WO2023274657A1 - Verfahren und vorrichtung zum regeln des abstandes zwischen einem egofahrzeug und einem vorausfahrenden fahrzeug, sowie fahrzeug und elektronische verarbeitungseinheit - Google Patents
Verfahren und vorrichtung zum regeln des abstandes zwischen einem egofahrzeug und einem vorausfahrenden fahrzeug, sowie fahrzeug und elektronische verarbeitungseinheit Download PDFInfo
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- WO2023274657A1 WO2023274657A1 PCT/EP2022/065022 EP2022065022W WO2023274657A1 WO 2023274657 A1 WO2023274657 A1 WO 2023274657A1 EP 2022065022 W EP2022065022 W EP 2022065022W WO 2023274657 A1 WO2023274657 A1 WO 2023274657A1
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- vehicle
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Classifications
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- 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
- B60W30/17—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle with provision for special action when the preceding vehicle comes to a halt, e.g. stop and go
-
- 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
- B60W30/18018—Start-stop drive, e.g. in a traffic jam
-
- 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
- B60W30/18027—Drive off, accelerating from standstill
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- 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
- B60W30/181—Preparing for stopping
-
- 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
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- 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
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- B60W2050/143—Alarm means
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- 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
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- 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
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- B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
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- B60W2554/00—Input parameters relating to objects
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- B60W2554/802—Longitudinal distance
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- 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
- B60W2710/00—Output or target parameters relating to a particular sub-units
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- 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
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- 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
Definitions
- Method and device for controlling the distance between a host vehicle and a vehicle driving ahead as well as vehicle and electronic processing unit
- the invention relates to the technical field of vehicles equipped with an automatic distance control system.
- distance control systems are often referred to internationally as ACC systems, corresponding to "Adaptive Cruise Control" systems.
- the ACC systems fall under the category of driver assistance systems. More precisely, an ACC system relates to a cruise control system in motor vehicles, which includes the distance to a vehicle driving ahead as an additional feedback and control variable. In this way, a safety distance can be maintained.
- Modern ACC systems also offer the driver the option of selecting the desired distance from the vehicle in front. This can be done in an operating menu that is shown on a display unit. A button on a steering wheel control unit is often used to select the distance.
- Such ACC systems increase the comfort of the driver. They can relieve the driver, particularly on long motorway journeys, by relieving him of the task of frequently braking and accelerating the vehicle in order to maintain a certain distance. But the same also applies in slow-moving city traffic. Secondarily, there is also an increase in safety because the driver tires less quickly because he does not have to concentrate so much to keep his distance.
- some manufacturers also offer a so-called Stop & Go system. With the follow-to-stop function, the vehicle follows the vehicle in front until it comes to a standstill. However, after the stop process, the vehicle does not start up again automatically. With the Stop & Go function, it is also possible to move off independently after a short standstill if the vehicle in front starts moving again.
- mainly radar sensors are used to measure distances; lidar systems can also be used, but are not yet so widespread. Cameras are also used for better object recognition and lane recognition. The distance to the vehicle in front can also be measured using a camera. However, this requires the use of a stereo camera.
- Such ACC systems are used in various vehicle categories. These include passenger cars, including motorcycles, camping vehicles and buses and commercial vehicles such as trucks, agricultural Machines such as tractors, combine harvesters, choppers, forestry equipment, etc.
- An ACC system with a stop & go function is known from document EP 1 437254 A1.
- the ACC system is designed for speeds below 50 km/h.
- the ACC system is equipped with a selector switch that can be used to select a desired distance from the vehicle in front. As an example, 3 selection distances are provided.
- the vehicle also starts up again automatically if the vehicle in front comes to a standstill but then starts moving again.
- a vehicle start/stop system with an ACC system is known from document US 2015/0266476 A1, which follows a vehicle in front at a distance until it comes to a standstill.
- the internal combustion engine is then also switched off by the start-stop system.
- the smallest adjustable distance to the vehicle in front is always greater than a fixed, predetermined safety distance.
