WO2003047900A1 - System zur automatischen folgeführung eines kraftfahrzeugs - Google Patents

System zur automatischen folgeführung eines kraftfahrzeugs Download PDF

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Publication number
WO2003047900A1
WO2003047900A1 PCT/EP2002/013546 EP0213546W WO03047900A1 WO 2003047900 A1 WO2003047900 A1 WO 2003047900A1 EP 0213546 W EP0213546 W EP 0213546W WO 03047900 A1 WO03047900 A1 WO 03047900A1
Authority
WO
WIPO (PCT)
Prior art keywords
vehicle
guidance
sensor
motor vehicle
driver
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.)
Ceased
Application number
PCT/EP2002/013546
Other languages
German (de)
English (en)
French (fr)
Inventor
Jens Desens
Stefan Hahn
Fridtjof Stein
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.)
Mercedes Benz Group AG
Original Assignee
DaimlerChrysler AG
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 DaimlerChrysler AG filed Critical DaimlerChrysler AG
Priority to JP2003549114A priority Critical patent/JP4054889B2/ja
Priority to US10/497,770 priority patent/US7617037B2/en
Publication of WO2003047900A1 publication Critical patent/WO2003047900A1/de
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/14—Adaptive cruise control
    • B60W30/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • 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
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D15/00—Steering not otherwise provided for
    • B62D15/02—Steering position indicators ; Steering position determination; Steering aids
    • B62D15/025—Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation
    • B62D15/026—Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation combined with automatic distance control, i.e. electronic tow bar
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D15/00—Steering not otherwise provided for
    • B62D15/02—Steering position indicators ; Steering position determination; Steering aids
    • B62D15/025—Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation
    • B62D15/0265—Automatic obstacle avoidance by steering
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2554/00—Input parameters relating to objects
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/40—Dynamic objects, e.g. animals, windblown objects
    • B60W2554/408—Traffic behavior, e.g. swarm
    • 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

Definitions

  • the invention relates to a system for automatic follow-up guidance, in particular for automatic traffic jam follow-up guidance, of a motor vehicle, with at least one sensor for vestibule monitoring and electronic travel, braking and steering control.
  • ACC systems Automatic follow-up guidance is made possible by driving speed and distance controllers, referred to as ACC systems in English (Autonomous Cruise Control, sometimes also Adaptive Cruise Control).
  • An ACC system regulates the speed of a vehicle taking into account a vehicle in front and may also automatically follow its lane, i.e. automatically change lanes.
  • DE 4313568 C describes a method for guiding a lane change by a motor vehicle, a so-called lane change assistant, in which not only the front and rear areas, but also a blind spot are monitored by a radar in the rear view mirror and the driver, if necessary. Receives warnings or instructions if he intends to change lanes.
  • the information from the lane change assistant is used for completely autonomous vehicle guidance.
  • a similar guidance method, improved by satellite navigation and lane detection, is described in EP 1052143 A.
  • ACC systems are described, for example, in the documents DE 19637245 A, WO 99/30920, WO 99/32318 and WO 00/62139.
  • the object of the invention is to provide a system for automatic tracking including automatic lane change, which works in a simple and safe manner.
  • the invention uses one or two lateral sensors for monitoring the rear space (s) of the motor vehicle. If the vehicle now follows a lane change of a preceding vehicle, the signals of at least one of the lateral sensors can be used to determine whether the vehicle is traveling along a trajectory which describes the lane change planned as part of the vehicle tracking without colliding with another one located next to the vehicle Vehicle is possible. In particular, by continuously determining the signals, at least one of the lateral sensors can be identified when the relative position of a vehicle located adjacent to one's own vehicle changes significantly; for example due to strong acceleration of the overtaken vehicle. It is determined as by ongoing measurement and calculation whether the motor vehicle during the Follows a safe distance from an adjacent vehicle detected by at least one of the lateral sensors.
  • the driver is preferably asked to take over the vehicle guidance, or the vehicle guidance is automatically returned to the driver. This is also preferably accompanied by a warning signal.
  • the signals from the lateral sensor and data from the automatic follow-up guidance with regard to driving speed and driving route can be used to calculate whether the motor vehicle will maintain a safe distance from an adjacent vehicle in the further course of the journey, so that the vehicle control can be taken over or transferred takes place as early as possible.
  • the invention limits the manual control of the vehicle to situations that can only be controlled with great effort using fully automatic control.
  • the advantage outweighs the fact that the driver can be sure of being able to take control of the vehicle immediately in critical lane change situations, so that he does not have the feeling of being delivered with automatic follow-up guidance.
  • the invention enables a kind of semi-automatic follow-up guidance, in which the driver is involved in lane change situations that one does not want to leave to the automatic system for safety reasons.
  • the invention is suitable for any type of automatic follow-up guidance and in particular as a system for follow-up guidance,
  • Fig. 2 shows a traffic situation when changing lanes of the preceding vehicle
  • Fig. 3 shows the situation of Fig. 2 with a motor vehicle that has lateral sensors.
  • Fig. 1 shows a vehicle E with a system for automatic traffic jam control, a traffic jam automat that relieves the driver in traffic jams.
  • a system for automatic traffic jam control a traffic jam automat that relieves the driver in traffic jams.
  • Such a system is known in the prior art and contains a sensor 2 for vestibule monitoring and electronic travel, braking and steering control, which is not shown.
  • the sensor system for anteroom monitoring (sensor 2 and associated electronics) consists, for example, of an image processing, laser or radar system with an antechamber monitoring angle ⁇ .
  • the vehicle E with the automatic traffic jam driver switched on, follows a vehicle A driving ahead fully automatically along the trajectory 4 in the left lane of a two-lane road.
  • FIG. 2 illustrates what happens when the vehicle A in front changes lane from the left to the right lane can.
  • the vehicle E follows a trajectory 6 of the vehicle A calculated by the following system and has no knowledge of a vehicle B to the right of it because of the limited anteroom monitoring angle ⁇ . This would result in a collision between vehicles E and B if vehicle E continues to follow vehicle A by doing its lane change.
  • a lateral sensor 8, 10 for monitoring the corresponding lateral rear space 12, 14 is accommodated in the left and in the right rear-view mirror of the vehicle E. Since motor vehicles generally have a length of more than 3 meters, the monitored rear spaces 12, 14 may not need to extend as far forward as shown in FIG. 3 if the antechamber monitoring angle ⁇ is large enough.
  • the lateral sensor 10 detects the vehicle B in the right-hand rear area 14.
  • the driver of the vehicle E is warned or is prompted to take over the control of the vehicle when the vehicle E has a safe distance from the vehicle, determined by calculation will fall below adjacent vehicle B in the future if it continues to follow vehicle A along the trajectory 6 calculated by the following system.
  • This criterion is applied regardless of whether there is a track or not.
  • This inventive configuration of the system for automatic vehicle tracking prevents a collision with the vehicle B, for example due to an unpredictable acceleration of the observed vehicle B, during the subsequent lane change by vehicle E.
  • additional data from the automatic follow-up guidance are used. These are, for example, data from a navigation system which provides information about a curve ahead in the course of the road, which can have a significant effect on the shape of the trajectory 6.
  • data from a traffic information system that provides information about traffic conditions prevailing in the road ahead, such as traffic jams, traffic lights standing in red or a road construction site can also have a significant impact on future adjustments to trajectory 6 and must be taken into account by the system for automatic follow-up.
  • lateral sensor refers to a sensor that sees the space around a motor vehicle E, in particular the side and rear space.
  • the areas 12 and 14 for the corresponding lateral sensors 8 and 10 are shown by way of example in FIG. 3.
  • the lateral sensor is a sensor that can resolve its detection area into several angular sections, so that it is possible, depending on the resolution accuracy, to record the driving behavior of the vehicle B observed by the lateral sensor. The better this driving behavior can be recorded, the better it can then be determined whether a safe distance from neighboring vehicle B will be undershot in the future.

