WO2020249292A1 - Method and device for setting the longitudinal acceleration in a single-track motor vehicle independently of the driver - Google Patents

Method and device for setting the longitudinal acceleration in a single-track motor vehicle independently of the driver Download PDF

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Publication number
WO2020249292A1
WO2020249292A1 PCT/EP2020/061136 EP2020061136W WO2020249292A1 WO 2020249292 A1 WO2020249292 A1 WO 2020249292A1 EP 2020061136 W EP2020061136 W EP 2020061136W WO 2020249292 A1 WO2020249292 A1 WO 2020249292A1
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WO
WIPO (PCT)
Prior art keywords
motor vehicle
target object
longitudinal acceleration
track motor
sensor system
Prior art date
Application number
PCT/EP2020/061136
Other languages
German (de)
French (fr)
Inventor
Michael Schoenherr
Mathieu Grelaud
Original Assignee
Robert Bosch Gmbh
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Publication date
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Publication of WO2020249292A1 publication Critical patent/WO2020249292A1/en

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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
    • 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
    • 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
    • B60W30/18—Propelling the vehicle
    • B60W30/18009—Propelling the vehicle related to particular drive situations
    • B60W30/18145—Cornering
    • 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
    • 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
    • B60K2031/0033—Detecting longitudinal speed or acceleration of target 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
    • B60W2300/00—Indexing codes relating to the type of vehicle
    • B60W2300/36—Cycles; Motorcycles; Scooters
    • 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
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/40—Dynamic objects, e.g. animals, windblown objects
    • B60W2554/404—Characteristics
    • B60W2554/4042—Longitudinal speed
    • 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
    • B60W2720/00—Output or target parameters relating to overall vehicle dynamics
    • B60W2720/10—Longitudinal speed
    • 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
    • B60W2720/00—Output or target parameters relating to overall vehicle dynamics
    • B60W2720/10—Longitudinal speed
    • B60W2720/106—Longitudinal acceleration
    • 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
    • G01S2013/9321—Velocity regulation, e.g. cruise control
    • 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

  • DE 10 2017 211 886 A1 discloses a method for influencing or deactivating a speed control system of a single-track motor vehicle in which
  • a haptic signal is used to warn the driver that the cruise control system has been or is about to be deactivated and the cruise control system is deactivated.
  • the invention relates to a method for driver-independent adjustment of the longitudinal acceleration of a single-track motor vehicle, in which
  • the vehicle in front of the single-lane motor vehicle is determined by means of an environment sensor system and is defined as the target object,
  • Driving dynamics data of the target object are determined by means of the same or a different environment sensor system, the longitudinal acceleration of the single-lane motor vehicle is set depending on the driving dynamics data,
  • Speed of the single-track motor vehicle is set to a predetermined value, the approach of the speed to the predetermined value taking place in such a way that a predetermined
  • the driver-independent setting of the longitudinal acceleration of a single-lane motor vehicle takes place in particular in the context of an ACC system or a speed or distance control system. This makes it possible for a single-lane motor vehicle to dynamically follow the vehicle traveling ahead as long as it is in the detection range of an environment sensor system of the single-lane motor vehicle. As soon as the preceding
  • An advantageous embodiment of the invention is characterized in that the environment sensor system is a radar sensor system.
  • Such radar sensor systems are already known in the automobile sector and allow the determination of objects or other vehicles in front of the vehicle and their dynamics.
  • An advantageous embodiment of the invention is characterized in that the determined longitudinal acceleration of the target object is adopted as the longitudinal acceleration of the single-track motor vehicle. This enables dynamic following to the vehicle in front, for example when motorcycles are traveling in a convoy.
  • An advantageous embodiment of the invention is characterized in that the single-track motor vehicle is a motorcycle.
  • the invention further comprises a device containing means which are designed to carry out the method according to the invention.
  • a device containing means which are designed to carry out the method according to the invention.
  • This is in particular a control device in which the
  • Program code for carrying out the method according to the invention is stored.
  • a single-lane motor vehicle is shown in plan view, which follows a car on a straight road.
  • a single-track motor vehicle is shown in plan view, which follows a car in a curve.
  • a tight curve can be expressed in a radar-based distance or speed control system in that the target object driving ahead, on which the distance or Oriented to the speed control system, it is no longer detected by the radar sensors due to the curvature of the curve. If the target object is lost, a distance or speed control system often switches to one
  • Cruise control function and leads the vehicle to a predetermined
  • Target speed Since strong acceleration can be dangerous if the target object is lost because of a curve, it makes sense to bring the speed up to the specified value in this way
  • This acceleration limit value is selected to be very low, in particular, in order to give the driver security and time to deactivate the distance or speed control system or ACC system
  • FIG. 1 shows a plan view of a motorcycle 101 which moves from left to right on a road and follows a car 102.
  • the motorcycle 101 has a forward-facing radar sensor system which has the detection area indicated by 103.
  • the car 102 is in the case shown.
  • Detection area 103 of the radar sensors is used as a target object for the
  • the motorcycle 101 follows the car 102 on a lane that is curved strongly to the left.
  • the car 102 is no longer in the depicted detection area 103 of the radar system of the motorcycle.
  • the ACC system of motorcycle 101 has thus lost its target object and switches to a
  • Cruise control function In order to avoid a dangerous situation for the motorcycle 101 when driving through the curve, only low driver-independent accelerations for the motorcycle 101 are permitted within the scope of the cruise control function.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Transportation (AREA)
  • Automation & Control Theory (AREA)
  • Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • General Physics & Mathematics (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Traffic Control Systems (AREA)