- the fixed safety distance can be 2 m, for example. This is for security, if z. B. when stopping, the vehicle comes to a standstill later than desired because of a longer stopping distance.
- the smallest adjustable stop distance can e.g. B: 5 m. This distance should be maintained when the vehicle comes to a standstill. However, as is often observed, in dense city traffic this means that pedestrians or cyclists simply walk between stationary vehicles and thus endanger themselves.
- the object of the invention is therefore to improve an ACC system with a stop-and-go function in such a way that other road users are prevented from frequently driving into the gap between the ego vehicle and the vehicle ahead.
- the condition should also be met that a safe distance from the vehicle in front should be maintained during all control processes of the ACC system.
- This object is achieved by a method for controlling the distance between a host vehicle and a preceding vehicle according to claim 1 and a corresponding device according to claim 7, a vehicle according to claim 11 and an electronic processing unit according to claim 12 solved.
- the invention relates to a method for controlling the distance between a host vehicle and a vehicle driving in front.
- the vehicle is equipped with at least one brake system, a drive system and an adaptive cruise control system with an operating unit, and compliance with an entered minimum distance is regulated by the adaptive cruise control system.
- the method is characterized in that when the ego vehicle is at a standstill, the minimum distance entered can be reduced by user input via the operating unit.
- a drive torque of the drive system is increased in order to cause the host vehicle to accelerate in the forward direction.
- the distance to the vehicle in front is continuously measured and when a predetermined reduction distance is reached to close the gap to the vehicle in front, the increase in the drive torque is reversed.
- the method offers the advantage that the driver of the vehicle is given the opportunity, when standing still in a traffic jam, when standing still at a traffic light crossing or when standing still in stop-and-go traffic, to somewhat close the resulting gap to the vehicle in front. This corresponds to the driver's wish not to allow too large gaps that could give the following traffic cause for misinterpretations.
- the following traffic has z. B. Worries about not being able to pass the traffic light crossing during the following green phase or assumes that the vehicle in front has broken down, etc.
- the drivers of the vehicles behind then try to overtake the vehicle in front.
- the method according to the invention offers the driver the possibility of preventing other vehicles from constantly entering the gap. This can be done in such a way that the automatic mode, in which the distance to the vehicle in front is regulated, is not interrupted at all.
- the invention thus offers an increase in comfort for the driver.
- the area of application of the adaptive cruise control system is expanded.
- a particularly advantageous embodiment of the method according to the invention consists in continuing to measure the distance to the vehicle in front and to select the drive torque for the acceleration process as a function of the measured distance between the host vehicle and the vehicle in front. If there is a larger distance, e.g. 10 m, the gap can be closed with greater speed than with a small distance. This is also practical and corresponds to the typical driving behavior of most drivers.
- the drive torque for the acceleration process is selected in such a way that the host vehicle approaches the vehicle in front in crawling motion.
- the close range can be flexibly defined depending on the vehicle. For commercial vehicles, it is ideal for the close range for gaps that have arisen in the area of e.g. B. 5 - 3 m to choose.
- creep travel is associated with the fact that a corresponding creep gear is engaged in the transmission and a corresponding drive torque for the acceleration process in the drive unit. As a result, the commercial vehicle moves forward very slowly.
- This measure also serves to prevent the gap to the vehicle in front from being closed at too high a speed and to reduce the risk of falling below the safety distance. This would then trigger violent braking again.
- the measure also increases comfort for the driver and possibly the passengers. In addition, less fuel is consumed and the vehicle's battery is preserved.
- a further advantageous measure is that the drive torque is set to zero to reverse the increase in the drive torque when the vehicle in front comes to a standstill, with the service brake of the host vehicle also being actuated in order to stop the host vehicle.
- This also has the advantage that falling below the safety distance is prevented. Especially if the gap has already been closed to such an extent that the distance between the host vehicle and the vehicle in front is already close to the safety distance, the vehicle would continue to roll when the drive torque was switched off and the safety distance would quickly be fallen below.