Landscapes

  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Automation & Control Theory (AREA)
  • Traffic Control Systems (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
  • Controls For Constant Speed Travelling (AREA)
  • Radar Systems Or Details Thereof (AREA)
PCT/EP2002/013546 2001-12-05 2002-11-30 System zur automatischen folgeführung eines kraftfahrzeugs Ceased WO2003047900A1 (de)

Priority Applications (2)

Application Number Priority Date Filing Date Title
JP2003549114A JP4054889B2 (ja) 2001-12-05 2002-11-30 自動車を自動的に監視するシステム
US10/497,770 US7617037B2 (en) 2001-12-05 2002-11-30 System for automatically monitoring a motor vehicle

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE10159658.8 2001-12-05
DE10159658A DE10159658A1 (de) 2001-12-05 2001-12-05 System zur automatischen Folgeführung eines Kraftfahrzeugs

Publications (1)

Publication Number Publication Date
WO2003047900A1 true WO2003047900A1 (de) 2003-06-12

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PCT/EP2002/013546 Ceased WO2003047900A1 (de) 2001-12-05 2002-11-30 System zur automatischen folgeführung eines kraftfahrzeugs

Country Status (4)

Country Link
US (1) US7617037B2 (enExample)
JP (1) JP4054889B2 (enExample)
DE (1) DE10159658A1 (enExample)
WO (1) WO2003047900A1 (enExample)

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EP1852325A1 (de) 2006-05-06 2007-11-07 Bayerische Motoren Werke Aktiengesellschaft Verfahren zur Folgeregelung für ein Kraftfahrzeug
US7831369B2 (en) * 2005-11-16 2010-11-09 Gm Global Technology Operations, Inc. Method and apparatus for vehicle and engine operation
WO2014032904A1 (de) * 2012-08-29 2014-03-06 Robert Bosch Gmbh Verfahren und vorrichtung zum erkennen einer position eines fahrzeugs auf einer fahrspur
EP2715700B1 (de) * 2011-05-25 2016-02-24 Audi AG Verfahren zum betrieb eines längsführenden fahrerassistenzsystems eines kraftfahrzeugs und kraftfahrzeug
CN113784886A (zh) * 2018-08-20 2021-12-10 印度摩托车国际有限公司 轮式车辆自适应速度控制方法及系统
DE102005038494B4 (de) 2005-08-13 2022-03-03 Bayerische Motoren Werke Aktiengesellschaft Abstandsbezogenes Fahrgeschwindigkeitsregelsystem
US11718296B2 (en) 2019-12-09 2023-08-08 Bendix Commercial Vehicle Systems Llc Using shared traffic information to support adaptive cruise control (ACC) between platooning vehicles
US11866042B2 (en) 2018-08-20 2024-01-09 Indian Motorcycle International, LLC Wheeled vehicle adaptive speed control method and system
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US7617037B2 (en) 2009-11-10

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