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
  • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
  • B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
• • G—PHYSICS
  • G08—SIGNALLING
  • G08G—TRAFFIC CONTROL SYSTEMS
  • G08G1/00—Traffic control systems for road vehicles
  • G08G1/22—Platooning, i.e. convoy of communicating vehicles
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B60—VEHICLES IN GENERAL
  • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
  • B60Q9/00—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling
  • B60Q9/008—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling for anti-collision purposes
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B60—VEHICLES IN GENERAL
  • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
  • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
  • B60W30/14—Adaptive cruise control
  • B60W30/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B60—VEHICLES IN GENERAL
  • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
  • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
  • B60W50/08—Interaction between the driver and the control system
  • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
• • G—PHYSICS
  • G01—MEASURING; TESTING
  • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
  • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
  • G01S13/88—Radar or analogous systems specially adapted for specific applications
  • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
  • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
• • G—PHYSICS
  • G08—SIGNALLING
  • G08G—TRAFFIC CONTROL SYSTEMS
  • G08G1/00—Traffic control systems for road vehicles
  • G08G1/16—Anti-collision systems
• • G—PHYSICS
  • G08—SIGNALLING
  • G08G—TRAFFIC CONTROL SYSTEMS
  • G08G1/00—Traffic control systems for road vehicles
  • G08G1/16—Anti-collision systems
  • G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B60—VEHICLES IN GENERAL
  • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
  • B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
  • B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
  • B60W2420/408—Radar; Laser, e.g. lidar
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B60—VEHICLES IN GENERAL
  • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
  • B60W2552/00—Input parameters relating to infrastructure
  • B60W2552/40—Coefficient of friction
• • 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
  • B60W2554/801—Lateral distance
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B60—VEHICLES IN GENERAL
  • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
  • B60W2754/00—Output or target parameters relating to objects
  • B60W2754/10—Spatial relation or speed relative to objects
  • B60W2754/30—Longitudinal distance
• • G—PHYSICS
  • G01—MEASURING; TESTING
  • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
  • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
  • G01S13/88—Radar or analogous systems specially adapted for specific applications
  • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
  • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
  • G01S2013/932—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles using own vehicle data, e.g. ground speed, steering wheel direction
• • G—PHYSICS
  • G01—MEASURING; TESTING
  • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
  • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
  • G01S13/88—Radar or analogous systems specially adapted for specific applications
  • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
  • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
  • G01S2013/9325—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles for inter-vehicle distance regulation, e.g. navigating in platoons
• • G—PHYSICS
  • G01—MEASURING; TESTING
  • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
  • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
  • G01S13/88—Radar or analogous systems specially adapted for specific applications
  • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
  • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
  • G01S2013/9327—Sensor installation details
  • G01S2013/93271—Sensor installation details in the front of the vehicles

