Longitudinal driver assistance system in a motor vehicle

Abstract

A longitudinal driver assistance system is provided in a motor vehicle. A first detection system identifies a first event which, starting from an actual speed, leads to the specification of an increased target speed at a predefined location-dependent first moment in time, and for identifying a subsequent second event which, starting from the increased target speed, leads to the specification of a target speed that is reduced in relation thereto at a predefined location-dependent second moment in time. A second detection system identifies, in an anticipatory manner, a predefined deceleration potential starting from the increased target speed to the reduced target speed. A functional unit reduces the acceleration to the increased target speed if, otherwise, the subsequent deceleration to the reduced target speed with the predefined deceleration potential cannot be completed at the location-dependent moment in time of the second event.

Claims

1. A longitudinal driver assistance system in a motor vehicle, comprising: a first detection system comprising one or more of: a navigation system configured to obtain map data specifying a location of an event and a setpoint speed applicable at the location; or a camera configured to obtain image data identifying the event, wherein the first detection system is configured to: identify a first event specifying an increased setpoint speed from an actual speed of the motor vehicle that would be reached at a predefined location-dependent first point in time by applying an acceleration, and identify a subsequent second event specifying a reduced setpoint speed that is reduced in relation to the increased setpoint speed at a predefined location-dependent second point in time; a second detection system configured to: identify, in an anticipatory manner, a predefined deceleration from the increased setpoint speed to the reduced setpoint speed; and an electronic control unit configured to reduce the acceleration to the increased setpoint speed by communicating with a wheel brake and/or a drive motor of the motor vehicle in response to a determination that deceleration to the reduced setpoint speed cannot be completed at the predefined location-dependent second point in time without exceeding the predefined deceleration wherein when a plurality of consecutive events in a predefined observation period are present, the electronic control unit is further configured to: determine the reduced setpoint speed via an expanded event selection such that, starting from the actual speed or a present setpoint speed, one or more events are selected from the plurality of consecutive events only if the event; reduces the actual speed or the present setpoint speed, reduces the actual speed or the present setpoint speed at a predecessor event, has a defined minimum distance from the predecessor event, and/or is achievable with the predefined deceleration at a location-dependent point in time of the one or more selected events, wherein, from the expanded event selection, a minimum reduced setpoint speed is selected as the reduced setpoint speed.

2. The longitudinal driver assistance system according to claim 1, wherein the electronic control unit is further configured to reduce the acceleration to the increased setpoint speed based on an empirically ascertained tabular specification depending on a predefined location-based time interval to the subsequent second event.

3. The longitudinal driver assistance system according to claim 1, wherein the increased setpoint speed is predefined by a driver and specified in the first event.

4. The longitudinal driver assistance system according to claim 1, wherein the reduced setpoint speed is a maximum permissible top speed and specified in the subsequent second event.

5. The longitudinal driver assistance system according to claim 1, wherein the subsequent second event is a maximum permissible top speed for merging into a roundabout, for exiting an exit ramp, and/or for negotiating at least one curve having a previously determined curve radius.

6. The longitudinal driver assistance system according to claim 1, wherein the reduced setpoint speed is a virtual maximum permissible top speed, which is determinable in the electronic control unit based on a criticality of the subsequent second event.

7. The longitudinal driver assistance system according to claim 1, wherein the increased setpoint speed is a first increased setpoint speed; the reduced setpoint speed is a first reduced setpoint speed; the electronic control unit contains an extraordinary situation function, which is activatable: first, upon identification of a third event which, starting from the actual speed, does not specify a second increased setpoint speed, but rather a constant setpoint speed, at a predefined location-dependent third point in time, and second, upon identification of a subsequent fourth event which, starting from the actual speed, specifies a second reduced setpoint speed that is reduced in relation to the constant setpoint speed at a predefined location-dependent fourth point in time, and the extraordinary situation function is designed such that the actual speed is reduced, according to the predefined deceleration at a fifth point in time such that, starting from the actual speed, the second reduced setpoint speed is achievable at the location-dependent fourth point in time.