Abstract

Method and device for setting the longitudinal acceleration of a single-track motor vehicle independently of the driver. The invention relates to a method for setting the longitudinal acceleration of a single-track motor vehicle (101) independently of the driver, in which - the vehicle in front (102) which is travelling ahead of the single-track motor vehicle is detected and defined as a target object by means of a surroundings sensor system, - vehicle movement dynamics data of the target object are determined by means of said system or another surroundings sensor system , - the longitudinal acceleration of the single-track motor vehicle is set in accordance with the vehicle movement dynamics data, - it is determined whether the target object is still being sensed by means of the surroundings sensor system, and - in the event of the target object no longer being sensed, the speed of the single-track motor vehicle is set to a predefined value, wherein the speed approaches the predefined value in such a way that a predefined acceleration limit value is not exceeded.

Description

Beschreibung description
Titel title
Verfahren und Vorrichtung zur fahrerunabhängigen Einstellung der Method and device for driver-independent setting of the
Längsbeschleunigung eines einspurigen Kraftfahrzeugs Longitudinal acceleration of a single-track motor vehicle
Stand der Technik State of the art
Die DE 10 2017 211 886 Al offenbart ein Verfahren zur Beeinflussung bzw. Deaktivierung eines Geschwindigkeitsregelungssystems eines einspurigen Kraftfahrzeugs, bei dem DE 10 2017 211 886 A1 discloses a method for influencing or deactivating a speed control system of a single-track motor vehicle in which
nach der Aktivierung des Verfahrens durch den Fahrer die after activation of the procedure by the driver the
Geschwindigkeit eines zweiten direkt vorausfahrenden Kraftfahrzeugs ermittelt wird, The speed of a second motor vehicle driving directly ahead is determined,
vom Kraftfahrzeug die Geschwindigkeit des vorausfahrenden the speed of the vehicle in front of the vehicle
Kraftfahrzeugs übernommen wird und Motor vehicle is taken over and
bei Unterschreitung einer vorgegebenen Minimalgeschwindigkeit mittels eines haptischen Signals eine Fahrerwarnung über die erfolgte oder bevorstehende Deaktivierung des Geschwindigkeitsregelungssystems erfolgt und das Geschwindigkeitsregelungssystem deaktiviert wird. if a predetermined minimum speed is not reached, a haptic signal is used to warn the driver that the cruise control system has been or is about to be deactivated and the cruise control system is deactivated.
Offenbarung der Erfindung Disclosure of the invention
Die Erfindung betrifft ein Verfahren zur fahrerunabhängigen Einstellung der Längsbeschleunigung eines einspurigen Kraftfahrzeugs, bei dem The invention relates to a method for driver-independent adjustment of the longitudinal acceleration of a single-track motor vehicle, in which
mittels einer Umfeldsensorik das dem einspurigen Kraftfahrzeug vorausfahrende Vorderfahrzeug ermittelt und als Zielobjekt festgelegt wird, the vehicle in front of the single-lane motor vehicle is determined by means of an environment sensor system and is defined as the target object,
mittels derselben oder einer anderen Umfeldsensorik fahrdynamische Daten des Zielobjekts ermittelt werden, abhängig von den fahrdynamischen Daten die Längsbeschleunigung des einspurigen Kraftfahrzeugs eingestellt wird, Driving dynamics data of the target object are determined by means of the same or a different environment sensor system, the longitudinal acceleration of the single-lane motor vehicle is set depending on the driving dynamics data,
