Method and control system for limiting driver acceleration request

Abstract

A method and control system for limiting a driver acceleration request of a vehicle is provided. The vehicle comprises a controller arrangement that receives a driver acceleration request and determines whether the driver acceleration request is below an acceleration threshold. If so, it initiates a limitation protocol and limits the acceleration of the vehicle compared to the driver acceleration request depending on the distance between a preceding vehicle and the host vehicle. The invention also relates to a vehicle comprising such a control system.

Description

Technical Field

[0001] The present invention relates to a method for limiting a driver's acceleration request, a control system for implementing the method in a vehicle, and a vehicle including such a control system. Background Technology

[0002] Many vehicles today are equipped with autonomous and / or at least partially autonomous driving systems. These systems are typically designed to increase the comfort and / or safety of vehicle occupants. Some systems are also configured to increase the safety of people in and / or in the surrounding environment of the vehicle.

[0003] An example of such a system is an adaptive cruise control system, hereinafter referred to as "ACC". ACC may include one or more sensors, such as cameras and / or radar, which continuously monitor the environment surrounding the primary vehicle. ACC may also include or be connected to a driving control system that adjusts the speed of the primary vehicle based on the vehicles detected ahead of the primary vehicle by the sensors. If the primary vehicle approaches a vehicle traveling in the same lane ahead, ACC may adjust the selected speed so that the primary vehicle maintains a safe distance from the vehicle ahead and follows it at a safe distance. Another type of ACC may maintain a selected speed for the primary vehicle, for example, when there are no vehicles in front of it.

[0004] In addition to or as an alternative to ACC, vehicles can be equipped with passive driver assistance systems, in which one or more warning systems are activated when a dangerous situation occurs or is about to occur. Unlike ACC, passive driver assistance systems do not take over the driver's functions but only warn the driver. For example, an alert can be issued to prompt the driver to take action when the vehicle unintentionally fails to keep in its lane or when the vehicle gets too close to the vehicle in front.

[0005] Currently, a major cause of traffic accidents is so-called following too closely, where drivers unintentionally get too close to the vehicle in front. It is hoped that improvements to existing ACC systems and / or existing passive safety systems will reduce the amount of unintentional following too closely, thereby reducing the number of traffic accidents. Summary of the Invention

[0006] According to the present invention, a method for limiting a driver's acceleration request is provided. The method includes: receiving a driver's acceleration request; determining whether the driver's acceleration request is below an acceleration threshold; and if the driver's acceleration request is below the acceleration threshold, initiating a limiting protocol, wherein the limiting protocol includes: detecting a vehicle ahead of the primary vehicle and obtaining sensor data associated with the distance from the primary vehicle to the vehicle ahead; comparing the sensor data with a distance threshold for a safe distance between vehicles; and if the sensor data is below the distance threshold, outputting a vehicle acceleration command, wherein the vehicle's acceleration is limited compared to the acceleration request.

[0007] In this context, the term “driver acceleration request” (DAR) is used to indicate both active requests (e.g., where the driver actively pushes the accelerator pedal further down) and passive requests where the vehicle will accelerate without driver interference due to changing road conditions (such as different road gradients or different wind conditions).

[0008] Advantageously, when a moderate acceleration is unintentionally requested, the method limits the vehicle's acceleration to an unsafe position that would bring the vehicle too close to the vehicle in front. The method requires the driver to make an active decision in the form of a more explicit acceleration request to disable the limiting protocol and obtain the requested vehicle acceleration. This more explicit acceleration can be requested, for example, by giving a more pronounced push on the accelerator pedal or another type of throttle controller.

[0009] In this embodiment, the acceleration limiting protocol is disabled when the vehicle is changing lanes or is about to change lanes. Disabling the acceleration limiting protocol when a vehicle is changing lanes or is about to change lanes is advantageous because this typically involves situations where the primary vehicle is about to take over from the vehicle in front. In this situation, following too closely is somewhat desirable because the primary vehicle preferably accelerates and approaches the vehicle in front to a distance closer than a safe distance before performing a maneuver to overtake it. If vehicle acceleration is limited while performing the maneuver, it would be undesirable for the driver.