8. A longitudinal driver assistance system in a motor vehicle, comprising: a first detection system comprising one or more of: a navigation system configured to obtain map data specifying a location of an event and a setpoint speed applicable at the location; or a camera configured to obtain image data identifying the event, wherein the first detection system is configured to: identify a first event specifying an increased setpoint speed from an actual speed of the motor vehicle that would be reached at a predefined location-dependent first point in time by applying an acceleration, and identify a subsequent second event specifying a reduced setpoint speed that is reduced in relation to the increased setpoint speed at a predefined location-dependent second point in time; an electronic control unit configured to reduce the acceleration to the increased setpoint speed, wherein when a plurality of consecutive events in a predefined observation period are present, the electronic control unit is further configured to: determine the reduced setpoint speed via an expanded event selection such that, starting from the actual speed or a present setpoint speed, one or more events are selected from the plurality of consecutive events only if the event: reduces the actual speed or the present setpoint speed, reduces the actual speed or the present setpoint speed at a predecessor event, has a defined minimum distance from the predecessor event, and/or is achievable with a predefined deceleration from the increased setpoint speed to the reduced setpoint speed at a location-dependent point in time of the one or more selected events.

9. The longitudinal driver assistance system according to claim 8, wherein the electronic control unit is further configured to reduce the acceleration to the increased setpoint speed based on an empirically ascertained tabular specification depending on a predefined location-based time interval to the subsequent second event.

10. The longitudinal driver assistance system according to claim 8, wherein the increased setpoint speed is predefined by a driver and specified in the first event.

11. The longitudinal driver assistance system according to claim 8, wherein the reduced setpoint speed is a maximum permissible top speed and specified in the subsequent second event.

12. The longitudinal driver assistance system according to claim 8, wherein the subsequent second event is a maximum permissible top speed for merging into a roundabout, for exiting an exit ramp, and/or for negotiating at least one curve having a previously determined curve radius.

13. The longitudinal driver assistance system according to claim 8, wherein the reduced setpoint speed is a virtual maximum permissible top speed, which is determinable in the electronic control unit based on a criticality of the subsequent second event.

14. A longitudinal driver assistance system in a motor vehicle, comprising: a first detection system comprising one or more of: a navigation system configured to obtain map data specifying a location of an event and a setpoint speed applicable at the location; or a camera configured to obtain image data identifying the event, wherein the first detection system is configured to: identify a first event specifying an increased setpoint speed from an actual speed of the motor vehicle that would be reached at a predefined location-dependent first point in time by applying an acceleration, and identify a subsequent second event specifying a reduced setpoint speed that is reduced in relation to the increased setpoint speed at a predefined location-dependent second point in time; an electronic control unit configured to reduce the acceleration to the increased setpoint speed, wherein the electronic control unit is further configured to: determine the reduced setpoint speed via an expanded event selection such that, starting from the actual speed or a present setpoint speed, one or more events are selected from a plurality of consecutive events only if the event: reduces the actual speed or the present setpoint speed at a predecessor event, has a defined minimum distance from the predecessor event, and is achievable with a predefined deceleration from the increased setpoint speed to the reduced setpoint speed at a location-dependent point in time of the one or more selected events.

15. The longitudinal driver assistance system according to claim 14, wherein the electronic control unit is further configured to reduce the acceleration to the increased setpoint speed based on an empirically ascertained tabular specification depending on a predefined location-based time interval to the subsequent second event.

16. The longitudinal driver assistance system according to claim 14, wherein the increased setpoint speed is predefined by a driver and specified in the first event.

17. The longitudinal driver assistance system according to claim 14, wherein the reduced setpoint speed is a maximum permissible top speed and specified in the subsequent second event.