ermittelt wird, ob das Zielobjekt mittels der Umfeldsensorik noch erfasst wird bzw. ob sich das Zielobjekt noch im Erfassungsbereich der it is determined whether the target object is still detected by means of the environment sensor system or whether the target object is still in the detection area of the
Umfeldsensorik befindet und Environment sensors are located and
für den Fall, dass das Zielobjekt nicht mehr erfasst wird, die in the event that the target object is no longer detected, the
Geschwindigkeit des einspurigen Kraftfahrzeugs auf einen vorgegebenen Wert eingestellt wird, wobei die Heranführung der Geschwindigkeit auf den vorgegebenen Wert derart erfolgt, dass ein vorgegebener Speed of the single-track motor vehicle is set to a predetermined value, the approach of the speed to the predetermined value taking place in such a way that a predetermined
Beschleunigungsgrenzwert nicht überschritten wird. Acceleration limit is not exceeded.
Die fahrerunabhängige Einstellung der Längsbeschleunigung eines einspurigen Kraftfahrzeugs läuft dabei insbesondere im Rahmen eines ACC-Systems bzw. eines Geschwindigkeits- oder Abstandsregelungssystems ab. Dadurch wird es ermöglicht, dass ein einspuriges Kraftfahrzeug dem vorausfahrenden Fahrzeug dynamisch folgt, solange sich dieses im Detektionsbereich einer Umfeldsensorik des einspurigen Kraftfahrzeugs befindet. Sobald das vorausfahrende The driver-independent setting of the longitudinal acceleration of a single-lane motor vehicle takes place in particular in the context of an ACC system or a speed or distance control system. This makes it possible for a single-lane motor vehicle to dynamically follow the vehicle traveling ahead as long as it is in the detection range of an environment sensor system of the single-lane motor vehicle. As soon as the preceding
Kraftfahrzeug nicht mehr detektiert wird, wird eine vorgegebene Geschwindigkeit angenommen, wobei die Heranführung an diese Geschwindigkeit durch eine Begrenzung der Beschleunigung aus Sicherheitsgründen nicht allzu rasch erfolgen darf. Damit wird dem Fahrer des einspurigen Kraftfahrzeugs Zeit gegeben, das Verfahren zur fahrerunabhängigen Einstellung der Motor vehicle is no longer detected, a predefined speed is assumed, whereby the approach to this speed by limiting the acceleration must not take place too quickly for safety reasons. This gives the driver of the single-track motor vehicle time, the method for driver-independent setting of the
Längsbeschleunigung zu deaktivieren und selbst die volle Kontrolle zu übernehmen. Deactivate longitudinal acceleration and take full control yourself.
Eine vorteilhafte Ausgestaltung der Erfindung ist dadurch gekennzeichnet, dass es sich bei der Umfeldsensorik um eine Radarsensorik handelt. Derartige Radarsensoriken sind im PKW-Bereich bereits bekannt und erlauben eine Ermittlung von vor dem Fahrzeug befindlichen Objekten bzw. Fremdfahrzeugen und von deren Dynamik. An advantageous embodiment of the invention is characterized in that the environment sensor system is a radar sensor system. Such radar sensor systems are already known in the automobile sector and allow the determination of objects or other vehicles in front of the vehicle and their dynamics.
Eine vorteilhafte Ausgestaltung der Erfindung ist dadurch gekennzeichnet, dass es sich bei den fahrdynamischen Daten des Zielobjekts um die An advantageous embodiment of the invention is characterized in that the driving dynamics data of the target object are the
