Driver assistance system for a motor vehicle and motor vehicle

Abstract

The invention relates to a driver assistance system (2) for a motor vehicle (1), comprising: a distance measuring system (10) for determining a distance to a vehicle traveling ahead; or an interface, by means of which such a distance measuring system (10) of the motor vehicle (1) is connected by means of signal transmission technology in a conventional installation state in the motor vehicle (1); a controller (4) which is configured to keep the motor vehicle (1) at a predetermined driving speed target value in an automatic mode, the distance to the vehicle traveling ahead not falling below a predetermined distance target value, and to set a new distance target value in a situation-specific manner as a function of at least one environmental measurement value detected by means of a sensor. The controller (4) is also configured to adopt a new, user-specific distance target value in response to an input from a vehicle occupant, to recognize a current driving situation and the end of a current driving situation, and to adopt a new distance target value during follow-up driving only for the period of the current driving situation.

Description

Technical Field

[0001] The invention relates to a driver assistance system for a motor vehicle. The invention also relates to a motor vehicle having such a driver assistance system. Background Art

[0002] The term "driver assistance system" is here and hereinafter summarized as various systems of a vehicle for assisting the driver of a motor vehicle. A sufficiently known system is a so-called speed control device, which is designed with the aid of a corresponding controller to keep the motor vehicle at a target speed (i.e. a target value) usually set by the driver. Further developed systems additionally use distance measurement systems, such as radar sensors and / or front cameras, in order to detect a vehicle traveling ahead that can represent an obstacle and reduce the driving speed (with deviations from the target speed) when a preset distance (i.e. a "distance target value") to the vehicle traveling ahead is reached, and thus follow the vehicle traveling ahead. If the vehicle traveling ahead accelerates, the system increases the speed of the own vehicle until the own target speed is reached if possible. Other systems are, for example, lane keeping systems, etc. Summary of the invention

[0003] The object of the present invention is to further simplify the operation of a driver assistance system for the driver.

[0004] The driver assistance system according to the invention is provided and specified for use in a (especially land) motor vehicle (such as a passenger car) (or is installed in a motor vehicle in a specified state of use). The driver assistance system has a distance measuring system for determining the distance to a vehicle traveling ahead, or such a distance measuring system is connected to the motor vehicle by means of a provided interface in a specified state of installation in the motor vehicle by means of signal transmission technology. In addition, the driver assistance system has a controller, which is provided for keeping the motor vehicle at a predetermined driving speed target value in an automatic mode. That is, the controller is particularly provided for adjusting the driving speed of the motor vehicle to a target value. Here, the controller is also provided for the distance to the vehicle traveling ahead in the automatic mode (especially during so-called following driving) not to fall below a predetermined distance target value, that is, as long as the target value of the driving speed is greater than the driving speed value of the vehicle traveling ahead, the distance between the motor vehicle and the vehicle traveling ahead is adjusted to the distance target value (also referred to as "distance adjustment"). Furthermore, the controller is configured to adjust the distance target value in an automatic mode in a situation-specific manner as a function of the environmental measurement values ​​detected in a sensory manner (i.e. by means of corresponding sensors), in particular to set a new distance target value. The controller is also configured to adopt a new, user-specific distance target value in response to an input by a vehicle occupant. Furthermore, the controller is configured to recognize a current driving situation and the end of a current driving situation and to adopt a new (at least user-specific) distance target value during follow-up driving only for the duration of the current driving situation (i.e. temporarily).

[0005] Preferably, the control unit is configured to automatically adapt the distance target value according to different driving situations, which can be derived from the aforementioned environmental measurement values, for example from detected traffic density, restricted visibility conditions (e.g. due to fog, precipitation, light conditions), roadway properties (e.g. slipperiness of the road surface, roadway damage, etc.). For this purpose, the control unit preferably evaluates various sensors, such as external light sensors, radar sensors, cameras, etc. This method can also be summarized as "anticipatory driving control".

[0006] Preferably, the controller is further configured to, upon detecting the end of the current driving condition, re-adopt an "old" target distance value used before changing to a new target distance value as the current target distance value.

[0007] Further preferably, the control unit is connected to a drive system of the motor vehicle in a properly installed state or is designed as part of a control processor of the motor vehicle.

[0008] The term “following driving” is understood here and below to mean, in particular, that the motor vehicle is kept by the control unit at a distance target value behind a vehicle traveling ahead (in particular in a quasi-stationary state).

