METHOD FOR CONTROLLING AN APPROACH OF A VEHICLE, DISTANCE CONTROLLER, COMPUTER PROGRAM, AND MEMORY UNIT

Abstract

A method for controlling an approach of a traveling vehicle to at least one preceding reference vehicle. The method includes using an automated distance setting between the vehicle and the reference vehicle, at an acceleration that may be applied for the vehicle and that is a function of an operating position of a control element of the vehicle that is actuatable by the driver of the vehicle, and that is associated with a temporal acceleration profile for the automated distance setting. A maximum highest acceleration value of the acceleration profile implementing the automated distance setting is specified as a function of the operating position. A distance controller, a computer program, and a memory unit are also described.

Claims

1. A method for controlling an approach of a traveling vehicle to at least one preceding reference vehicle, the method comprising: controlling the approach of the traveling vehicle to the reference vehicle using an automated distance setting between the traveling vehicle and the reference vehicle, at an acceleration that may be applied for the traveling vehicle and that is a function of an operating position of a control element of the traveling vehicle that is actuatable by the driver of the traveling vehicle, and that is associated with a temporal acceleration profile for the automated distance setting; wherein a maximum possible highest acceleration value of the acceleration profile implementing the automated distance setting is specified as a function of the operating position.

2. The method as recited in claim 1, wherein the acceleration is a braking deceleration, and the acceleration profile is a braking deceleration profile.

3. The method as recited in claim 1, wherein the highest acceleration value is a maximum acceleration and/or a maximum acceleration gradient of the acceleration.

4. The method as recited in claim 1, wherein the maximum possible highest acceleration value is changed as a function of an assessment of a hazardous situation.

5. The method as recited in claim 1, wherein the control element is an accelerator pedal, and the operating position is an accelerator pedal position.

6. The method as recited in claim 1, wherein an acceleration profile for a first operating position has a smaller acceleration at a first point in time, and at a subsequent, second point in time has a greater acceleration than for a second operating position in each case at the corresponding points in time.

7. The method as recited in claim 6, wherein the first operating position is larger than the second operating position, and the highest acceleration value is greater for the first operating position than for the second operating position.

8. A distance controller configured to control an approach of a traveling vehicle to at least one preceding reference vehicle, the distance controller configured to: control the approach of the traveling vehicle to the reference vehicle using an automated distance setting between the traveling vehicle and the reference vehicle, at an acceleration that may be applied for the traveling vehicle and that is a function of an operating position of a control element of the traveling vehicle that is actuatable by the driver of the traveling vehicle, and that is associated with a temporal acceleration profile for the automated distance setting; wherein a maximum possible highest acceleration value of the acceleration profile implementing the automated distance setting is specified as a function of the operating position.

9. A non-transitory machine-readable memory medium on which is stored a computer program for controlling an approach of a traveling vehicle to at least one preceding reference vehicle, the computer program, when executed by one or more computers, causing the one or more computers to perform the following: controlling the approach of the traveling vehicle to the reference vehicle using an automated distance setting which sets a distance between the traveling vehicle and the reference vehicle, at an acceleration that may be applied for the traveling vehicle and that is a function of an operating position of a control element of the traveling vehicle that is actuatable by the driver of the traveling vehicle, and that is associated with a temporal acceleration profile for the automated distance setting; wherein a maximum possible highest acceleration value of the acceleration profile implementing the automated distance setting is specified as a function of the operating position.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

[0026] The present invention is described in greater detail below with reference to the figures.

[0027] FIG. 1 shows a method for controlling an approach of a vehicle in one particular specific example embodiment of the present invention.

[0028] FIG. 2 shows a driving situation of a vehicle upon approaching a preceding reference vehicle.

[0029] FIG. 3 shows a further driving situation of a vehicle upon approaching a preceding reference vehicle.

[0030] FIG. 4 shows a vehicle including a distance controller in one particular specific example embodiment of the present invention.