- an advantageous measure consists in the fact that when the host vehicle has approached the vehicle in front up to the safety distance, a warning is also output to the driver of the host vehicle.
- the warning to the driver of the host vehicle can be output in the form of a warning display on a display unit and can optionally be enhanced with an output of an acoustic warning or can be output in haptic form.
- a variant of the implementation of a haptic warning consists in vibrating the steering wheel.
- a further embodiment of the invention consists in a device for controlling the distance between a host vehicle and a vehicle driving ahead, the host vehicle being equipped with at least one braking system, a drive system and an adaptive cruise control system with an operating unit.
- the adaptive cruise control system has an electronic processing unit that is connected via one or more communication buses to at least one electronic control unit of the drive system and an electronic control unit of the braking system and an operating unit.
- the electronic processing unit is set up, after actuating an operating element of the operating unit, to send a command to increase the drive torque of the drive system to the electronic control device of the drive system in order to accelerate the host vehicle in the forward direction.
- a command to release the holding function of a brake of the brake system (BS) is sent to the electronic control unit (CU5) of the brake system (BS).
- the holding function is implemented by activating the service brake.
- the adaptive cruise control system has a distance measuring system for measuring the distance between the host vehicle and the vehicle driving ahead.
- the processing unit is also set up to send a command to the electronic control unit of the drive system when a predetermined reduction distance to the vehicle driving ahead is reached which the increase in the drive torque is withdrawn and optionally to send a command to the electronic control unit of the braking system, with which a service brake of the braking system is actuated.
- the increase in the drive torque can be reversed by sending a new command to set the drive torque with a correspondingly smaller value or the value zero.
- a radar sensor a lidar sensor or a camera sensor or a combination of these sensors is provided as the distance measuring system.
- the camera can be used, for example, to check object detection by the radar system for plausibility. This makes it easier to determine the type of vehicle ahead.
- the camera is also used, for example, to regulate lane compliance if the vehicle is equipped with a lane departure warning system.
- the lidar sensor can also be used to check object detection for plausibility.
- the operating unit consists of a steering wheel operating unit of a multifunction steering wheel of the host vehicle.
- Such steering wheel operating units are already being used to advantage for operating ACC systems. They can be operated very conveniently by the driver without the driver being distracted from observing what is happening on the road.
- the function for requesting an increase in the drive torque of the drive system is assigned to a resume button on the operating unit of the adaptive cruise control system.
- This button typically has the function of resuming automatically regulated operation after the driver has temporarily taken control himself.
- the resume button can also be used advantageously for use in the invention. By pressing the resume button, the driver can request that the gap to the vehicle in front be closed.
- a further embodiment of the invention consists in a vehicle which is equipped with an electronically controlled braking system and an adaptive cruise control system which, as a further equipment feature, has a device according to the invention.
- the invention also consists of an electronic processing unit that can be connected via one or more communication buses to an electronic control unit of the drive system and an electronic control unit of the brake system and a distance measuring system and is set up with the electronic control unit of the drive system and the electronic control unit of the brake system communicate.
- This serves to receive measured distance values and to transmit control commands to the electronic control unit of the brake system and the electronic control unit of the drive system in such a way that a method according to the invention can be carried out.
- This electronic processing unit has the same advantages as explained in connection with the method according to the invention and the device according to the invention.
- 1a shows the formation of a gap when using an ACC system with a stop-and-go function in a traffic jam
- 1c shows the closing of the gap when using an ACC system according to the invention with a stop-and-go function in a traffic jam in a second step
- FIG. 2 shows a steering wheel control unit for use in an ACC system according to the invention
- FIG. 3 shows a block diagram for the electronic equipment of a commercial vehicle
- FIG. 4 shows a flow chart for a computer program for implementing the method according to the invention.
- the approaching vehicle 20 is a commercial vehicle in the form of a truck.