[0009] By only temporarily adjusting the distance target value, it is advantageously possible for the vehicle occupant, in particular the driver, to adjust the distance target value particularly easily according to the situation, in particular without having to undo this adjustment later. In particular, the driver can also only make changes to the distance target value that are only applicable for a relatively short period of time, in particular with respect to the entire driving time or at least with respect to the driving time on the same road.

[0010] The above-mentioned driver assistance system preferably functions not only in predictive driving control but also in an (at least partially) autonomous driving mode or a (fully) autonomous driving mode, at least for highway driving.

[0011] Preferably, the controller is also configured to monitor the time interval to the vehicle traveling ahead as a distance. This distance is often also referred to as a "time difference" or the like. As a basic setting that is not dependent on the user, a distance value of 1.8 seconds is predefined here, for example, which corresponds to the spatial distance of "half the speed" according to the rule of thumb - regardless of the current driving speed value.

[0012] The inventive, in particular land vehicle has a driver assistance system as described above and further below. The vehicle thus also has the features and advantages described within the context of the driver assistance system.

[0013] In a preferred embodiment, the controller is configured to recognize the end of the current driving situation based on at least one criterion, the at least one criterion being selected from: at least one change in road type (e.g. from a town road to a motorway, etc.), disappearance of the vehicle ahead (i.e., the vehicle ahead is no longer present in the region of the distance target value) or a change in the vehicle ahead, a change in the possible (permitted or dictated by external circumstances) driving speed range (e.g., entering or exiting a construction area on a motorway, a change in the curvature of a road section, a change from free driving to convoy driving, congestion or stop-and-go, a change in lane characteristics and / or visibility conditions), the end of a telephone call, the end of a driving cycle (e.g., switching off the ignition or engine), and the login of a driver of another vehicle (i.e., the driver, for example, using a key identification number).

[0014] The driver assistance system preferably has at least one input transducer connected to the controller by means of signal transmission. In this case, the controller is configured to adopt (“set”) a new distance target value as a function of the driver's actuation of the input transducer. The driver's actuation of the input transducer is thus at least one form of the aforementioned driver input.

[0015] In a suitable embodiment, the input converter is a microphone, which is used to receive the voice commands of the driver and is therefore arranged in the motor vehicle in particular in the area of ​​the driver's seat, preferably in the area of ​​the driver's head. The controller is preferably designed in this case to take into account the output signal of the microphone as an operation for adopting a new distance target value only when a corresponding voice command is recognized, especially based on the output signal of the microphone. In other words, the controller performs voice recognition and for the recorded voice input, only when a voice command (such as "drive closer", "keep farther away", etc.) is detected here, preferably stored accordingly or recognized by means of, for example, a machine learning algorithm, is interpreted as an operation. The controller is also configured, for example, to adjust (increase) the time interval to the next "smooth / round" tenth value (i.e., for example, from 1.8 seconds to 1.9 seconds) or to adjust it in steps of 0.1 seconds, 0.25 seconds, etc. in the case of relatively ambiguous instructions, such as in the case of "keep farther away".

[0016] In an additional or alternative embodiment, the input converter is a switch or button for manual actuation by the driver, which is arranged, for example, on a (multifunction) steering wheel, near the steering wheel, for example in the form of a steering paddle, in the area of ​​a gear selector, on a touch-sensitive screen, etc., in a specified installation state.

[0017] Preferably, the controller is configured to terminate the automatic mode in response to the driver actuating the vehicle brakes (especially the brake pedal). However, the termination of the automatic mode does not necessarily lead to the termination of the driving situation, but it is possible that - if the automatic mode is used again within a predefined time period - the previous driving situation (e.g. driving in a highway construction zone, a continuous phone call, etc.) continues to exist, so that the user-specific, new distance target value continues to be temporarily set as the distance target value.

[0018] In an expedient embodiment, the controller is designed to maintain the automatic mode, in particular at least for a predetermined time period, when the driver actuates the brake during the following trip, if the braking force applied and / or the deceleration caused by the actuation of the brake (in particular the time gradient of the deceleration or the negative acceleration) does not exceed a predetermined threshold value. The controller is in particular configured to recognize, based on the actuation of the brake (optionally with the additional use of an odometry system), whether only an adjustment of the target value is desired or - in extreme cases - an emergency braking is to be performed (for example in the case of an evasive maneuver, encountering the end of a traffic jam, etc.). In this case, excessive braking (in this case exceeding the above-mentioned threshold value) preferably leads to the automatic mode being switched off by the controller. Since the automatic mode is not terminated immediately upon the driver actuating the brake, the driver advantageously has a simple option to specify, in particular, a larger distance value as the new distance target value. This is because for many drivers, braking is the simplest and subjectively well-understood option to adjust the distance (and here also the driving speed) to a value that feels appropriate for the current driving situation.