Definitions

• the present invention concerns a system and a method for continuous distance monitoring in connection with vehicles according to the preamble to the independent claims.
• ACC is an abbreviation for "Autonomous cruise control.” ACC is used in vehicles to control the vehicle velocity based to a set velocity, while at the same time a safe distance to the vehicle ahead is always maintained. The ACC normally uses a radar- or laser-based detector to measure the distance to the vehicle ahead, and alters the vehicle velocity so that the safe distance can be maintained. The vehicle resumes the set velocity as soon as it is possible.
• EP 2,388,160 describes a distance information system that helps the driver maintain a predetermined separation distance from the vehicle ahead.
• the predetermined separation distance is calculated as a predetermined time gap to the vehicle ahead, given the current velocity of the host vehicle.
• a distance alarm is activated in the form of a visual indicator or force feedback via the accelerator.
• a hysteresis is applied to the predetermined separation distance, so that an activation of the distance alarm involves a somewhat smaller separation distance than does de-activation of the distance alarm. In this way the system is rendered less sensitive to disturbances.
• the driver receives information via the distance information system as to when he has fallen below a separation distance to the vehicle.
• the driver can partially influence the separation distance, depending on his driving behavior, by means of various adjustments that correspond to different time gaps. However, if the visibility is poor, it is desirable for the driver to be able to assume control over the situation to a greater extent, particularly when the vehicle cruise control is not activated.
• the object of the invention is to achieve an improved system for making it easier for the driver to maintain a safe distance to a vehicle ahead, particularly under bad conditions such as poor visibility or slippery pavement.
• the foregoing object is achieved by means of a system for continuous distance monitoring for a host vehicle.
• the system comprises a radar unit, and indicating unit, a distance configuration unit comprising at least one input unit and a first control unit.
• the system is used independent of any cruise control in the vehicle, and can thus be used when the vehicle cruise control is not active.
• the system can be used to make it easier for the driver to maintain a safe distance to the vehicle ahead.
• the system provides a continuous and clear indication of the distance to the vehicle ahead.
• the driver himself inputs into the system a desired distance to the vehicle ahead, and a visual and/or acoustic alarm is triggered if the host vehicle comes closer than the desired set distance.
• the driver acquires an aid in maintaining the distance to the vehicle ahead that can be used independent of the vehicle cruise control, thereby reducing driver stress in poor visibility.
• visibility is poor, it can also be slippery, which means that the driver must brake earlier to avoid collision. It is then desirable to know where the vehicle ahead is located in relation to the host vehicle so as to be able to brake in time.
• the foregoing object is achieved in part by means of a method in connection with continuous distance monitoring of a host vehicle.
• Fig. 1 illustrates the host vehicle, in which the system can be incorporated and used.
• Fig. 2 schematically depicts a block diagram for the system.
• FIG. 3 schematically depicts a block diagram according to a further embodiment
• Fig. 4 shows a flow diagram for a method according to one embodiment. Detailed description of preferred embodiments of the invention
• Fig. 1 shows a vehicle 1 in which the system 4 for continuous distance monitoring can be used.
• the vehicle 1 is illustrated in the figure as a goods vehicle with wheels 2 and a vehicle frame 3.
• the system 4 is illustrated in greater detail in Fig. 2, and will now be explained with reference to this figure.
• the system 4 comprises a radar unit 5 that is configured so as to continuously determine a relative distance d re i between the host vehicle 1 and a vehicle ahead, and to generate a first distance signal that indicates said relative distance d re i.
• the radar unit 5 thus generates an output signal in the form of a first distance signal that indicates d re i.
• the first distance signal is then sent to a first control unit 8 for further processing.
• the first distance signal can also be sent directly to an indicating unit 6.
• the radar unit 5 comprises a radar that uses electromagnetic radiation to identify and determine the distance to the vehicle ahead of the host vehicle 1 .
• the indicating unit 6 is configured so as to receive data concerning the relative distance d re i and to continuously indicate the relative distance d re i for the driver.
• the data concerning the relative distance d re i can come directly from the radar unit 5 via the first distance signal, or via the first control unit 8.
• the indicating unit 6 can, for example, be configured so as to indicate the relative distance d re i visually and/or acoustically for the driver.
• the indicating unit 6 can thus comprise a display for visual presentation, and/or a loudspeaker for acoustic indication.
• the display can, for example, present the text "distance to vehicle ahead:" and then present the distance d re i.