- the vehicle 10 driving directly in front of the truck 20 is a bus 12 that has already reached the end of the traffic jam and is coming to a standstill. In front of the bus 12 there are other vehicles that have come to a standstill 14, 16, 18.
- the ACC system of the truck 20 is equipped with a stop & go function.
- the driver has set the smallest minimum distance D1.
- D1 it is explained that in an adaptive distance control system, the distance is controlled dynamically as a function of the speed. Therefore, no absolute distance values are offered to the driver on the user interface to select the minimum distance. Often only a numeric list of possible settings is offered.
- the choice does not correspond to a fixed distance. More precisely, the choice corresponds to the time that the ego vehicle (20) would need at the current speed in order to travel the route corresponding to the current distance to the vehicle driving in front.
- the ACC system of the commercial vehicle 20 offers a choice of 5 possible settings for the distance control.
- the largest value can correspond to the largest distance.
- the smallest value can correspond to the smallest distance. If the vehicle comes to a standstill, be it in front of a traffic light, in a traffic jam or in stop-and-go traffic, a stopping distance of e.g. B. 5 m to the vehicle in front. This can also depend on the loading condition of the truck 20 . Because the braking distance will change very much if the vehicle z. B. is fully loaded to 40 t, compared to a vehicle driving without a load. A gap L1 to the vehicle 10 driving ahead of at least 5 m is then maintained. This gap L1 then also remains when the vehicle 20 comes to a standstill.
- the gap L1 shown in FIG. 1a has a length of 5 m.
- the safety distance SD which is permanently specified in the system for traffic situations such as city traffic with traffic lights, traffic jams and stop-and-go traffic, is also shown. For safety reasons, this safety distance SD must not be undercut. 1a also shows a reduction distance RD that is specified in the ACC system.
- the gap can be reduced without leaving the automatic control on the part of the ACC system, so that fewer overtaking vehicles will use this to change lanes.
- Figure 1b shows the spacing after the first step to reduce the resulting gap L1.
- the driver can trigger this process manually if he so desires. To do this, he presses a button on a multifunction steering wheel control unit.
- the gas pedal or accelerator pedal it would also be possible to use the gas pedal or accelerator pedal as a control element for this purpose. Tapping the gas pedal or accelerator pedal could then prompt the driver to close the gap.
- FIG 2 shows the multifunction steering wheel operating unit BE1.
- multifunction steering wheel control unit BE1 further multifunction steering wheel control units can also be attached to the multifunction steering wheel.
- the multifunction steering wheel control unit BE1 is used to operate the ACC system.
- the function of the ACC system can be switched on and off with the control button BT1.
- the automatic speed and distance control can be briefly interrupted with the BT2 control button. But this also happens when the driver presses the brake pedal. Automatic speed and distance control is resumed by pressing the control button BT3.
- the control button BT3 is also used to give the command to the ACC system ACCS to close the gap to the vehicle in front 10 when the host vehicle 20 is stationary.
- the vehicles also typically come with a
- Cruise control system CC equipped according to Cruise Control.
- control speed can typically also be adjusted in increments. However, this is done with a separate steering wheel control unit (not shown).
- control button BT1 By pressing the control button BT1, control is transferred to the ACC system ACCS.
- the operating button BT4 is used to set the instantaneous speed of the vehicle 20 as the setpoint speed for the cruise control system.
- Different distance values for the distance control system can be selected with the operating button BT5. For example, 5 setting options are specified by the ACC system. Pressing the control button BT5 changes the selected value.
- the currently selected value is shown in an operating menu on a display unit. The display unit is installed either in the instrument cluster of the cockpit or at a separate location in the cockpit. This is explained in more detail in connection with FIG.
- the operating button BT5 When the operating button BT5 is actuated, the next entry in the list of possible settings is selected.
- the list is run through cyclically when the operating button BT5 is pressed several times. When the last entry in the list is reached, the system jumps back to the start of the list if the operating button BT5 is pressed again. The driver sees on the display unit which entry in the list he has selected by pressing the operating button BT5. This value is then adopted by the ACC system as the newly set minimum distance.