18. The longitudinal driver assistance system according to claim 14, wherein the subsequent second event is a maximum permissible top speed for merging into a roundabout, for exiting an exit ramp, and/or for negotiating at least one curve having a previously determined curve radius.

19. The longitudinal driver assistance system according to claim 14, wherein the reduced setpoint speed is a virtual maximum permissible top speed, which is determinable in the electronic control unit based on a criticality of the subsequent second event.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

(1) FIG. 1 shows an exemplary configuration of a longitudinal driver assistance system designed as a cruise control system in a motor vehicle for controlling the speed to a setpoint speed.

(2) FIG. 2a shows a first situation according to the aforementioned case a and the resultant adaptation of the acceleration behavior, according to the invention, in the automatic longitudinal guidance mode.

(3) FIG. 2b shows a second situation according to the aforementioned case b and the resultant adaptation of the acceleration behavior, according to the invention, in the automatic longitudinal guidance mode.

(4) FIG. 3 shows a first specific traffic situation including a roundabout, in which the embodiment of the longitudinal driver assistance system according to the invention is advantageous.

(5) FIG. 4 shows a second specific traffic situation including an expressway exit, in which the embodiment of the longitudinal driver assistance system according to the invention is advantageous, in particular, also with a specific exit strategy in the automatic longitudinal guidance mode.

(6) FIG. 5 shows a third specific traffic situation including an extremely curvy road routing, in which the embodiment of the longitudinal driver assistance system according to the invention is advantageous, in particular, also with a specific expanded event selection in the automatic longitudinal guidance mode.

DETAILED DESCRIPTION OF THE DRAWINGS

(7) FIG. 1 schematically shows the following essential components of a longitudinal driver assistance system according to the invention: a first forward-looking detection system E1 for identifying a first event e1 which, starting from an actual speed v.sub.ist, results in the specification of an increased setpoint speed v.sub.soll_1 at a predefined location-dependent first point in time, and for identifying a subsequent second event e2 which, starting from the increased setpoint speed v.sub.soll_1, results in the specification of a setpoint speed v.sub.soll_2 that is reduced in relation thereto at a predefined location-dependent second point in time; a second forward-looking detection system E2 for identifying, in an anticipatory manner, a predefined deceleration potential a2 starting from the increased setpoint speed v.sub.soll_1 to the reduced setpoint speed v.sub.soll_2; a functional unit FE, which reduces the acceleration to the increased setpoint speed v.sub.soll_1 from a1 to a1, in particular at the present point in time to and/or location do, if, otherwise, the subsequent deceleration to the reduced setpoint speed v.sub.soll_2 with the predefined deceleration potential a2 would not be completed at the location-dependent point in time of the second event; a drive unit AE and a brake unit BrE for carrying out the acceleration or speed adjustment; and a display operating unit ABE including a message system HS and an operating element BE, wherein the message system HS preferably displays the particular selected event.

(8) The output signals e1 and e2 and/or e.sub.i of the detection system E1, the output signal a2 of the detection system E2, the actual speed signal v.sub.ist, optionally an authorization signal z for authorizing an automatic speed adaptation, optionally a rejection signal a for rejecting the authorization of the automatic speed adaptation, and a signal v+/? for the manual adaptation of the setpoint speed are input signals of the functional unit FE.

(9) The detection unit E1 is, for example, a map-based detection unit, which, on the basis of present map data, the own position, and a known upcoming route section, identifies events e1 and e2 and/or e.sub.i, which require an adaptation of the setpoint speed (for example, speed limit, roundabout, expressway exit, curve radii). The map-based detection unit E1 is designed in such a way that, on the one hand, it identifies the location of the upcoming relevant event (for example, reaching a roundabout, an expressway exit, or a sharp curve), i.e., also the level of the maximum permitted setpoint speed applicable at this location, and transmits this to the functional unit FE as the location-dependent point in time d2 or t2.

(10) Additionally, the detection unit E1 can also be camera-based, so that upcoming, speed-limiting events, which possibly require an adaptation of the setpoint speed, are also identifiable on the basis of the data of a forwardly aligned (for example, video) sensor system.

