WO2009030532A1 - Commande de vitesse de véhicule - Google Patents

Commande de vitesse de véhicule Download PDF

Info

Publication number
WO2009030532A1
WO2009030532A1 PCT/EP2008/057901 EP2008057901W WO2009030532A1 WO 2009030532 A1 WO2009030532 A1 WO 2009030532A1 EP 2008057901 W EP2008057901 W EP 2008057901W WO 2009030532 A1 WO2009030532 A1 WO 2009030532A1
Authority
WO
WIPO (PCT)
Prior art keywords
speed
vehicle
speed control
external information
control device
Prior art date
Application number
PCT/EP2008/057901
Other languages
German (de)
English (en)
Inventor
Thomas Grotendorst
Ulrich STÄHLIN
Original Assignee
Continental Teves Ag & Co. Ohg
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 Continental Teves Ag & Co. Ohg filed Critical Continental Teves Ag & Co. Ohg
Publication of WO2009030532A1 publication Critical patent/WO2009030532A1/fr

Links

Classifications

    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
    • G08G1/096708—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control
    • G08G1/096725—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control where the received information generates an automatic action on the vehicle control
    • 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
    • B60K31/0058—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 responsive to externally generated signalling
    • 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
    • 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

Definitions

  • the invention relates to the assistance technology for vehicles.
  • the invention relates to a speed control device for controlling a speed of a vehicle, a speed control system, the
  • the speed of the vehicle can be set with the help of a vehicle driver. This speed is then maintained by the cruise control without the driver having to operate the accelerator pedal. The cruise control keeps the speed until the driver engages.
  • Adaptive Cruise Control are known, which in addition to a cruise control have a radar. For example, a distance to the next vehicle can be specified. If this distance is undershot, the vehicle speed is automatically reduced. For the ACC to be able to control the speed, an environmental sensor (radar) is required.
  • radar environmental sensor
  • a speed control device for controlling a speed of a vehicle, a speed control system for controlling a speed of a vehicle, a use of a speed control device in a vehicle, a method for controlling a speed of a vehicle, a computer program product, and a computer readable medium according to the features of the independent claims , Further developments of the invention will become apparent from the dependent claims.
  • the described embodiments equally relate to the speed control device, the speed control system, the use, the method, the computer program product and the computer readable medium.
  • a speed control device for controlling and / or controlling a speed of a vehicle having a communication unit in the vehicle for receiving external information and a speed control unit for controlling a speed of the vehicle based on the received external information.
  • a communication unit in the vehicle for receiving external information
  • a speed control unit for controlling a speed of the vehicle based on the received external information.
  • the speed control unit is designed as cruise control.
  • a conventional cruise control without environment sensor technology by means of vehicle-to-vehicle (FzF) or vehicle-to-infrastructure (FzI) communication is extended.
  • the extensions are designed so that the basic cruise control function is not affected, d. H. that the cruise control works as usual, if the FzF or the FzI communication is not possible.
  • the vehicle is, for example, a motor vehicle, such as a car, bus or truck, or else a rail vehicle, a ship, an aircraft, such as a helicopter or airplane, or, for example, a bicycle.
  • the speed control device is designed to control the vehicle speed on the basis of external information transmitted by an infrastructure.
  • the speed control means for controlling the vehicle speed is executed on the basis of external information transmitted from an adjacent vehicle.
  • Speed control unit then adjusts the speed accordingly, so that the gas mileage can be optimized.
  • the information relating to the traffic light circuit can be transmitted directly from the traffic light (infrastructure) to the vehicle, which then optimally sets its speed.
  • the external information can also be transmitted from a central server to the individual vehicles. This may be, for example, recommended straightening speeds of a traffic control system.
  • the communication unit is designed to receive external information based on DSRC (Dedicated Short Range Communications).
  • DSRC Dedicated Short Range Communications
  • the communication unit may be configured to receive information about other short-range communication systems.
  • the wireless transmission or the wireless reception of the information via GSM, UMTS, WLAN (eg 802.1 Ip) or via WiMax. It is also possible to use other transmission protocols.
  • the mentioned protocols offer the advantage of already existing standardization.
  • the speed control unit is selected to use the external information for at least one of the following functions: adapting a set speed to a traffic sign; Decrease the speed due to a red traffic light; Adjusting the speed such that the vehicle moves at an optimum speed with respect to a plurality of traffic lights; Preventing a minimum distance to a preceding vehicle is fallen below; and adjusting the set speed to a recommended value.
