WO2005049362A1 - Verfahren zur längsbewegungssteuerung eines kraftfahrzeugs - Google Patents
Verfahren zur längsbewegungssteuerung eines kraftfahrzeugs Download PDFInfo
- Publication number
- WO2005049362A1 WO2005049362A1 PCT/EP2004/012651 EP2004012651W WO2005049362A1 WO 2005049362 A1 WO2005049362 A1 WO 2005049362A1 EP 2004012651 W EP2004012651 W EP 2004012651W WO 2005049362 A1 WO2005049362 A1 WO 2005049362A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- vehicle
- speed
- longitudinal movement
- threshold speed
- movement control
- Prior art date
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, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- 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
Definitions
- the invention relates to a method for longitudinal movement control of a vehicle, in particular by means of a longitudinal movement control system, wherein for vehicle speeds above a threshold speed, if no preceding vehicle is detected, the vehicle speed is regulated to a higher selected setting speed, and if a preceding vehicle is detected, the distance to this vehicle in front is regulated.
- Adaptive Cruise Control (ACC) systems currently available on the market only work in a restricted speed range, for example in the range from 30 to 180 km / h.
- a speed is selected and the vehicle is regulated to this speed if the distance to a vehicle in front is large enough or there is no vehicle in front. If the distance to the vehicle in front becomes smaller or another vehicle cuts in front of the vehicle to be controlled and therefore the safety distance is undershot, the distance control system brakes the vehicle automatically until the safety distance to the now vehicle in front is restored.
- This type of longitudinal movement control is called free target selection.
- the ACC system independently decides which recognized object is relevant for the vehicle to be controlled and which objects are not. This concept offers the driver a very high level of comfort.
- This concept is particularly suitable at high speeds at which short-term lateral movements of the vehicle to be controlled are not to be expected. That is why the ACC systems usually have a switch-on threshold of 30 km / h. The driver is not supported by the ACC system at lower speeds. Known ACC systems switch off automatically when the speed of the vehicle to be controlled drops below the switch-on threshold. In such a case, the ACC system prompts the driver acoustically to take over vehicle guidance.
- Type 1 objects are objects in the adjacent lane that move into the lane of the vehicle to be controlled at a lateral speed and thus become relevant for the vehicle to be controlled.
- Type 2 objects are stationary or moving objects in the apron of the vehicle to be controlled, which, depending on the route, lie on a collision course.
- the beam sensors currently used to detect the vehicle in front at a great distance only have a small opening angle. They therefore only capture a very narrow section of the surroundings. Especially in the immediate vicinity of the vehicle, observing the environment relevant to vehicle control is not sufficient. For example, no reevers can be detected early.
- a speed controller which not only regulates the speed of the vehicle from a certain minimum speed (vl) but also speeds below a predetermined limit speed (v2) up to the standstill of the vehicle.
- this speed controller it is possible to control the speed range from stand to the second limit speed (v2) with an additional "stop & go device” even at low speeds, which occur very frequently in city traffic.
- This stop & go - Mode is effective below the second speed (v2), provided the driver has not switched off the system and controls the distance to the vehicle in front and his driving speed himself.
- the driver has the choice between the operating mode at higher speeds and the Stop & Go mode, but he can also leave the choice to the speed controller itself.
- the object of the present invention is therefore to improve driving comfort and driving safety in vehicles with automatic speed adjustment.
- the object is achieved according to the invention by a method of the type mentioned in the introduction, in which the longitudinal movement of the vehicle is only controlled below the threshold speed if a vehicle driving ahead is detected.
- This procedure enables the driver to assist in longitudinal control (keeping his distance from the vehicle in front) even at low speeds, for example in stop & go operation or in slow moving traffic.
- a functionality is added to the ACC system, but no other operating mode is used. This means that the ACC system is also active below the threshold speed on the condition that a vehicle in front is present.
- the driver experiences an integrated system without a change of concept in the entire supported speed range, for example from 0 to 200 km / h.
- the driver does not have to acknowledge or trigger a change from one operating mode to another operating mode. Changing the operating mode cannot lead to driver irritation.
- Existing systems can be expanded by the method according to the invention, so that there is also no change in the operating and display functionality or in the warning concept.