(11) The functional unit FE can output an appropriate signal af to the driver at a defined point in time at a display operating unit ABE, which includes a message system HS and an operating element BE. Depending on the embodiment of the cruise control system, according to a first alternative, the output can be triggered, in principle, only for the case in which the ascertained new setpoint speed is less than the maximum desired setpoint speed predefined by the driver. According to a second alternative, the output can take place regardless of the maximum setpoint speed desired by the driver.

(12) The operating element BE, with the aid of which the driver can confirm the prompt message, is designed in such a way that the driver can request a manual change of the setpoint speed v+/? at the times at which no prompt message is output, in order to specify a new set speed.

(13) According to an alternative embodiment of the longitudinal driver assistance system, the functional unit FE could also be designed in such a way that it does not first trigger the automatic adaptation of the speed after receipt of an authorization confirmation z, but rather automatically upon reaching the ascertained defined point in time. In an embodiment of this type, the display operating unit ABE represented using dotted lines could be dispensed with.

(14) On the basis of FIG. 2a and FIG. 2b, the adaptation of the acceleration behavior in the automatic longitudinal guidance mode (see also above, case a and case b) according to the inventionwhich can be carried out in the functional unit FE with the aid of an appropriate computer program productis represented by the profiles of the vehicle speed v plotted with respect to the location d and the time t.

(15) FIG. 2a and FIG. 2b show a route d with respect to the time t, wherein at the location do and/or at the point in time to, a first event e1 is identified here in the form of a new set speed specification of 80 km/h which, looking ahead, would be reached at the location d1 and/or at the point in time t1 starting from the actual speed v.sub.ist of 40 km/h with a present acceleration behavior a1 (which is not yet according to the invention). Likewise looking ahead, a second event e2 having a reduced setpoint speed v.sub.soll_2 of 50 km/h is identified at the location d2 and/or at the point in time t2.

(16) In FIG. 2a, the aforementioned case a is shown. The acceleration behavior a1 does not need to be adapted, since the reduced setpoint speed v.sub.soll_2 is achievable with the deceleration potential a2, which has also been identified, at the location d2 and/or the point in time t2 starting from the increased setpoint speed v.sub.soll_1 at the location d1 and/or the point in time t1.

(17) In FIG. 2b, the aforementioned case b is shown. The acceleration behavior a1 must be adapted into a reduced acceleration behavior a, since the reduced setpoint speed v.sub.soll_2 would otherwise not be achievable with the identified deceleration potential a2 at the location d2 and/or the point in time t2 starting from the increased setpoint speed v.sub.soll_1 at the location d1 and/or the point in time t1.

(18) The reduced acceleration a1 to the increased setpoint speed v.sub.soll_1 is preferably carried out on the basis of an empirically ascertained tabular specification, for example, characteristic curve P(dt), depending on a predefined location-based time interval dt from the point in time to (and/or from the point in time t1) up to the point in time t2 of the second event e2, which is associated here with a simultaneous change to the reduced setpoint speed v.sub.soll_2.

(19) FIG. 3 shows a traffic situation, in which, at the point in time to and/or at the location do, a vehicle EGO equipped with an exemplary system according to the invention moves toward a roundabout KV at an actual speed of, for example, 60 km/h due to an active cruise control. At the point in time t1 and/or at the location d1, a first event e1 in the form of a traffic sign is identifiable, due to which an increased setpoint speed v.sub.soll_1 is permissible and is automatically adjustable by the system according to FIG. 2a.

(20) The second event e2 relates, in this case, to the merging into a roundabout KV at the point in time t2 and/or at the location d2. The reduced setpoint speed v.sub.soll_2, in this case, is a virtual maximum permissible top speed, which is determinable by the functional unit FE on the basis of the criticality of the second event e2 and the circular travel. Due to the radius of the roundabout KV, the roundabout KV is to be traveled through at a recommended speed v.sub.soll_2 of a maximum of 40 km/h.