[0019] In the optional additional variant of the above-mentioned monitoring of the braking force or deceleration, the control unit is particularly configured to take into account as an additional condition that the brake is maintained, in particular with a correspondingly low braking force. The control unit thus checks whether a "drag braking" of the brake occurs with a sufficiently low braking force and in this case preferably maintains the automatic mode for at least a predetermined period of time.

[0020] In addition or as an alternative to such drag braking, the control unit is configured to avoid acceleration to a previous driving speed target value or avoid driving to a distance target value, in particular during the predetermined time period, even though the automatic mode continues to be activated. In other words, in this case, a "tap" of the brakes (in particular below a braking force threshold) results in a temporary interruption of the distance control and / or speed control (but not complete deactivation).

[0021] In another suitable embodiment, the controller is arranged to achieve a lowering of the distance target value when the vehicle occupant accelerates during (especially quasi-stationary) following travel. That is, in this case, the controller allows the driver to "force" lowering of the distance target value by operating the accelerator pedal.

[0022] In a suitable embodiment, the control unit is designed to adopt the current distance value as the new distance target value when the brake is no longer actuated, when the vehicle occupant is no longer accelerating, or when the driver no longer actuates the accelerator pedal, both for the case where the automatic mode is not switched off despite actuation of the brake during following driving and for the case where the distance target value is forcibly dropped from the driver. That is, the driver can set a new target distance value by slightly braking or slightly accelerating (and then "releasing the brake" or "releasing the accelerator"). The control unit thus recognizes in this case that the distance value resulting from the driver's behavior (in particular with the end of braking or the end of active "approaching") is the new distance target value desired by the driver. As a result, the operation of the driver assistance system is more intuitive, is hardly perceived as an active change by the driver, and is therefore simplified.

[0023] In an alternative variant, the control unit is designed to adopt the current distance value as the new distance target value as a function of the actuation of the input converter, both for the case where the automatic mode is not switched off despite actuation of the brake during the following driving and for the case where the distance target value is forcibly dropped by the driver. Thus, the driver can, for example, briefly "tap" the brake, let the motor vehicle slide to the new desired distance and specify, for example, by means of a voice command "keep this distance" as the new, temporary distance target value. Accordingly, the distance target value can be reduced by the driver actively approaching the vehicle ahead. Instead of a voice command, the driver can also actuate a switch or a button. In this case, the control unit is configured to interpret, in particular, only a "simple" actuation of a switch or a button as an actuation to adopt the current distance value as the new distance target value. In particular, the control unit is configured to ignore a long-term pressing of a button (for example, for more than 1.5 seconds), multiple pressings (in particular in the form of double pressing) and / or a combined actuation of different switches or buttons. Thus, the driver does not need to remember "high-level" (in terms of complexity) operating steps to enter a new target value, especially when using the brake to adjust the target speed. Therefore, the change of the interval target value of the driving speed becomes more intuitive.

[0024] The control unit is preferably configured to terminate the automatic mode if, in particular, the input switch is not actuated until the predetermined time period has elapsed while the brake is actuated.

[0025] Furthermore, alternatively, a further operating element is provided, such as a switch, a button, a shift paddle, a shift lever, etc., by means of which the driver can temporarily change the distance target value instead of the brake pedal and the accelerator pedal. For example, the control is configured to use a simple actuation of the further operating element to achieve a defined abrupt change (e.g., in the range of 0.15 seconds to 0.3 seconds, in particular, 0.25 seconds) to a higher or lower distance target value (e.g., corresponding to the actuation direction of the lever). Alternatively, the control is configured to take into account the time distance value present at the end of an actuation of the further operating element for a longer period of time (e.g., greater than 0.5 seconds) as the new, user-specific distance target value. The control, in particular, continuously accelerates or decelerates the motor vehicle during the actuation of the further operating element.

[0026] Preferably, the distance measuring system is a camera (especially looking in the direction of travel), a radar sensor or a combination of the two. In addition, the distance measuring system is used to detect obstacles in the front driving path in addition to the vehicle. In this case, the controller is also configured to deviate from the current target value of the driving speed in order to avoid a collision with the detected obstacle or vehicle, preferably reducing the driving speed within the scope of the distance control.

