WO2019120390A1

WO2019120390A1 - Adaptable control for a vehicle

Info

Publication number: WO2019120390A1
Application number: PCT/DE2018/200103
Authority: WO
Inventors: Wladimir Klein; Harald Von Rosenberg
Original assignee: Conti Temic Microelectronic Gmbh
Priority date: 2017-12-20
Filing date: 2018-11-12
Publication date: 2019-06-27
Also published as: DE102017223406A1

Abstract

The invention relates to a method for controlling an ego-vehicle comprising the following steps: detecting a vehicle driving ahead and an additional vehicle by means of a surroundings detection system, determining a distance and/or a velocity range for the ego-vehicle, determining a distance or a velocity of the additional vehicle, controlling the ego-vehicle within the distance and/or the velocity range by means of a reduction of the distance within the distance range, and/or an increase of the velocity within the velocity range, and/or a modification of a steering angle such that the distance to the additional vehicle is increased.

Description

Adaptable control for a vehicle

The invention relates to a method for controlling an ego vehicle and an environment detection system for a

Vehicle.

State of the art

From DE 103 16 313 Al, for example, an ACC

known, which regulates the distance to vehicles in front.

Task and solution

The object of the present invention is to provide an improved control for a vehicle.

The problem is solved by a method according to the

Main claim and a device according to the independent claim. Further advantageous embodiments of the invention are the subject of the dependent claims.

According to the invention, the method for controlling a

Egofahrzeugs following steps, a recognition of a preceding vehicle and another vehicle by means of an environment detection system, determining a distance and / or a speed range for the ego vehicle, determining a distance or a

Speed of the other vehicle, controlling the

Egofahrzeugs within the distance and / or

Speed range by means of a reduction in the distance within the distance range, and / or an increase in the speed within the range

Speed range, and / or a change in a steering angle such that the distance to the other vehicle is increased.

Advantageously, a space behind the ego vehicle be provided to another vehicle

for example, to allow the shearing.

The surroundings detection system is, for example, an ACC system that is equipped by means of radar, lidar, ultrasound, camera or a combination thereof.

Furthermore, a convoy can be realized by the control takes place in several ego vehicles in the manner described above.

Preferably, a speed of the further vehicle can be determined and the control of the ego vehicle can only be carried out if the speed of the further vehicle is less than the speed of the ego vehicle.

Advantageously, this can be ensured that the other vehicle uses the space provided without endangering the ego vehicle. For example, another vehicle at a highway entrance has no higher speed than the ego vehicle.

More preferably, the distance range may have as a lower limit an emergency brake distance and / or the

Speed range as upper limit one

have predetermined speed limit.

In an advantageous manner can be ensured that the safety distance is maintained to the vehicle in front and a hazard to the ego vehicle does not occur. Furthermore, the speed limit ensures that any speed limit is not exceeded. The speed limit can be set, for example, by the driver or is given by radio link from a traffic control system in order to achieve an optimal traffic flow. Preferably, the speed range may have a speed limit. The

Speed range is for example as a

Speed tolerance window defined. This can either be determined by the driver himself or be derived adaptively from the environment observation itself. Furthermore, a car-to-X communication could serve as a data source.

For example, an average speed of 120 km / h, but it may be briefly driven for 1 to 10 seconds, a speed up to 130 km / h.

In a preferred embodiment of the invention, the further vehicle in the rear region of the

Egofahrzeugs are located.

In an advantageous manner, a so-called

Accordion effect can be prevented if a space for the other vehicle behind the ego vehicle is created and the traffic flow is not delayed by a reduction in the speed of the ego vehicle. As a result, a reduction of congestion is thus possible.

Preferably, the distance and / or the

Speed range automatically from data of the

Environment detection system and data from a

Communication device to be determined.

Advantageously, data from other vehicles or infrastructures may control the

Still improving on the endurance vehicle.

More preferably, the further vehicle can be a distance within the distance range and / or a

Specify speed within the speed range. Advantageously, the other vehicle transmits its size and its speed, the

Ideal vehicle can be optimally controlled on the basis of this data and creates space for the further vehicle.