- the current distance from the vehicle 10 driving ahead is typically also displayed on the display unit DU1. It can be seen in FIG. 1b that the minimum distance has been reduced by actuating the operating button BT3 once. The reduced minimum distance is marked with reference number D2 in FIG. 1b. In the case shown, the minimum distance was reduced from 5 m to 4 m.
- the specified reduction distance RD comes into play here.
- 1c shows a second step for closing the gap L1.
- the driver presses the operating button BT3 a second time.
- this leads to the newly set minimum distance D2 being further reduced.
- the same operation is carried out again for this purpose.
- the distance is reduced again by the same reduction distance RD.
- the gap L2 is further reduced.
- the gap L3 is created with a minimum distance D3 of only 3 m. Even with the gap L3, the safety distance SD is still maintained. If the driver were to press the control button BT3 a third time, the gap L3 would not be closed any further. This is because the distance from the vehicle 10 driving in front is continuously measured.
- the block CU1 designates an electronic engine control ECM, corresponding to "Engine Control Module”.
- the block CU2 designates an automatic transmission control unit AMT, corresponding to "Automated Manual Transmission”.
- the block CU3 designates an electronic control unit of the retarder unit. This is used to support a braking process and can prevent the friction brakes on the wheels from overheating.
- Block CU4 designates an electronic brake control unit EBS, equivalent to "Electronic Braking System”.
- Reference number 26 shows a service brake for each wheel. Each service brake 26 can be actuated separately by the electronic brake control unit EBS. For this purpose, the corresponding brake lines are connected to the electronic brake control unit EBS.
- the BS brake system includes both the CU3 retarder unit and the EBS electronic brake control unit.
- the cruise control system CC equivalent to Cruise Control, is also part of the electronic engine control unit.
- the block PU1 designates an electronic processing unit of a driver assistance system ADAS, corresponding to "Advanced Driving Assistance System". It is the aforementioned ACC system, ie the automatic distance control system that automatically maintains the distance to the vehicle 10 driving ahead. Further components are connected to the processing unit PU1, which together with the processing unit PU1 form the ACC system ACCS.
- the already mentioned steering wheel control unit is identified by the reference character BE1.
- the steering wheel operating unit BE1 is connected to the processing unit PU1 via a bus line B4.
- the well-known LIN bus corresponding to the “Local Interconnect Network” bus, for example, is used for this purpose.
- the already mentioned display unit is denoted by the reference symbol DU1.
- This is advantageously arranged as a touch-sensitive display unit (touch screen) in the cockpit of utility vehicle 20 .
- This allows a variety of operations to be carried out.
- the driver can select menu items, change parameter settings and make entries, as is familiar from smartphones or tablets, for example.
- the display unit DU1 is connected to the processing unit PU2 via a bus connection B5. In this way, the display data is transmitted and the operating commands and inputs that the driver has entered are transmitted from the display unit DU1 to the processing unit PU1.
- the LVDS bus system is mentioned as an example, corresponding to (Low Voltage Differential Signal), which was developed for this purpose and can be used here.
- the processing unit PU1 is connected to a number of environment detection sensors.
- a camera SU2 and a radar sensor SU1 are shown in FIG. 3 as an example.
- the camera SU2 can correspond to an ordinary video camera.
- Both sensors, radar sensor SU1 and camera SU2 are connected to the processing unit PU1 via their own bus connection B2 and B3.
- a lidar sensor, one or more IR cameras, and one or more ultrasonic sensors can be connected for detecting the surroundings.
- the Automotive Ethernet bus system in the IEEE 1000Base-T variant is mentioned as an example of a suitable bus system that is suitable for the transmission of the camera data and the radar data and lidar data. It meets the increased bandwidth requirements required for such sensors.
- the electronic control units CU1 to CU4 and the electronic processing unit PU1 are networked with one another via a bus system B1.
- a bus system designed for in-vehicle communication can be used for this purpose.