[0027] In a preferred embodiment, the controller is configured to display the distance target value at the beginning of the automatic mode and / or to display the new distance target value when the distance target value changes in the automatic mode, i.e., when a new distance target value is automatically set and in the case of user-specific changes, wherein the display lasts only for a specified time period, in particular only for 2 to 6 seconds, preferably only for approximately 3 seconds.

[0028] In another advantageous embodiment, the control unit is configured to use an input by the driver via the input transducer or optionally via another input transducer, in particular another switch or another button, for a permanent change of the distance target value, in particular in the automatic mode (and in particular not in the following mode). Thus, the driver can specify a distance target value in this way, based on which the above-mentioned temporary adjustment is performed if necessary.

[0029] Optionally, the above-mentioned continuous adjustment of the distance target value is also set in the adjustment menu of the vehicle control device. For example, the continuous adjustment carried out in this way can also be distributed to the car key assigned to a specific driver.

[0030] The conjunction “and / or” is to be understood here and hereinafter in particular in such a way that the features connected by means of this conjunction can be designed both together and as alternatives to one another. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] The following is a detailed description of the embodiments of the present invention with the aid of the accompanying drawings.Figure 1 ) shows a motor vehicle with a driver assistance system in a schematic side view. DETAILED DESCRIPTION

[0032] exist Figure 1 , a motor vehicle 1 is shown. The motor vehicle comprises a driver assistance system 2. The driver assistance system 2 has a controller 4, which is configured to adjust the driving speed of the motor vehicle 1 to a target value in automatic mode. The driver assistance system 2 has at least one input converter, specifically two input converters in the present embodiment, which are associated with the controller 4 in terms of signal transmission technology. These input converters are a (interior) microphone 6 and buttons (not shown in detail) arranged on a multifunction steering wheel 8. In addition, the controller 4 is configured to adjust the distance to a slower vehicle that may be driving ahead to a preset distance target value (so-called "following driving") based on sensor data transmitted by a distance measurement system (here a radar system 10) pointing forward in the driving direction.

[0033] The controller 4 is also configured to receive a new distance target value as a result of an actuation of the microphone 6 or a button of the multifunction steering wheel 8. To this end, the controller 4 performs voice recognition and only evaluates the voice input as a corresponding actuation if, for example, a command such as "drive closer", "increase distance" (or similar) is recognized. When the button is actuated, the controller 4 sets the current distance (i.e., the current distance value) as a new, user-specific distance target value.

[0034] Thus, when the motor vehicle 1 is controlled by the controller 4 to travel behind the vehicle, that is, when the so-called distance adjustment is in effect (that is, during following travel), the driver of the motor vehicle 1 can press the accelerator pedal 12 until he reaches the distance value he desires and then operate the button of the multi-function steering wheel 8.

[0035] The driver can also issue a voice command "keep farther distance" or "keep closer distance", whereupon the controller 4 increases or decreases the distance target value so far by 0.1 seconds and sets the resulting value as a new, user-specific distance target value.

[0036] In addition, the controller 4 is configured to end the automatic mode according to the operation of the brake (i.e., the brake pedal 14) of the motor vehicle 1. In addition, the controller 4 is configured to maintain the automatic mode for a predetermined period of time (e.g., 5 to 10 seconds) when the driver operates the brake pedal 14 during the following driving, if the braking force applied based on the operation of the brake does not exceed a predetermined threshold value. Therefore, the controller 4 checks whether there is only slight braking, which is only used to adjust the current speed. For example, a self-learning algorithm is implemented in the controller 4 for this purpose. Optionally, the threshold is specified here according to the actual value of the driving speed. In the case of excessive braking with a braking force exceeding the threshold value, the controller 4 turns off the automatic mode.

[0037] If the driver subsequently actuates a button or issues a corresponding voice command after actuating the brake “lightly” in this manner, the controller 4 sets the current distance value as a new distance target value.

[0038] In this case, the control unit 4 preferably only understands “simple” (especially short-term, lasting less than 0.5 seconds) actuation as actuation of a button. The control unit 4 ignores other actuations of the button.

[0039] The controller 4 is configured to terminate the automatic mode if there is no manipulation of the microphone 6 or the keys until the predetermined period of time has elapsed.

[0040] The controller 4 is also configured to receive changes to the distance target value initiated by the driver during follow-up driving only temporarily, specifically only for the current driving situation. The controller 4 is configured to recognize the current driving situation (e.g., follow-up driving in a highway construction area) and the end of the current driving situation. In the present example, the controller 4 recognizes the end of the driving situation by driving out of the highway construction area. In this case, the controller 4 switches back to the previous target distance value.