- the threshold speed can either be specified by the vehicle driver or set in the factory.
- the threshold speed is preferably set to 30 km / h.
- a setting speed is set by the driver selects that is equal to or greater than the threshold speed.
- the system can be activated at any time above the threshold speed, with the longitudinal movement control being based on the concept of free target selection above the threshold speed. If the vehicle to be controlled has free travel, ie there is no vehicle in front, also called the leading vehicle, the vehicle speed is regulated to the set speed. When the method is activated, the vehicle therefore only drives more slowly than the threshold speed if a vehicle in front is traveling at a speed below the threshold speed.
- the longitudinal movement control takes place below the threshold speed by means of distance control to the leading vehicle. At a vehicle speed below the threshold speed, the speed is not regulated in the absence of a leading vehicle.
- the activation of the distance control system is only possible if a guide vehicle is available.
- the explanation for this is that at low speeds, many objects can become relevant, including Type 2 objects if there is no vehicle in front. If these objects are taken into account even at low vehicle speeds below the threshold speed, the concept of free destination selection would have to be used. However, this is only possible at vehicle speeds above the threshold speed. For this reason, according to the invention, a leading vehicle is required for vehicle control below the threshold speed, so that only type 1 vehicles and vehicles traveling in front can become relevant as new objects in the case of pranks. The driver therefore almost always experiences the concept of free destination selection.
- the longitudinal movement control advantageously takes place below the threshold speed according to the concept of the subsequent functionality.
- An object detection can be provided which filters out those objects from sensor signals which are important for the function "following driving".
- the detection logic includes data speed and distance-dependent data filtering, verification of the measurement signals by multiple measurements, a plausibility check of the detected objects and a tracking (tracking) of objects, in which recognized objects are tracked over a certain period of time.
- the vehicle driver is advantageously given a signal, in particular an acoustic and / or visual signal, if the longitudinal movement control system is not active and / or cannot be activated below the predetermined speed. In this case the longitudinal motion control system is switched off. This is shown to the driver.
- the driver is prompted to release the automatic following of a preceding vehicle. This means that there is no automatic start-up after standstill.
- the leading vehicle is only followed automatically after the driver has acknowledged (confirmed) it, for example by pulling a cruise control lever (activate memory) or by pressing the accelerator pedal.
- a manual start with subsequent switching on by the driver is also conceivable. This means that the driver only has to switch on the process or the longitudinal movement control system, but never has to confirm a destination.
- a method variant is particularly preferred in which the maximum deceleration power is increased with decreasing own speed. This means that, especially when driving in tough traffic with a short distance to the vehicle in front, a rapid deceleration of the vehicle is made possible when the vehicle in front slows down or stops. Rear-end collisions can be avoided with this measure.
- provision can be made to gradually change the deceleration power as a function of the current speed.
- a delay power of, for example, 4 m / s 2 below the predetermined speed and of approximately 2 m / s 2 at higher speeds with a smooth transition can be provided.
- the surroundings of the vehicle are advantageously recorded in advance, in particular continuously recorded.
- This measure enables improved recognition of reevers especially at low speeds due to an additional sensor system for the close range. This measure enables especially driving at low speeds and close distances.
- the invention also relates to a longitudinal movement control system of a vehicle, in particular a distance control system, with a control unit for controlling the longitudinal movement of the vehicle and with a detection device for preceding vehicles, the system being active and / or activatable below a threshold speed when a preceding vehicle is detected. Above the threshold speed, the speed of the vehicle is regulated to a set speed when the vehicle is traveling freely, that is to say the vehicle in front is missing. If, when the longitudinal movement control system is switched on, a vehicle traveling ahead that is slower than the setting speed is present, the distance to the vehicle traveling ahead is regulated.
- the speed is reduced and the distance to the vehicle in front is regulated to a speed-dependent safety distance. If the vehicle in front slows down to a speed below the threshold speed, the vehicle to be controlled is also slowed down because of the safety distance to be maintained. If the vehicle in front turns, there is no leading vehicle, the longitudinal movement control system is deactivated until the vehicle has reached a speed above the threshold speed or until a leading vehicle is recognized again by the detection device and the system can be reactivated by the driver.
