traveling in front of one vehicle group running in the left lane (L) from the right lane (R). The current traveling speed of the vehicle is within the field of view of the sensor unit of the ACC system of the vehicle (1) and is captured by the sensor unit of the ACC system. 8. Method according to one of the preceding claims, characterized in that the overtaking process is prevented by adjusting to the minimum or average travel speed of the vehicle (5).   When the vehicle (1) travels in the left lane (L) and the vehicle (7) traveling in front of the right lane (R) is likely to change to the left lane (L), Method according to one of the preceding claims, characterized in that the overtaking process of 1) is accelerated.   A vehicle (7) traveling ahead is actually approaching an immovable object in front of it, or an object (6) moving at low speed in front of it, in particular a lorry (LKW). If the vehicle (7) traveling in front of the right lane (R) is about to change lanes to the left lane (L) The method according to claim 9.   If a vehicle (7) traveling in front of the right lane (R) that is likely to change to the left lane (L) is recognized, it is left in the vehicle (1) to overtake the vehicle traveling ahead. The method according to claim 9, wherein an overtaking time is calculated.   The current traveling speed of the vehicle (1) traveling in the left lane (L), the traveling speed of the vehicle (7) traveling in front of the right lane (R), and the front of the right lane (R) 12. The overtaking time remaining in the vehicle (1) is calculated on the basis of the approach speed at which the traveling vehicle (7) approaches the object (6) in front of the vehicle (7). The method described. The _set cruise speed V _set and / or other feedback control parameters of the ACC system of the vehicle (1) and / or other ACC systems of other vehicles are left to be calculated. 13. The vehicle according to claim 12, wherein the overtaking time is changed so that the overtaking process can be performed safely or a vehicle traveling ahead is able to perform the overtaking process. The method described.   If the overtaking process of the vehicle (1) has been approved by the driver by the input to the ACC system of the vehicle (1) and / or the legal maximum speed is not exceeded in the overtaking process The method according to claim 13, wherein the method is performed only on.   A vehicle (8) traveling ahead requires additional overtaking time to safely overtake an object (9) in front of the vehicle (8) traveling ahead, in particular the vehicle. 15. Method according to one of the preceding claims, characterized in that the overtaking process of the vehicle (1) is prevented or delayed. A device comprising the following, which increases the safety in the overtaking process of the vehicle (1) whose travel speed is feedback controlled by the ACC system:
Vehicle (1) recognizes a potential overtaking situation that may overtake a vehicle (3; 5; 7; 8) traveling in front of at least one lane in a certain overtaking process Recognition unit,
However, if the vehicle (1) can overtake the vehicle (3; 5; 7; 8) that is legally traveling ahead, its own overtaking process is accelerated, and conversely, the vehicle (1) If it is likely that the vehicle (3; 5; 7; 8) traveling illegally will be overtaken illegally, the overtaking process will be blocked.

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