• the driver thus always knows the distance to the vehicle that is located directly ahead of the host vehicle 1 .
• the distance d re i can be output from the loudspeaker continuously.
• the distance d re i is preferably indicated in some unit of length, such as meters.
• the driver also inputs into a distance configuration unit comprising at least one input unit 7, 9, a desired distance d in between the host vehicle 1 and the vehicle ahead.
• At least one input unit 7, 9 is configured so as to receive the input concerning a desired distance d in between the host vehicle 1 and the vehicle ahead, and to generate a second distance signal that indicates d in .
• the driver can input, for example, 50, 75 or 1 00 meters. In this way the driver can himself directly determine which desired distance is to be in effect, thereby increasing the sense of control over the situation on the part of the driver.
• the first control unit 8 is configured so as to receive the first and the second distance signals and compare the relative d re i to the desired distance d in .
• the control unit 8 is further configured so as to determine whether d re i is less than d in .
• the control unit 8 is configured so as to generate an alarm signal that indicates that d re i is less than d in and to send the alarm signal to the indicating unit 6, whereupon the indicating unit 6 is configured so as to indicate to the driver that d re i is less than d in .
• the indicating unit 6 is configured so as to indicate to the driver visually and/or acoustically that d re i is less than d in .
• the indicating unit 6 can, for example, use the same display as that on which the distance d re i is presented, or it can comprise an additional display for indicating that d re i is less than d in .
• the indicating unit 6 can use the loudspeaker for indicating acoustically that d re i is less than d in .
• the indication that d re i is less than din can, for example, include the difference between d re i and d in , and/or a warning message, such as "Desired distance to vehicle ahead has been undershot.”
• the indication can comprise a loud noise, a lit lamp, a blinking lamp, haptic feedback such as vibrations, etc.
• the indicating unit 6 can, for example, comprise the vehicle steering wheel, which can then provide indications to the driver by means of vibrations. The driver is thus able to know when the desired distance has been undershot, and also the extent to which the desired distance has been undershot.
• the control unit 8 comprises a processor unit 1 1 and a memory unit 12.
• the processor unit 1 1 can, for example, contain a CPU (Central Processing Unit).
• the memory unit 12 comprises a non-volatile memory such as a flash memory or the like.
• a computer program P which contains program code to cause the control unit 8 to perform any of the steps described herein, is stored in the memory unit 12.
• the system 4 comprises at least one input unit 7, 9 that is configured so as to receive input concerning a desired minimum distance dmin between the host vehicle 1 and the vehicle ahead.
• the input unit 7 and the input unit 9 are the same input unit (fig. 3).
• the at least one input unit 7, 9 can, for example, be a control device on the steering wheel or on the instrument panel, or a touchscreen display.
• the at least one input unit 7, 9 is configured so as to generate a minimum distance signal that indicates d min , and to send the minimum distance signal to the first control unit 8.
• the first control unit 8 is configured so as to compare the relative distance d re i to the desired distance d min and to determine whether d re i is less than d min .
• the first control unit 8 is configured so as to generate a control signal that indicates the difference between d re i and d min , and to send the control signal to the second control unit 10, which is in turn configured so as to control the host vehicle 1 in order to increase the relative distance d re i between the host vehicle 1 and the vehicle ahead, based on said difference.
• the second control unit 10 which is in turn configured so as to control the host vehicle 1 in order to increase the relative distance d re i between the host vehicle 1 and the vehicle ahead, based on said difference.
• the desired minimum distance d min between the host vehicle 1 and the vehicle ahead can be maintained.
• the host vehicle 1 can be controlled so that the difference between d re i and d min decreases to essentially zero.
• the second control unit 10 can, for example, be configured so as to control the velocity of the host vehicle 1 so that the difference between d re i and d min decreases to essentially zero.
• the control can be achieved via torque reduction.
• the host vehicle 1 will, according to one embodiment, nevertheless adjust the distance so as to reduce the difference between d re i and d min until the difference is zero.
• the driver can, for example, set the desired minimum distance d min to d in , or to a value that is less than d in .
• the first control unit 8 is configured so as to receive a parameter O p that indicates a condition of the surroundings of the host vehicle 1 or a condition of the host vehicle 1 .
• the first control unit 8 is further configured so as to determine a recommended relative distance d rec to the vehicle ahead based on the parameter O p , to generate a third distance signal that indicates d rec , and to send the third distance signal to the indicating unit 6, whereupon the recommended distance d rec is indicated to the driver.