  • the speed control device maintains its cruise control function when no external information is received.
  • the cruise control function remains when there is no external input. If external information is received, the cruise control can be controlled accordingly.
  • the speed control device furthermore has an environment sensor system for detecting measured values, wherein the speed control unit for controlling a speed of the vehicle is also designed on the basis of the detected measured values.
  • the speed control device thus receives on the one hand information from an external unit, via which the speed is adjustable. Furthermore, the vehicle still makes its own measurements, in order to optimize the speed setting in this way. These measured values are, for example, distance measurements to a vehicle in front by means of a radar. However, these may also be measured values of an ESP sensor system (ESP: electronic stability program), an ASR sensor (ASR: traction control system) or the ABS system. If, for example, black ice is detected, the speed can be reduced accordingly. The same is true for the detection of other hazards, such as an oil spill on the ESP sensor system (ESP: electronic stability program), an ASR sensor (ASR: traction control system) or the ABS system. If, for example, black ice is detected, the speed can be reduced accordingly. The same is true for the detection of other hazards, such as an oil spill on the ESP sensor system (ESP: electronic stability program), an ASR sensor (ASR: traction control system) or the ABS system. If, for example, black ice is detected, the speed can be reduced accordingly
  • This danger warning can be transmitted, for example, from a vehicle in front.
  • the speed control device can cooperate with a digital map, for example in conjunction with a vehicle navigation system or a driver assistance system. Warnings may be stored on the digital map, which together with the external information will result in an optimal speed setting.
  • ADAS Driver Assistance Systems
  • GPS is representative of all global navigation satellite systems (GNSS) such. GPS, Galileo, GLONASS (Russia), Compass (China), IRNSS (India), ...
  • GNSS global navigation satellite systems
  • a speed control system for controlling a speed of a vehicle having a speed control device as described above disposed in the vehicle. Furthermore, the system also has an external communication unit for transmitting the external information to the speed control device.
  • the external communication unit can be designed, for example, centrally and stationarily in the form of a control center. However, this may also be a communication unit which is attached, for example, to a traffic light or to a sign and transmits local information to neighboring vehicles by means of a short-range communication link. It may also be a communication unit which is mounted in an adjacent vehicle.
  • the communication unit may be part of a speed control device according to the invention of an adjacent vehicle.
  • the speed control device can thus be designed, on the one hand, to control the vehicle speed and, on the other hand, to transmit control information to adjacent vehicles or else to a control center.
  • the control center can then pass this information on to other vehicles.
  • a method of controlling a speed of a vehicle wherein external information is received in the vehicle and the speed of the vehicle is adjusted based on the received external information.
  • Vehicle-internal sensor environment sensor
  • the speed is controlled such that an adaptation of the set speed to a traffic sign takes place.
  • the speed may be reduced due to a red light, or the speed may be adjusted such that the vehicle is moving at an optimum speed with respect to multiple traffic lights.
  • it can be prevented by the transmitted external information that a minimum distance to a vehicle ahead is not reached. This is done, for example, via the transmission of position information of the vehicle ahead to the vehicle behind it, whose speed is to be set.
  • the speed control can be used to adapt the set speed to a recommended standard value. This happens, for example, with the help of a traffic control center.
  • Computer program product which, when executed on a processor, instructs the processor to perform the method steps described above.
  • a computer readable medium having stored thereon a computer program product which, when executed on a processor, instructs the processor to perform the method steps described above.
  • FIG. 1 shows a schematic representation of a
  • Fig. 2 shows a schematic representation of a speed control system according to an exemplary embodiment of the invention.
  • FIG. 3 shows a flowchart of a method according to an embodiment of the invention.
  • the speed control device 100 is installed, for example, in a vehicle and serves to control, regulate and set the vehicle speed on the basis of externally transmitted information and possibly additional internally acquired measured values.
  • the speed control device 100 has a detection unit 119 (optional), a speed control unit 102 and a communication unit 115 with an antenna 116.
  • the data to be sent (this is information for other vehicles or for a control center), which is transmitted from the control unit 102, which is embodied for example in the form of a CPU, to the communication unit 115, can be encrypted via an encryption device 114 become.