DETAILED DESCRIPTION OF EXAMPLE EMBODIMENTS

[0031] FIG. 1 shows a method for controlling an approach of a vehicle in one particular specific embodiment of the present invention.

[0032] Method 10 for controlling an approach of a traveling vehicle 12 to at least one preceding reference vehicle 14 is carried out using an automated distance setting of a distance 16 between vehicle 12 and reference vehicle 14. The automated distance setting is implemented at an acceleration a that may be applied for vehicle 12, via which distance 16 between vehicle 12 and reference vehicle 14 is influenced, for example decreased. Acceleration a may be negative and may act as braking deceleration. If traveling vehicle 12 approaches preceding reference vehicle 14 at a greater speed than that of reference vehicle 14, via the automated distance setting a deceleration of vehicle 12 may take place via the braking deceleration for maintaining a smallest minimum distance 18 as a safety distance between vehicle 12 and reference vehicle 14.

[0033] In method 10, a setpoint acceleration ar, here in particular the braking deceleration, that specifies an acceleration a to be applied for vehicle 12 for the automated distance setting is set as a function of an operating position 20 of a control element 22 of vehicle 12 that is actuatable by the driver of vehicle 12. Control element 22 may be an accelerator pedal 24 of vehicle 12, and operating position 20 may be an accelerator pedal position 26 that may be described by an accelerator pedal angle. A large accelerator pedal angle corresponds in particular to a large deflection of accelerator pedal 24, and thus to a large operating position 20.

[0034] Setpoint acceleration ar, in the present case the braking deceleration, which is specified for the automated distance setting and which corresponds to a negative acceleration, follows a temporal acceleration profile 28 during the automated distance setting, which is preferably a braking deceleration profile and which describes the temporal profile of the predefined braking deceleration for the automated distance setting between vehicle 12 and reference vehicle 14.

[0035] In addition to operating position 20 of control element 22, for computing setpoint acceleration ar in a computing unit 30 that includes at least one distance controller 32, it is also possible to take into account on the input side an actual speed 34 of vehicle 12, a differential speed 36 between vehicle 12 and reference vehicle 14, an actual distance 38 between vehicle 12 and reference vehicle 14, and/or a setpoint distance 40 between vehicle 12 and reference vehicle 14. Setpoint acceleration ar is output by computing unit 30.

[0036] In method 10, for the automated distance setting, operating position 20 is used during the approach in order to change a maximum possible highest acceleration value am, which has a limiting effect for acceleration profile 28. Highest acceleration value am of acceleration profile 28 is thus a function of operating position 20. Highest acceleration value am may be a maximum acceleration a.sub.max and/or a maximum acceleration gradient

[00001]${\left(\frac{\mathrm{da}}{\mathrm{dt}}\right)}_{\max }$

or setpoint acceleration ar, and may be output by computing unit 30. Maximum possible acceleration a.sub.max and/or maximum possible acceleration gradient

[00002]${\left(\frac{\mathrm{da}}{\mathrm{dt}}\right)}_{\max }$

for acceleration profile 28 that is applied during the approach may be limited in this way.

[0037] The advantages and properties of method 10 from FIG. 1 are illustrated with reference to FIGS. 2 and 3, described below. FIG. 2 shows a driving situation of vehicle 12 in which preceding reference vehicle 14 is traveling more slowly than vehicle 12 and is veering out of lane 42, on which vehicle 12 is located, into a neighboring lane 44. Since the driver of vehicle 12 notices the veering operation of reference vehicle 14 and would like to preferably maintain or even increase his/her speed, the driver leaves accelerator pedal 24 actuated.