Längsbeschleunigung des Zielobjekts handelt. Eine vorteilhafte Ausgestaltung der Erfindung ist dadurch gekennzeichnet, dass als Längsbeschleunigung des einspurigen Kraftfahrzeugs die ermittelte Längsbeschleunigung des Zielobjekts übernommen wird. Dies ermöglicht ein dynamisches Folgen zum Vorderfahrzeug, z.B. bei einer Kolonnenfahrt von Motorrädern. Longitudinal acceleration of the target object is. An advantageous embodiment of the invention is characterized in that the determined longitudinal acceleration of the target object is adopted as the longitudinal acceleration of the single-track motor vehicle. This enables dynamic following to the vehicle in front, for example when motorcycles are traveling in a convoy.
Eine vorteilhafte Ausgestaltung der Erfindung ist dadurch gekennzeichnet, dass es sich bei dem einspurigen Kraftfahrzeug um ein Motorrad handelt. An advantageous embodiment of the invention is characterized in that the single-track motor vehicle is a motorcycle.
Weiter umfasst die Erfindung eine Vorrichtung, enthaltend Mittel, die zur Durchführung der erfindungsgemäßen Verfahren ausgestaltet sind. Dabei handelt es sich insbesondere um ein Steuergerät, in welchem der The invention further comprises a device containing means which are designed to carry out the method according to the invention. This is in particular a control device in which the
Programmcode zur Durchführung der erfindungsgemäßen Verfahren hinterlegt ist. Program code for carrying out the method according to the invention is stored.
Die Zeichnung umfasst die Figuren 1 und 2. The drawing comprises FIGS. 1 and 2.
In Fig. 1 ist in Draufsicht ein einspuriges Kraftfahrzeug abgebildet, welches auf einer geradlinig verlaufenden Straße einem PKW folgt. In Fig. 1, a single-lane motor vehicle is shown in plan view, which follows a car on a straight road.
In Fig. 2 ist in Draufsicht ein einspuriges Kraftfahrzeug abgebildet, welches in einer Kurve einem PKW folgt. In Fig. 2, a single-track motor vehicle is shown in plan view, which follows a car in a curve.
Bei Abstands- oder Geschwindigkeitsregelungssystemen, welche lediglich auf einem Radarsensor zur Detektion des Fahrzeugumfelds basieren, ist eine Unterscheidung zwischen einer Fahrt auf einer Autobahn und einer Fahrt auf einer Landstraße nur schwer möglich. Ein großer Unterschied für diese Situationen besteht insbesondere für einspurige Kraftfahrzeuge in der gewünschten Dynamik hinsichtlich der Beschleunigung und bei diesen In the case of distance or speed control systems which are based solely on a radar sensor for detecting the vehicle surroundings, it is difficult to distinguish between driving on a motorway and driving on a country road. There is a big difference for these situations, especially for single-lane motor vehicles, in the desired dynamics in terms of acceleration and in these
Straßentypen möglichen Kurvenradien. Da Landstraßen häufig engere Road types possible curve radii. Since country roads are often narrower