  • the received data transmitted from the communication unit 115 to the control unit 102 may be decrypted by the encryption unit 114.
  • An input unit 112 is connected to the control unit 102. Through the input unit 112, various settings of the speed control device and (if provided) a related navigation unit can be made. However, a navigation unit is not required for the invention.
  • an optical output unit in the form of a monitor 110 is provided on which, for example, route guidance information can be output.
  • the route guidance information can also be output via an acoustic output unit 111.
  • the output of route guidance information and possibly also of warnings via the acoustic output unit 111 has the advantage that the driver is less distracted from the current traffic situation.
  • the digital map data are stored in the form of data records. For example, additional information about traffic restrictions and the like are also stored in the memory element 113 and associated with the data records.
  • a driver assistance system 117 is provided, which is supplied with the digital map data. To determine the current vehicle position, the driver assistance system 117 is provided.
  • Speed control device 100 comprises a positioning unit having a satellite navigation receiver 106 adapted to receive position signals from, for example, Galileo satellites or GPS satellites.
  • the positioning unit with the satellite navigation receiver 106 may be implemented for other satellite navigation systems.
  • the speed control device Since the positioning unit is not always receivable, for example, in the inner city area, the speed control device also has a direction sensor 107, for performing dead reckoning
  • Wegumblensensor 108 a steering wheel angle sensor 109, a spring travel sensor 118 and an ESP sensor 104 and optionally an optical detector 105 or a beam sensor 120 (for example, radar) on.
  • a beam sensor 120 for example, radar
  • the signals of the GPS receiver and the remaining sensors are processed and analyzed in the control unit 102. This data can then be used in combination with the externally received information for optimal speed control.
  • the vehicle position determined from these signals is compared to the road maps via map matching.
  • the route guidance information thus obtained is finally output via the monitor 110.
  • FIG. 2 shows a schematic representation of a speed control system which has a first vehicle 201, a second vehicle 208, an infrastructure 205 and a center 200.
  • the central unit comprises a communication unit 202 with an antenna 203.
  • the communication unit 202 is connected to a central server 204.
  • a loudspeaker 212 is provided, via which received voice information can be played.
  • a monitor 213 is provided for playing video files.
  • the data and information transmitted by the vehicles can be converted by the in-vehicle control units 102 prior to transmission and then transmitted, for example, as voice information in the form of a voice file or as video information in the form of a video file.
  • the center is a traffic center of a traffic control system, which can perform the traffic control fully automatically.
  • the infrastructure 205 is, for example, a traffic light to which a communication unit 206 with an antenna 207 is connected in order to transmit the information to the individual vehicles.
  • the information transmission between the infrastructure 205 and the center 200 takes place via the communication links 209, 210.
  • the information transmission between the vehicle 201, 208 takes place via the communication link 211, which is, for example, a short-range communication path.
  • Each of the vehicles 201, 208 has a speed control device 100 according to the invention.
  • the following functions can be added to a cruise control system by means of vehicle-to-vehicle communication or vehicle-to-infrastructure communication or to improve cruise control: - By FzI the set speed (setspeed) can be adapted to the traffic signs. Thus, speed restrictions can be considered directly.
  • the vehicle can be braked down by FzI to give the driver an indication of the necessary stop.
  • the speed of the vehicle can be set by FzI so that the vehicle moves with respect to the traffic light circuit with a green wave.
  • the speed can be adjusted to a recommended value.
  • This speed is set by a traffic control center with the aim of ensuring traffic even in high traffic density and thus avoid congestion.
  • extensions are also useful and helpful with ACC or Golf Speed Range ACC. However, the extensions according to the invention do not require ACC.
  • FIG. 3 shows a flowchart of a method in which external information is received in the vehicle in step 301.
  • the vehicle speed is controlled based on this received external information, and in step 303, the driver is visually, acoustically, or haptically notified that, and for what reason, the speed of the vehicle has been changed.
  • the speed changes may be a speed reduction or an increase in speed.
  • “comprising” and “having” does not exclude other elements or steps, and "a” or “an” does not exclude a plurality.
  • features or steps described with reference to any of the above embodiments may also be used in combination with other features or steps of other embodiments described above. Reference signs in the claims are not to be considered as limitations.