- serial bus systems are used for this purpose because they require the least amount of cabling.
- a CAN bus system corresponding to the Controller Area Network, is mentioned as a possible example.
- There are different variants of the CAN bus system such as CAN low speed and CAN high speed for different data rates from 125 kbit/s to 1000 kbit/s.
- a extended CAN bus specified under the designation CAN-FD Bus, where FD stands for "Flexible Data Rate". This specification defines an extended data frame with a higher transport capacity, in which the user data field is enlarged.
- the program is started in program step S1 when the ACC system ACCS has determined that the vehicle is moving in a traffic jam or in stop-and-go traffic.
- This recognition is built into known ACC systems.
- the image data from the camera SU2 or the radar sensor SU1 and the data relating to vehicle speed and the frequency with which the vehicle drives off are evaluated.
- the data of a navigation system can also be used for this.
- program step S2 a check is made as to whether commercial vehicle 20 is stationary. If not, the program jumps back to the start and continues to wait for the vehicle to come to a standstill. If the vehicle is stationary, query S3 is followed by a check as to whether control button BT3 has been actuated. If not, it jumps back to the beginning of the program.
- the renewed measurement of the distance D1 between the truck 20 and the vehicle 10 driving ahead follows in the program step S4.
- This measured distance is evaluated in the next program step S5.
- a check is made as to whether the measured distance satisfies the condition that it is greater than the prescribed safety distance SD plus the set reduction distance RD.
- the reduction distance RD was set to 1 m in the shown flowchart. Alternatively, a different value can also be specified here. For example, the value 0.5 m could be set in the program. Alternatively, there is also the possibility of configuring the program. A user would then be able to select a value. It is advantageous, at least for test drives, if this value could be set.
- the engine control unit CU1 selects the appropriate gear for starting and sends the appropriate command to the transmission control unit CU2.
- the gear selection can be made by the processing unit PU1 and the processing unit PU1 then sends the appropriate command to the transmission control unit CU2.
- the clutch can also be activated by the engine control unit.
- a brake command is sent to the CU4 brake control unit.
- This command is used to release the holding function of the service brake, which is used for safety reasons when the vehicle is at a standstill Vehicle 20 is actuated and the commercial vehicle 20 secures against rolling away.
- the command for setting an engine torque is executed by the engine controller CU1
- the vehicle 20 accelerates.
- the engine torque is requested in such a way that it is required to close the gap that has arisen. If the gap is very small, eg only 3 to 5 m, everything is adjusted so that the vehicle 20 creeps.
- the gap L1 between commercial vehicle 20 and bus 10 is then carefully closed.
- program step S7 the distance to vehicle 10 in front is measured. The measured distance value is evaluated in program step S8.
- BS brake system
- a warning is issued to the driver in program step S12. This is shown on the display unit DU1.
- an acoustic warning can also be issued via the vehicle's loudspeakers.
- the warning can be issued in haptic form. In one variant, this can be done by allowing the steering wheel to vibrate.
- the program then ends in program step S13 and control is thereby handed over to the driver.
- the proposed method and associated devices can be implemented in various forms of flardware, software, firmware, special purpose processors or a combination thereof.
- Specialty processors can include Application Specific Integrated Circuits (ASICs), Reduced Instruction Set Computers (RISC), and/or Field Programmable Gate Arrays (FPGAs).
- the proposed method and device is preferably implemented as a combination of flardware and software.
- the software is preferably installed as an application program on a program storage device. Typically, it is a computer platform based machine that includes flardware such as one or more central processing units (CPU), random access memory (RAM), and one or more input/output (I/O) interfaces.
- An operating system is typically also installed on the computer platform.
- the various processes and functions described here can be part of the application program or a part that runs through the operating system.