- the detection device has sensors for the complete detection of the vicinity of the vehicle in the apron of the vehicle.
- sensors for the complete detection of the surroundings of the vehicle in advance in the direction of travel of the vehicle in addition to the objects already taken into account in ACC systems of the prior art, additional objects on the lane of the vehicle and the two neighboring lanes can be detected and at least in the vicinity (for example up to 30 meters) described their movement behavior. From this, the relevant object for the longitudinal movement control is determined, for example by sensor data fusion.
- several distributed beam sensors are provided. This enables the detection of three lanes in front of the vehicle.
- two 24 GHz radar short-range sensors and a 77 GHz radar long-range sensor can be provided and mounted in the bumper.
- An image of the surroundings of the vehicle can be generated (fused) from the sensor data and the system can react to it.
- High-resolution sensors with a large aperture angle can alternatively be used and, for example, can be designed as scanning IR sensors with a scanning area of, for example,> 40 °.
- Stereo image processing systems can also be used. Embodiments of the invention are explained in more detail with reference to a drawing. Show:
- Fig. 1 is a schematic representation of the invention.
- FIG. 1 shows a plan view of a three-lane road 2 in the direction of travel 1.
- the longitudinal motion control operates according to the concept of free target selection.
- the system regulates the distance to the vehicle 8 when the safety distance is undershot. If there is no leading vehicle 8, the speed of vehicle 3 is regulated to a setting speed above the threshold speed. If, when the longitudinal movement control system is activated, there is no vehicle 8 traveling ahead on one's own lane 5, the speed is regulated to the setting speed until a vehicle 8 appears in the detection range of the sensors of vehicle 3 or a vehicle changes to one's own lane 3 and is recorded.
- the longitudinal movement control In a speed range below the threshold speed, the longitudinal movement control is only active when a vehicle 8 driving ahead is detected. Then the longitudinal movement control works according to the concept of following driving and takes into account type 1 objects, such as vehicle 10, as well as vehicles traveling in front of vehicle 8 in their own lane if vehicle 8 swings out.
- the vehicle 10 is in the IsTah range of the vehicle 3 and is also detected on the secondary lane 6.
- the longitudinal movement control is oriented to the vehicle 8 traveling ahead at a short distance. As soon as the vehicle 10 enters lane 5, another guide vehicle is available, so that an orientation on the vehicle 10 takes place.
- the longitudinal movement control observes the vehicle 10, so that it can react quickly to a reeving of the vehicle 10 and can trigger a deceleration of the vehicle 3. The driver does not notice anything about the change of concept between free choice of destination and subsequent driving, since the operating concept is designed uniformly. If there is no vehicle 8 traveling in front, the longitudinal movement control system cannot be activated below the threshold speed.
Abstract
Description
Claims
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US10/578,513 US20070083309A1 (en) | 2003-11-19 | 2004-09-11 | Method for controlling the longitudinal movement of a motor vehicle |
JP2006540245A JP2007512171A (ja) | 2003-11-19 | 2004-11-09 | 車両の長手方向の移動を制御する方法 |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE10354073.3 | 2003-11-19 | ||
DE10354073A DE10354073A1 (de) | 2003-11-19 | 2003-11-19 | Verfahren zur Längsbewegungssteuerung eines Kraftfahrzeugs |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2005049362A1 true WO2005049362A1 (de) | 2005-06-02 |