• the distance drec can be indicated to the driver in a way similar to that in which d re i is indicated, or in the way that d re i is less than d in is indicated.
• the driver can them himself decide whether he wants to use the recommended relative distance d rec and input it as a desired distance d in or desired minimum distance d min .
• the parameter O p can, for example, indicate a road temperature or an ambient humidity.
• the distance d rec can then be determined according to the rules for the parameter O p .
• a certain distance d rec can be determined at a certain temperature, and the lower the temperature, the greater the distance d rec .
• the parameter O p can also indicate a parameter related to a friction value for the host vehicle 1 .
• the friction value between the vehicle wheels 2 and the road surface can then be calculated by the first control unit 8. If the friction value is low, a higher recommended relatively distance d rec will be set.
• the parameter O p can indicate the friction value directly, e.g. when it is generated by another unit in the host vehicle 1 .
• Fig. 4 shows a flow diagram that illustrates the method in connection with continuous distance monitoring for a host vehicle 1 .
• the various steps in the method can, however, be performed in an order other than the one exemplified in the flow diagram.
• the method comprises continuously determining a relative distance d re i between the host vehicle 1 and a vehicle ahead (A1 ).
• a radar is used to sense and determine d re i.
• the relative distance d re i is indicated to the driver continuously (A2).
• the indication occurs via an indicating unit 6, which has been described in connection with the system.
• Input concerning a desired distance d in between the host vehicle 1 and the vehicle ahead is received via an input unit (A3).
• the determined relative distance d re i is compared to the desired distance d in and, if d re i is less than d in (A4), the circumstance that d re i is less than d in is indicated to the driver (A5). In the event that d re i is greater than or equal to d in , then the method continues to continuously compare determined distances d re i to d in . In the event that a new desired distance d in is input in (A3), d in will beupdated with the new desired distance.
• the relative distance d re i is indicated to the driver visually and/or acoustically and/or haptically.
• the circumstance that d re i is less than d in is also indicated to the driver visually and/or acoustically.
• a preferred assumption for the described method is that the cruise control of the host vehicle, assuming the vehicle has one, is not activated.
• the method can also comprise the step of inactivating the vehicle cruise control before step A1 .
• the first control unit 8 as described above can then be configured so as to generate a deactivation signal and send it to the cruise control of the host vehicle, whereupon the cruise control will be deactivated.
• the method also comprises the steps of receiving input of a desired minimum distance d min between the host vehicle 1 and the vehicle ahead, comparing the relative distance d re i to the desired minimum distance d min and, in the event that d re i is less than d min , generating a control signal that indicates the difference between d re i and d min and controlling the host vehicle 1 in order to increase the relative distance d re i between the host vehicle 1 and the vehicle ahead, based on the difference between d re i and d min .
• the host vehicle 1 is controlled so that the difference between d re i and d min is decreased to essentially zero, e.g. by reducing the velocity of the host vehicle 1 .
• the method can also comprise determining a parameter O p that indicates a condition of the surroundings of the host vehicle 1 or a condition of the host vehicle 1 , determining a recommended relative distance d rec to the vehicle ahead, based on the parameter O p , and indicating to the driver the recommended distance d rec .
• the parameter O p indicates, for example, a parameter related to a friction value for the vehicle.
• the invention also concerns a computer program product containing the program code P stored on a medium that is readable by a computer, processor unit or control unit in order to perform the method steps described herein.

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• Engineering & Computer Science (AREA)
• Automation & Control Theory (AREA)
• Mechanical Engineering (AREA)
• Transportation (AREA)
• Physics & Mathematics (AREA)
• Human Computer Interaction (AREA)
• General Physics & Mathematics (AREA)
• Radar, Positioning & Navigation (AREA)
• Remote Sensing (AREA)
• Electromagnetism (AREA)
• Computer Networks & Wireless Communication (AREA)
• Traffic Control Systems (AREA)
• Control Of Driving Devices And Active Controlling Of Vehicle (AREA)

Priority Applications (2)

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Publications (1)

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Citations (8)

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• 2014
  • 2014-07-02 SE SE1450828A patent/SE1450828A1/sv not_active Application Discontinuation
  • 2014-07-02 BR BR112015031582A patent/BR112015031582A2/pt not_active Application Discontinuation
  • 2014-07-02 WO PCT/SE2014/050837 patent/WO2015012757A1/en active Application Filing
  • 2014-07-02 EP EP14829947.2A patent/EP3025320A4/en not_active Withdrawn

Patent Citations (8)

Non-Patent Citations (1)

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