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Controls For Constant Speed Travelling (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Abstract
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Priority Applications (2)
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EP22731624.7A EP4363288A1 (de) | 2021-06-30 | 2022-06-02 | Verfahren und vorrichtung zum regeln des abstandes zwischen einem egofahrzeug und einem vorausfahrenden fahrzeug, sowie fahrzeug und elektronische verarbeitungseinheit |
CN202280042498.0A CN117500710A (zh) | 2021-06-30 | 2022-06-02 | 用于调节自我车辆与前方车辆之间距离的方法和设备以及车辆和电子处理单元 |
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DE102021116853.8 | 2021-06-30 | ||
DE102021116853.8A DE102021116853A1 (de) | 2021-06-30 | 2021-06-30 | Verfahren und Vorrichtung zum Regeln des Abstandes zwischen einem Egofahrzeug und einem vorausfahrenden Fahrzeug, sowie Fahrzeug und elektronische Verarbeitungseinheit |
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Citations (7)
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EP1437254A1 (de) | 2003-01-09 | 2004-07-14 | Ford Global Technologies, Inc. | Abstandsbezogenes Fahrgeschwindigkeitsregelsystem |
US20080215224A1 (en) * | 2005-08-02 | 2008-09-04 | Bayerische Motoren Werke Aktiengesellschaft | Device and Method for Securing the Standstill of a Motor Vehicle |
US20150197250A1 (en) * | 2014-01-13 | 2015-07-16 | GM Global Technology Operations LLC | Method and apparatus for controlling creep torque in a hybrid powertrain system |
US20150266476A1 (en) | 2014-03-20 | 2015-09-24 | Ford Global Technologies, Llc | Coordinating engine start/stop with adaptive cruise control stop-and-go |
US20180126991A1 (en) * | 2016-11-09 | 2018-05-10 | Toyota Jidosha Kabushiki Kaisha | Vehicle control system |
US20190291726A1 (en) * | 2018-03-20 | 2019-09-26 | Mobileye Vision Technologies Ltd. | Systems and methods for navigating a vehicle |
EP3744598A1 (de) * | 2018-01-23 | 2020-12-02 | Nissan Motor Co., Ltd. | Fahrzeugsteuerungsverfahren und fahrzeugsteuerungssystem |
-
2021
- 2021-06-30 DE DE102021116853.8A patent/DE102021116853A1/de active Pending
-
2022
- 2022-06-02 EP EP22731624.7A patent/EP4363288A1/de active Pending
- 2022-06-02 WO PCT/EP2022/065022 patent/WO2023274657A1/de active Application Filing
- 2022-06-02 CN CN202280042498.0A patent/CN117500710A/zh active Pending
Patent Citations (7)
Publication number | Priority date | Publication date | Assignee | Title |
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EP1437254A1 (de) | 2003-01-09 | 2004-07-14 | Ford Global Technologies, Inc. | Abstandsbezogenes Fahrgeschwindigkeitsregelsystem |
US20080215224A1 (en) * | 2005-08-02 | 2008-09-04 | Bayerische Motoren Werke Aktiengesellschaft | Device and Method for Securing the Standstill of a Motor Vehicle |
US20150197250A1 (en) * | 2014-01-13 | 2015-07-16 | GM Global Technology Operations LLC | Method and apparatus for controlling creep torque in a hybrid powertrain system |
US20150266476A1 (en) | 2014-03-20 | 2015-09-24 | Ford Global Technologies, Llc | Coordinating engine start/stop with adaptive cruise control stop-and-go |
US20180126991A1 (en) * | 2016-11-09 | 2018-05-10 | Toyota Jidosha Kabushiki Kaisha | Vehicle control system |
EP3744598A1 (de) * | 2018-01-23 | 2020-12-02 | Nissan Motor Co., Ltd. | Fahrzeugsteuerungsverfahren und fahrzeugsteuerungssystem |
US20190291726A1 (en) * | 2018-03-20 | 2019-09-26 | Mobileye Vision Technologies Ltd. | Systems and methods for navigating a vehicle |
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CN117500710A (zh) | 2024-02-02 |
DE102021116853A1 (de) | 2023-01-05 |
EP4363288A1 (de) | 2024-05-08 |
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