Kurvenradien aufweisen, sollte dort in bzw. vor einer Kurve keine starke Beschleunigung durch ein Abstands- oder Geschwindigkeitsregelungssystem stattfinden. Eine enge Kurve kann sich in einem radarbasierten Abstands- oder Geschwindigkeitsregelungssystem dadurch äußern, dass das vorausfahrende Zielobjekt, an welchem sich das Abstands- oder Geschwindigkeitsregelungssystem orientiert, infolge der Kurvenkrümmung von der Radarsensorik nicht mehr erfasst wird. Bei Verlust des Zielobjekts schaltet ein Abstands- oder Geschwindigkeitsregelungssystem häufig in eine Have curve radii, there should be no strong acceleration by a distance or speed control system in or in front of a curve. A tight curve can be expressed in a radar-based distance or speed control system in that the target object driving ahead, on which the distance or Oriented to the speed control system, it is no longer detected by the radar sensors due to the curvature of the curve. If the target object is lost, a distance or speed control system often switches to one
Tempomatfunktion um und führt das Fahrzeug an eine vorgegebene Cruise control function and leads the vehicle to a predetermined
Zielgeschwindigkeit heran. Da im Falle des Verlustes des Zielobjekts wegen einer Kurve eine starke Beschleunigung gefährlich sein kann, ist es sinnvoll, die Heranführung der Geschwindigkeit auf den vorgegebenen Wert so Target speed. Since strong acceleration can be dangerous if the target object is lost because of a curve, it makes sense to bring the speed up to the specified value in this way
durchzuführen, dass ein vorgegebener Beschleunigungsgrenzwert nicht überschritten wird. Dieser Beschleunigungsgrenzwert wird insbesondere sehr niedrig gewählt, um dem Fahrer Sicherheit und Zeit für eine Deaktivierung des Abstands- oder Geschwindigkeitsregelungssystems bzw. ACC-Systems zu geben carry out that a specified acceleration limit value is not exceeded. This acceleration limit value is selected to be very low, in particular, in order to give the driver security and time to deactivate the distance or speed control system or ACC system
Figur 1 zeigt in Draufsicht ein Motorrad 101, welches sich auf einer Straße von links nach rechts bewegt und einem PKW 102 folgt. Das Motorrad 101 weist eine nach vorne gerichtete Radarsensorik auf, welche den mit 103 eingezeichneten Erfassungsbereich hat. Im dargestellten Fall liegt der PKW 102 im FIG. 1 shows a plan view of a motorcycle 101 which moves from left to right on a road and follows a car 102. The motorcycle 101 has a forward-facing radar sensor system which has the detection area indicated by 103. In the case shown, the car 102 is in the
Erfassungsbereich 103 der Radarsensorik und wird als Zielobjekt für die Detection area 103 of the radar sensors and is used as a target object for the
Einstellung des Längsbeschleunigung des Motorrads 101 im Rahmen eines ACC-Systems verwendet. Adjustment of the longitudinal acceleration of the motorcycle 101 used as part of an ACC system.
In Figur 2 folgt das Motorrad 101 dem PKW 102 auf einer stark nach links gekrümmten Fahrbahn. Der PKW 102 liegt nicht mehr im eingezeichneten Erfassungsbereich 103 des Radarsystems des Motorrads. Das ACC-System des Motorrads 101 hat damit sein Zielobjekt verloren und schaltet in eine In FIG. 2, the motorcycle 101 follows the car 102 on a lane that is curved strongly to the left. The car 102 is no longer in the depicted detection area 103 of the radar system of the motorcycle. The ACC system of motorcycle 101 has thus lost its target object and switches to a
Tempomatfunktion um. Um eine Gefahrensituation für das Motorrad 101 beim Durchfahren der Kurve zu vermeiden, werden im Rahmen der Tempomatfunktion nur geringe fahrerunabhängige Beschleunigungen für das Motorrad 101 zugelassen. Cruise control function to. In order to avoid a dangerous situation for the motorcycle 101 when driving through the curve, only low driver-independent accelerations for the motorcycle 101 are permitted within the scope of the cruise control function.