[0038] The automated distance setting between vehicle 12 and reference vehicle 14, which is still blocking lane 42 but is veering out of it, allows a braking deceleration that is initially set to be small during the approach, since the driver would like to reduce his/her speed as little as possible, which is detected as an operating position based on accelerator pedal position 26, and in the method according to FIG. 1 is used on the input side. At the same time, this accelerator pedal position 26 sets a highest acceleration value, for example a maximum acceleration and/or a maximum acceleration gradient, which allows the initially small braking deceleration, and allows a large maximum acceleration and/or a large maximum acceleration gradient of the braking deceleration upon a further or critical approach to reference vehicle 14. For example, the maximum acceleration and/or the maximum acceleration gradient of the braking deceleration may be required if reference vehicle 14 instead returns to lane 42, contrary to the indicated veering movement, or if the veering operation is carried out more slowly than indicated. However, due to the set highest acceleration value, the approach process could still be carried out safely, preferably to maintain the minimum distance. The braking operation for maintaining the minimum distance may thus begin later, but carried out more intensely if necessary, and thus temporally shortened overall.

[0039] In comparison, FIG. 3 depicts a driving situation in which it is apparent that a preceding reference vehicle 14 in neighboring lane 44 is veering into lane 42 that vehicle 12 is traveling in, and at a greater distance from the vehicle than the setpoint distance between the vehicle and the reference vehicle. If this movement of reference vehicle 14, via which reference vehicle 14 travels in front of vehicle 12 in lane 42, and blocking lane 42, is recognized early by the driver of vehicle 12, the typical behavior is to let up on accelerator pedal 24. Due to the dependency of the highest acceleration value, in particular the maximum acceleration gradient, on the operating position of accelerator pedal 24, at the start of the approach of vehicle 12 to reference vehicle 14, an earlier and greater braking deceleration may thus be set than in the driving situation from FIG. 2. This is because for this accelerator pedal position, which corresponds to a smaller operating position than in the driving situation in FIG. 2, the highest acceleration value, in particular the maximum acceleration gradient, is set to be smaller, and for the braking deceleration profile that arises, allows a smaller braking deceleration and/or a smaller acceleration gradient of the braking deceleration in order to increase the driving comfort and allow a more natural driving experience with the vehicle.

[0040] A braking operation that takes place at short notice and just before the minimum distance may be carried out with a greater braking deceleration when the control element is released. By letting up on the accelerator pedal, the driver intent for a braking deceleration is confirmed, and this may also be carried out via an increased maximum braking deceleration to prevent running up on a vehicle that is veering in a short distance ahead.

[0041] Thus, in order to not fall below the minimum distance between vehicle 12 and reference vehicle 14, the approach is initiated with a braking deceleration that is greater than for the driving situation from FIG. 2. The desired acceleration gradient of the braking deceleration is smaller than for the driving situation from FIG. 2. Upon an advancing approach and reaching a minimum distance, the automated distance setting is more greatly limited with regard to the highest acceleration value than for the driving situation from FIG. 2. This control of the approach with a prolonged and weaker braking operation also corresponds to natural driving behavior, in which the speed of vehicle 12 is reduced early if an obstacle moving at a slower speed should appear in lane 42. However, for hazardous situations with the vehicle, a smaller operating position, for example releasing the control element, may trigger a greater braking deceleration, corresponding to the driver intent after a braking deceleration.

[0042] FIG. 4 shows a vehicle including a distance controller in one particular specific embodiment of the present invention. Vehicle 12 includes a control unit 46 with which distance controller 32 is associated for computing the setpoint acceleration, in particular the braking deceleration and the highest acceleration value, during approach of vehicle 12 to a preceding reference vehicle by applying an automated distance setting. On the input side, distance controller 32 may take into account an actual speed of vehicle 12, a differential speed between vehicle 12 and the reference vehicle, an actual distance between vehicle 12 and the reference vehicle, and/or a setpoint distance between vehicle 12 and the reference vehicle. The actual distance may be measured by a distance sensor 47, for example a radar sensor, a camera, and/or a LIDAR sensor.

[0043] The setpoint acceleration that is output by distance controller 32 may be output to a control unit 48 that controls a braking device 50 which provides the braking action to vehicle wheels 52 for the braking deceleration.