In a further embodiment of the invention, the driver can select or deselect individual options of controlling the vehicle in the distance and / or in the speed range.

Advantageously, thereby the driver can influence the control of the ego vehicle and only the

Select features that enhance your comfort.

According to the invention, an ego vehicle is engaged

Envelope detection system, where the

Surrounding detection system is set up a method according to one of the preferred embodiments of the invention

perform.

figure description

Figure 1 shows a traffic situation with the

The ego vehicle 1 has an environment detection system 11, 13 and thus determines at least the speed 19, 21, 23 of another vehicle 3, 5 and the ego vehicle 1, and the distance 15, 17 of the preceding vehicle 3 and the other vehicle 5. The surroundings detection system 11, 13 obtains the information by means of radar, lidar, camera or ultrasound. Furthermore, the reception of data by means of a data connection to other vehicles 3, 5, 7 is possible. From this information, a distance range and a speed range are determined in which the vehicle 1 is controlled such that the distance 17 to the other vehicle 5 is increased. This procedure allows For example, a vehicle 7 on a different track the shearing 25 in the lane of the ego vehicle. 1

With the increase of the distance 17 to the other vehicle 5, a reduction of the distance 15 to the preceding vehicle 3 is accompanied. However, this distance 15 does not fall below the speed-dependent safety distance that is required in the event of emergency braking for collision avoidance. If necessary, an adaptation of

Speed 21 to the required smaller distance 15 needed.

Via a radio communication, the relevant

Information between vehicles 1, 3, 5, 7

be exchanged, so that the other vehicles 3, 5, 7 can adjust their speed 19, 23 or their trajectory 25.

FIG. 2 shows a similar traffic situation as in FIG. The further vehicle 7 is in this case on a driveway and inevitably einscheren, since the driveway is finite. The method explained with the aid of FIG. 1 enables the further one

Vehicle 7 the Einscheren 25th

Claims

claims

A method of controlling an ego vehicle (1) comprising the steps of:

Detecting a preceding vehicle (3) and another vehicle (5, 7) by means of an environment detection system (11, 13),

Determining a distance (15) and / or a

Speed range (21) for the ego vehicle (1),

- Determining a distance (17) or a

Speed (23, 25) of the further vehicle (5, 7),

- controlling the ego vehicle (1) within the

Distance (15) and / or the

Speed range (21) by means of

a reduction of the distance within the distance range (15), and / or an increase of the speed within the speed range (21), and / or a change of a steering angle such that the distance (17) to the further vehicle (5, 7) is increased ,

2. The method according to claim 1, further comprising a

Speed (23) of the other vehicle (5, 7) is determined and the control of the ego vehicle (1) is performed only when the speed (23, 25) of the further vehicle (5, 7) is less than the speed (21) of Egofahrzeugs (1) is.

3. The method according to any one of the preceding claims, wherein the distance range (15) has a Notbremsabstand as the lower limit and / or the

Speed range (21) as upper limit one has predetermined speed limit.

4. The method according to claim 3, wherein the

Speed range (21) a temporal

Speed limit has.

5. The method according to any one of the preceding claims, wherein the further vehicle (5, 7) in the rear region of the ego vehicle (1).

6. The method according to any one of the preceding claims, wherein the distance (15) and / or the

Speed range (21) are determined automatically from data of the surroundings detection system (11, 13) and from data of a communication device.

7. The method according to any one of the preceding claims, wherein the further vehicle (5, 7) a distance within the distance range (15) and / or a

Speed within the

Speed range (21) specifies.

8. The method according to any one of the preceding claims, wherein individual ways of controlling the

Egofahrzeugs (1) in the distance (15) and / or in the

Speed range (21) by the driver can be selected or deselected.

9. ego vehicle (1) with an environment detection system

(11, 13), wherein the surround detection system (11, 13) is arranged to perform a method according to any one of the preceding claims.