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Atmospheric Sciences (AREA)
  • Traffic Control Systems (AREA)
  • Controls For Constant Speed Travelling (AREA)

Abstract

Dans un mode de réalisation de la présente invention, la vitesse d'un véhicule est commandée en fonction d'informations externes. A cet effet, un régulateur de vitesse reçoit des informations de commande d'une unité de communication embarquée, ces informations étant transmises à l'unité de communication par communication véhicule-à-véhicule ou véhicule-à-infrastructure. Un système de détection d'environnement embarqué est superflu.
PCT/EP2008/057901 2007-08-29 2008-06-20 Commande de vitesse de véhicule WO2009030532A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102007040988 2007-08-29
DE102007040988.7 2007-08-29

Publications (1)

Publication Number Publication Date
WO2009030532A1 true WO2009030532A1 (fr) 2009-03-12

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Application Number Title Priority Date Filing Date
PCT/EP2008/057901 WO2009030532A1 (fr) 2007-08-29 2008-06-20 Commande de vitesse de véhicule

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DE (1) DE102008029112A1 (fr)
WO (1) WO2009030532A1 (fr)

Cited By (4)

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Publication number Priority date Publication date Assignee Title
CN103895862A (zh) * 2012-12-27 2014-07-02 空客直升机 通过预测旋翼的两个旋转速度设定点之间的扭矩需求驱动旋翼飞行器旋翼的旋转的方法
US10757485B2 (en) 2017-08-25 2020-08-25 Honda Motor Co., Ltd. System and method for synchronized vehicle sensor data acquisition processing using vehicular communication
US11163317B2 (en) 2018-07-31 2021-11-02 Honda Motor Co., Ltd. System and method for shared autonomy through cooperative sensing
US11181929B2 (en) 2018-07-31 2021-11-23 Honda Motor Co., Ltd. System and method for shared autonomy through cooperative sensing

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DE102009051040A1 (de) 2009-10-28 2010-06-17 Daimler Ag Verfahren zur Beeinflussung des Straßenverkehrs
DE102012006708A1 (de) * 2012-03-29 2012-10-18 Daimler Ag Kraftfahrzeug, mit dem eine optimale Durchschnittsgeschwindigkeit zum Erreichen eines grünen Lichtzeichens einer Lichtzeichenanlage empfangbar ist
DE102014211852A1 (de) 2014-06-20 2015-12-24 Robert Bosch Gmbh Verfahren und Vorrichtung zum Bestimmen einer Maximalgeschwindigkeit eines Schienenfahrzeugs, Verfahren und Vorrichtung zur Geschwindigkeitssteuerung für ein Schienenfahrzeug
DE102014225038A1 (de) * 2014-12-05 2016-06-09 Bayerische Motoren Werke Aktiengesellschaft Geschwindigkeitsassistenz für ein Kraftfahrzeug
DE102016219762A1 (de) * 2016-10-11 2018-04-12 Audi Ag Verfahren zum Betreiben eines Kraftfahrzeugs und Kraftfahrzeug
DE102022118972A1 (de) 2022-07-28 2024-02-08 Valeo Schalter Und Sensoren Gmbh Verfahren zum Senden von Mitteilungen mit Sendesignalen einer Detektionsvorrichtung eines Fahrzeugs

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DE4335682A1 (de) * 1993-10-20 1995-04-27 Deutsche Aerospace Verfahren zur Beeinflussung der Geschwindigkeit eines Kraftfahrzeuges und Anordnung zur Durchführung des Verfahrens
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US20030078718A1 (en) * 2000-02-23 2003-04-24 Hitachi, Ltd. Running control device for a vehicle
US20040064251A1 (en) * 2002-10-01 2004-04-01 Miller Ronald Hugh Telematics system with vehicle network
US20070083318A1 (en) * 2005-10-07 2007-04-12 Parikh Jayendra S Adaptive cruise control using vehicle-to-vehicle wireless communication

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DE4335682A1 (de) * 1993-10-20 1995-04-27 Deutsche Aerospace Verfahren zur Beeinflussung der Geschwindigkeit eines Kraftfahrzeuges und Anordnung zur Durchführung des Verfahrens
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DE10028130A1 (de) * 2000-06-07 2001-12-20 Daimler Chrysler Ag System zur Fahrzeugführung vor verkehrsgeregelten Kreuzungen
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Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103895862A (zh) * 2012-12-27 2014-07-02 空客直升机 通过预测旋翼的两个旋转速度设定点之间的扭矩需求驱动旋翼飞行器旋翼的旋转的方法
US9193453B2 (en) 2012-12-27 2015-11-24 Airbus Helicopters Method of driving rotation of a rotorcraft rotor by anticipating torque needs between two rotary speed setpoints of the rotor
CN103895862B (zh) * 2012-12-27 2016-07-06 空客直升机 通过预测旋翼的两个旋转速度设定点之间的扭矩需求驱动旋翼飞行器旋翼的旋转的方法
US10005560B2 (en) 2012-12-27 2018-06-26 Airbus Helicopters Method of driving rotation of a rotorcraft rotor by anticipating torque needs between two rotary speed setpoints of the rotor
US10757485B2 (en) 2017-08-25 2020-08-25 Honda Motor Co., Ltd. System and method for synchronized vehicle sensor data acquisition processing using vehicular communication
US11163317B2 (en) 2018-07-31 2021-11-02 Honda Motor Co., Ltd. System and method for shared autonomy through cooperative sensing
US11181929B2 (en) 2018-07-31 2021-11-23 Honda Motor Co., Ltd. System and method for shared autonomy through cooperative sensing

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