(21) The acceleration behavior a1 does not need to be adapted in this case, since the reduced setpoint speed v.sub.soll_2 is achievable with the deceleration potential a2, which has also been identified, at the location d2 and/or the point in time t2 starting from the increased setpoint speed v.sub.soll_1 at the location d1 and/or the point in time t1. Preferably, an acceleration could also be suppressed in this case if the time between to and t1 is so short that the increased setpoint speed is not achievable at the point in time t1.

(22) FIG. 4 shows a traffic situation, in which a vehicle EGO equipped with an exemplary system according to the invention travels on an expressway AB at a speed v.sub.ist=v.sub.soll_1 of, for example, 130 km/h, due to the active cruise control. At the point in time t1 and/or at the location d1, an event e1 is identified, according to which the vehicle EGO on the expressway AB is located at a close distance from the exit AF, wherein the setpoint speed v.sub.ist=v.sub.soll_1 is not changed.

(23) On the basis of the activated route guidance, it is known that the vehicle will exit the expressway AB at the next exit AF with a comparatively sharp curve radius. Either a speed limit sign, for example, for 60 km/h is located at the point in time t2 and/or at the location d2 of the beginning of the exit, or this speed is predefined as a reduced setpoint speed due to the criticality. This speed limit corresponds to an event e2.

(24) In order to prevent the vehicle EGO from already decelerating too soon on the expressway AB and, therefore, also prompting the traffic behind the vehicle to decelerate the speed, an extraordinary situation function SS is activated in the functional unit FE. This first reduces the actual speed v.sub.soll_1=v.sub.ist at the point in time t3 and/or at the location d3 according to the predefined deceleration potential a2, at which, starting from the actual speed v.sub.ist=v.sub.soll_1, the reduced setpoint speed v.sub.soll_2 is achievable at the location-dependent point in time d2 and/or t2 of the second event e2.

(25) The extraordinary situation function SS is therefore activated upon identification of a first event e1 which, starting from an actual speed v.sub.ist, does not result in the specification of an increased setpoint speed v.sub.soll_1=v.sub.ist, but rather a constant setpoint speed v.sub.soll_1=v.sub.ist, at a predefined location-dependent first point in time d1 and/or t1, and, upon identification of a subsequent second event e2 which, starting from the actual speed v.sub.soll_1=v.sub.ist, results in the specification of a setpoint speed v.sub.soll_2 that is reduced in relation thereto at a predefined location-dependent second point in time d2 and/or t2. Similarly, the event e1 can also be dispensed with in this extraordinary situation function SS.

(26) The refinements according to the invention as represented in FIG. 4 (extraordinary situation function) are based on the following fundamental considerations.

(27) A conventional forward-looking control with respect to curves, turns, speed limits, or roundabouts typically has a very comfortable and early beginning of the control. This is inappropriate in an exit situation, since the traffic behind the vehicle could be (greatly) impeded. In general, exits on expressways or expressway-like roads, which generally comprise a deceleration lane, are approached, in the manual longitudinal guidance mode of these deceleration lanes, at considerably increased speeds and, thereupon, deceleration takes place. These increased dynamics with respect to exit situations are not represented in the present-day related art and are perceived as impeding traffic flow.

(28) According to the invention, during an approach to an expressway exit, the control with respect to events located after the deceleration lane is therefore initially prevented. Instead, for the beginning of the deceleration lane, an applicable exit speed is stored as a (virtual) reduced setpoint speed and deceleration to this exit speed takes place with the aid of an applicable exceptional situation function. If the beginning of the deceleration lane has been reached, the subsequent events are once again permitted with respect to control. An exception is the case when the deceleration to a subsequent event exceeds the applicable exit deceleration to a considerable extent in terms of amount. In this case, deceleration with respect to the event is permitted to take place before the deceleration lane has been reached. A dynamic pre-control with respect to the deceleration lane is carried out only when an event is located within a certain time interval after the end of the deceleration lane, the target speed of which is below the exit speed.