Claims

Ansprüche Expectations
1. Verfahren zur fahrerunabhängigen Einstellung der Längsbeschleunigung eines einspurigen Kraftfahrzeugs (101), bei dem 1. A method for driver-independent setting of the longitudinal acceleration of a single-track motor vehicle (101), in which
mittels einer Umfeldsensorik das dem einspurigen Kraftfahrzeug (101) vorausfahrende Vorderfahrzeug (102) ermittelt und als Zielobjekt festgelegt wird, the vehicle (102) in front of the single-lane motor vehicle (101) is determined by means of an environment sensor system and is defined as the target object,
mittels derselben oder einer anderen Umfeldsensorik fahrdynamische Daten des Zielobjekts (102) ermittelt werden, dynamic driving data of the target object (102) are determined by means of the same or a different environment sensor system,
abhängig von den fahrdynamischen Daten die Längsbeschleunigung des einspurigen Kraftfahrzeugs (101) eingestellt wird, the longitudinal acceleration of the single-lane motor vehicle (101) is set as a function of the driving dynamics data,
ermittelt wird, ob das Zielobjekt (102) mittels der Umfeldsensorik noch erfasst wird und it is determined whether the target object (102) is still detected by means of the environment sensor system and
für den Fall, dass das Zielobjekt (102) nicht mehr erfasst wird, die Geschwindigkeit des einspurigen Kraftfahrzeugs (101) auf einen vorgegebenen Wert eingestellt wird, wobei die Heranführung der Geschwindigkeit auf den vorgegebenen Wert derart erfolgt, dass ein vorgegebener Beschleunigungsgrenzwert nicht überschritten wird. in the event that the target object (102) is no longer detected, the speed of the single-lane motor vehicle (101) is set to a predetermined value, the speed being brought to the predetermined value in such a way that a predetermined acceleration limit value is not exceeded.
2. Verfahren nach Anspruch 1, dadurch gekennzeichnet, dass es sich bei der Umfeldsensorik um eine Radarsensorik handelt. 2. The method according to claim 1, characterized in that the environment sensor system is a radar sensor system.
3. Verfahren nach Anspruch 1, dadurch gekennzeichnet, dass es sich bei den fahrdynamischen Daten des Zielobjekts (102) um die Längsbeschleunigung des Zielobjekts handelt. 3. The method according to claim 1, characterized in that the driving dynamics data of the target object (102) is the longitudinal acceleration of the target object.
4. Verfahren nach Anspruch 3, dadurch gekennzeichnet, dass als 4. The method according to claim 3, characterized in that as
Längsbeschleunigung des einspurigen Kraftfahrzeugs (101) die ermittelte Längsbeschleunigung des Zielobjekts (102) übernommen wird. Longitudinal acceleration of the single-track motor vehicle (101), the determined longitudinal acceleration of the target object (102) is adopted.
5. Verfahren nach Anspruch 1, dadurch gekennzeichnet, dass es sich bei dem einspurigen Kraftfahrzeug (101) um ein Motorrad handelt. 5. The method according to claim 1, characterized in that the single-track motor vehicle (101) is a motorcycle.
6. Vorrichtung, enthaltend Mittel, die zur Durchführung der erfindungsgemäßen Verfahren ausgestaltet sind 6. Device containing means which are designed for carrying out the method according to the invention
PCT/EP2020/061136 2019-06-11 2020-04-22 Method and device for setting the longitudinal acceleration in a single-track motor vehicle independently of the driver WO2020249292A1 (en)

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DE102021204998A1 (en) 2021-05-18 2022-11-24 Robert Bosch Gesellschaft mit beschränkter Haftung Method and device for activating an overtaking assistance function of a single-track motor vehicle
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