[0041] The motor vehicle 1 also includes a display device not shown in detail, such as a conventional instrument panel or screen, on which driving information, such as the current actual value of the driving speed, etc., is displayed. The controller 4 is configured to display the target value only for a predetermined time of about 3 seconds when the automatic mode starts or the target value is adjusted.

[0042] The subject matter of the present invention is not limited to the above-described embodiments. On the contrary, those skilled in the art can deduce other embodiments of the present invention from the above description.

[0043] List of reference numerals:

[0044] 1Motor Vehicle

[0045] 2 Driver Assistance Systems

[0046] 4 Controller

[0047] 6 Microphones

[0048] 8 Multi-function steering wheel

[0049] 10 Radar System

[0050] 12 Accelerator pedal

[0051] 14 Brake pedal

Claims

1. A driver assistance system (2) for a motor vehicle (1), - a distance measuring system (10) for determining the distance to a vehicle travelling ahead; or an interface by means of which such a distance measuring system (10) of the motor vehicle (1) is connected by means of signal transmission technology in a conventionally installed state in the motor vehicle (1), - a control unit (4) which is configured to maintain the motor vehicle (1) in an automatic mode at a predetermined driving speed target value, a distance to a preceding vehicle not falling below a predetermined distance target value, and to set a new distance target value as a function of at least one environmental measurement value detected by means of a sensor, in, The controller (4) is configured to adopt a new, user-specific distance target value in response to an input from a vehicle occupant in an automatic mode, and The invention is characterized in that the controller (4) is configured to identify the current driving situation and the end of the current driving situation, and adopt a new distance target value only for the period of the current driving situation during the following driving, and when the end of the current driving situation is detected, re-adopt the target distance value used before changing to the new target distance value as the current target distance value, wherein the driver assistance system also has at least one input converter (6) connected to the controller (4) by signal transmission technology, wherein the controller (4) is configured to adopt the new distance target value according to the operation of the input converter (6) by the vehicle occupant, wherein the input converter is a microphone (6) for receiving voice commands of the vehicle occupant, wherein the controller (4) is configured to consider the operation of the microphone (6) for adopting the new distance target value only when the corresponding voice command is recognized.

2. The driver assistance system (2) according to claim 1, characterized in that The controller (4) is configured to recognize the end of a current driving situation based on at least one criterion, the at least one criterion being selected from: at least one change in road type, disappearance of a preceding vehicle, a change in a possible driving speed range, the end of a telephone call, the end of a driving cycle, and the login of another vehicle driver.

3. The driver assistance system (2) according to claim 1 or 2, characterized in that The controller (4) is arranged to end the automatic mode in response to a vehicle occupant operating a brake of the motor vehicle (1), and wherein the controller (4) is arranged to maintain the automatic mode when the brake is operated during following travel if the braking force applied and / or the deceleration caused by the operation of the brake does not exceed a predetermined threshold value.

4. The driver assistance system (2) according to claim 1 or 2, characterized in that The controller (4) is configured to achieve a distance to a preceding vehicle below a target distance value when the vehicle occupant accelerates during following travel.

5. The driver assistance system (2) according to claim 3, characterized in that The controller (4) is configured to use the current distance value as a new distance target value when the brake is no longer actuated, when the vehicle occupant is no longer accelerating, or when the vehicle occupant no longer actuates the accelerator pedal of the motor vehicle (1).

6. The driver assistance system (2) according to claim 1, characterized in that The controller (4) is configured to adopt the current distance value as a new distance target value according to the manipulation of the input converter (6).

7. The driver assistance system (2) according to claim 1 or 2, characterized in that The controller (4) is configured to display a distance target value at the beginning of an automatic mode and / or to display a change in the distance target value during the automatic mode, wherein the display lasts only for a predetermined period of time.

8. The driver assistance system (2) according to claim 1 or 2, characterized in that The control unit (4) is configured to use an input by a vehicle occupant via an input transducer (6) or another input transducer to permanently change a distance target value.

9. The driver assistance system (2) according to claim 3, characterized in that If the braking force applied and / or the deceleration caused by the actuation of the brakes does not exceed a predetermined threshold value, the automatic mode is maintained for a predetermined period of time.

10. The driver assistance system (2) according to claim 7, characterized in that The prescribed duration is 2 to 6 seconds.

11. The driver assistance system (2) according to claim 9, characterized in that The specified duration is 3 seconds.

12. A motor vehicle (1) having a driver assistance system (2) according to any one of claims 1 to 11.

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