Family
ID=34559704
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/EP2004/012651 WO2005049362A1 (de) | 2003-11-19 | 2004-11-09 | Verfahren zur längsbewegungssteuerung eines kraftfahrzeugs |
Country Status (4)
Country | Link |
---|---|
US (1) | US20070083309A1 (de) |
JP (1) | JP2007512171A (de) |
DE (1) | DE10354073A1 (de) |
WO (1) | WO2005049362A1 (de) |
Families Citing this family (10)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US7835864B1 (en) * | 2000-02-20 | 2010-11-16 | Dale F. Oexmann | Vehicle proximity detection and control systems |
FR2866281B1 (fr) * | 2004-02-17 | 2007-04-20 | Renault Sas | Procede et systeme de limitation de vitesse a controle en distance pour vehicule automobile. |
US8355842B2 (en) * | 2005-09-15 | 2013-01-15 | Continental Teves Ag & Co. Ohg | Method and device for steering a motor vehicle |
US8457359B2 (en) * | 2008-02-20 | 2013-06-04 | Continental Teves Ag & Co. Ohg | Method and assistance system for detecting objects in the surrounding area of a vehicle |
DE102010032086A1 (de) | 2010-07-23 | 2011-03-17 | Daimler Ag | Verfahren zur Längsbewegungssteuerung eines Fahrzeugs |
US9254846B2 (en) * | 2013-05-03 | 2016-02-09 | Google Inc. | Predictive reasoning for controlling speed of a vehicle |
JP2017518913A (ja) * | 2014-05-22 | 2017-07-13 | コンティ テミック マイクロエレクトロニック ゲゼルシャフト ミット ベシュレンクテル ハフツングConti Temic microelectronic GmbH | 車両の追越プロセス中の安全性を向上するための方法、及び、装置 |
DE102016014553A1 (de) | 2016-12-07 | 2017-05-24 | Daimler Ag | Verfahren zum Betrieb eines Fahrzeugs |
JP6613509B2 (ja) * | 2017-12-21 | 2019-12-04 | 本田技研工業株式会社 | 車両制御装置、車両制御方法、およびプログラム |
DE102019003558A1 (de) | 2019-05-21 | 2020-01-02 | Daimler Ag | Verfahren zur Längsbewegungssteuerung eines Fahrzeuges |
Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP1065087A2 (de) * | 1999-07-01 | 2001-01-03 | Hitachi, Ltd. | Fahrgeschwindigkeitsregelsystem zur optimierten Abstandsregelung |
DE19958520A1 (de) | 1999-12-04 | 2001-06-07 | Bosch Gmbh Robert | Geschwindigkeitsregler für ein Kraftfahrzeug |
DE10007501A1 (de) * | 2000-02-18 | 2001-09-13 | Daimler Chrysler Ag | Verfahren und Vorrichtung zur Erfassung und Überwachung einer Mehrzahl von vorausfahrenden Fahrzeugen |
WO2001098101A1 (de) * | 2000-06-20 | 2001-12-27 | Daimlerchrysler Ag | Verfahren zur abstandsregelung eines fahrzeugs zu einem vorausfahrenden fremdfahrzeug und abstandsregelsystem |
DE10153527A1 (de) * | 2001-10-30 | 2003-05-15 | Bosch Gmbh Robert | Vorrichtung zur Längsführung eines Kraftfahrzeugs |
-
2003
- 2003-11-19 DE DE10354073A patent/DE10354073A1/de not_active Withdrawn
-
2004
- 2004-09-11 US US10/578,513 patent/US20070083309A1/en not_active Abandoned
- 2004-11-09 WO PCT/EP2004/012651 patent/WO2005049362A1/de active Application Filing
- 2004-11-09 JP JP2006540245A patent/JP2007512171A/ja not_active Abandoned
Patent Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP1065087A2 (de) * | 1999-07-01 | 2001-01-03 | Hitachi, Ltd. | Fahrgeschwindigkeitsregelsystem zur optimierten Abstandsregelung |
DE19958520A1 (de) | 1999-12-04 | 2001-06-07 | Bosch Gmbh Robert | Geschwindigkeitsregler für ein Kraftfahrzeug |
DE10007501A1 (de) * | 2000-02-18 | 2001-09-13 | Daimler Chrysler Ag | Verfahren und Vorrichtung zur Erfassung und Überwachung einer Mehrzahl von vorausfahrenden Fahrzeugen |
WO2001098101A1 (de) * | 2000-06-20 | 2001-12-27 | Daimlerchrysler Ag | Verfahren zur abstandsregelung eines fahrzeugs zu einem vorausfahrenden fremdfahrzeug und abstandsregelsystem |
DE10153527A1 (de) * | 2001-10-30 | 2003-05-15 | Bosch Gmbh Robert | Vorrichtung zur Längsführung eines Kraftfahrzeugs |
Also Published As
Publication number | Publication date |
---|---|
JP2007512171A (ja) | 2007-05-17 |
DE10354073A1 (de) | 2005-06-09 |
US20070083309A1 (en) | 2007-04-12 |
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