(29) As a result, a more dynamic driving operation on expressways or expressway-like roads including deceleration lanes is achieved, which is adapted to the driving behavior of the remaining road users. The automatic longitudinal guidance mode must be overridden, in order not to impede the traffic flow, to a considerably lesser extent.

(30) In FIG. 5, the mode of operation of an expanded event selection EA in the functional unit FE is explained, whereby, in the presence of a plurality of events e.sub.i situated one behind the other comparatively closely in a predefined observation period ?t, the reduced setpoint speed v.sub.soll_2 is determinable in the functional unit in the form of an expanded event selection in such a way that only the events are selected that, starting from a present setpoint speed, which can be either the actual speed v.sub.ist or an increased setpoint speed v.sub.soll_1, result in a reduced setpoint speed. The expanded event selection EA can be applied both in the presence or not in the presence of an anticipated setpoint speed-increasing event e1.

(31) In the expanded event selection EA, preferably, in addition, in the predefined observation period ?t, only the events are selected that have a reduced setpoint speed at the particular predecessor event e.sub.i-1.

(32) Moreover, in the expanded event selection EA in the predefined observation period ?t, preferably only the events are selected that have a defined minimum distance dt.sub.min (preferably applicable depending on the driving mode) from the particular predecessor event e.sub.i-1.

(33) In addition, all events e.sub.i must be reachable one after the other with the predefined deceleration potential a2 at the location-dependent point in time of the particular event. If this is not the case, the predecessor event is deselected.

(34) Preferablyin particular also upon a display of a selected event in the message system HS of the display operating unit ABEthe event is deselected, the successor event of which is located within a very short applicable minimum display time interval, in order not to confuse the driver.

(35) Finally, the event is preferably selected and, possibly, displayed on the message system HS, which is the event with the resultant minimum reduced setpoint speed v.sub.soll_2=v.sub.soll_min.

(36) In FIG. 5, the aforementioned rules yield, for example, the minimum reduced setpoint speed v.sub.soll_2=v.sub.soll_min, for example 30 km/h, toward which control is subsequently carried out. The deselected examples are represented with the aid of dashed lines. The possible setpoint speed of 70 km/h is omitted, because it is higher than the actual speed of 60 km/h. The possible setpoint speed of 50 km/h is omitted, because it is higher than the reduced setpoint speed of 40 km/h. The possible setpoint speed of 20 km/h is omitted, because it or its associated event is situated within the minimum distance dt.sub.min from the predecessor event with the setpoint speed of 30 km/h. The predefined deceleration potential a2 suffices to reach the setpoint speeds of the event e2 selected in this case in a timely manner.

(37) The refinements according to the invention as represented in FIG. 5 (expanded event selection) are based on the following fundamental considerations:

(38) If multiple events are situated closely one behind the other on a road course, these are represented to the driver sequentially in the form of a superimposition of alerts and are adjusted one after the other. This results in rapidly changing superimpositions of alerts, which can confuse the driver. An appropriate control would result in a turbulent driving behavior.

(39) The selected event, which has been expanded according to the invention, allows for a message display related to an event, which is understood by the driver as being plausible, and a calming of the message display that is represented to the driver. Confusion does not arise and more confidence in the automatic longitudinal guidance system is suggested to the driver. Moreover, independence from the message display and the event control is achieved.

(40) Finally, for the sake of completeness, it is to be mentioned that the longitudinal driver assistance system according to the invention can be utilized not only for cruise control systems, but also for other types of assistance for the driver with respect to longitudinal guidance. For example, the longitudinal driver assistance system can also be designed, for example, as a speed limiting system, in the case of which a maximum permissible limiting speed is predefinable, and the functional unit is configured for preventing the predefined or set maximum permissible speed from being exceeded due to an appropriate actuation of the drive.