[0010] To identify when a vehicle is changing lanes or is about to change lanes, the vehicle may be equipped with, for example, cameras and / or sensors that can monitor lane markings on the road and identify when the vehicle is changing lanes. Alternatively or additionally, when one of the vehicle's turn indicators is activated, the restriction protocol can be disabled based on the position of the steering wheel or the speed at which the steering wheel is turned.

[0011] In this embodiment, the driver acceleration request is received after the accelerator pedal input has been converted into a driver acceleration request. The accelerator pedal input may be measured, for example, by an accelerator pedal position sensor or derived from pressure on the accelerator pedal. Throughout this document, the term "accelerator pedal" is used to refer to any type of throttle controller. It should be understood that other types of throttle controllers may also be provided, such as a manual lever or a digital input in a vehicle's cruise control system, to control a selected speed or request a speed increment. An accelerator pedal or throttle controller enables the driver to at least partially control the vehicle's speed and acceleration.

[0012] The conversion from accelerator pedal input to driver acceleration request is performed in the control unit. This conversion can typically depend on driver and / or vehicle conditions, such as vehicle weight, the vehicle's active "eco" driving mode, road type, road gradient, wind conditions, etc. The vehicle may be equipped with appropriate vehicle sensors and / or road sensors to collect data and use it for the conversion of accelerator pedal input to driver acceleration request. The driver acceleration request can be in [L] / [T] mode. 2 Expressed in units, such as m / s 2 .

[0013] In this embodiment, the acceleration threshold is a constant value. For example, the acceleration threshold could be 0.2 m / s². 2 0.5m / s 2 or 1m / s 2 Acceleration can depend on vehicle characteristics, such as the vehicle's motor capacity or empty weight.

[0014] In an alternative embodiment, the acceleration threshold may depend on detected vehicle conditions and / or detected road conditions. Detected vehicle conditions may include, for example, the vehicle's current speed and / or its current weight. For instance, the acceleration threshold may be higher at lower speeds of the primary vehicle than at higher speeds. This avoids undesirable limitations on acceleration when moderately accelerating behind another vehicle while stopped at a traffic light. Detected road conditions may include road type, road gradient, traffic conditions, or appropriate maximum speed limits on the road.

[0015] In this embodiment, the distance threshold is determined based on the current speed of the host vehicle. Typically, in safe driving activities, the distance threshold is expressed in units of time rather than units of length. For example, "maintain a distance of at least 2 seconds." The distance threshold in this method can be defined in a similar manner. It should be understood that any safe distance can be implemented and converted to units of length based on the current speed of the host vehicle. Optionally, the distance threshold is between 1 second and 3 seconds. Alternatively, the distance threshold can be defined as a constant length.

[0016] In this embodiment, a distance threshold is determined based on long-term average driver behavior. The vehicle may include a controller configured to learn and recognize the typical distance to the vehicle ahead maintained by the driver of the primary vehicle. The controller may then calculate a driver-specific distance threshold based on statistics regarding the distance maintained. The determination of the driver-specific distance threshold may be accomplished, for example, by analyzing statistics of early events in which the vehicle approaches the vehicle ahead and actively brakes or releases the accelerator pedal to increase the distance between the primary vehicle and the vehicle ahead. The driver-specific distance threshold may be linked to the vehicle or to a specific user of the vehicle, such as the driver. Driver identification may be performed by any suitable means, such as via a personal car key, a camera in the passenger compartment with facial / body recognition, seat settings, etc.

[0017] In one embodiment, the distance threshold can also be determined based on both the current speed of the primary vehicle and long-term average driver behavior. Long-term average driver behavior can be determined as the average distance to a vehicle ahead when driving at a specific speed, and converted into a distance threshold based on the primary vehicle's current speed.

[0018] In this embodiment, the limiting protocol is disabled when the primary vehicle is moving at a speed below a speed threshold. The speed threshold could be, for example, 20 km / h, 15 km / h, or 10 km / h. Advantageously, such a speed threshold prevents driver acceleration requests from being restricted to very low speeds. For example, when attempting to park the primary vehicle behind another vehicle, the system should not interfere and should allow the vehicle to accelerate by a very limited amount. Alternatively, the acceleration threshold could be adapted to allow the primary vehicle small accelerations at low speeds.

[0019] In an embodiment, the acceleration is limited to a constant value, preferably zero, in the step of limiting vehicle acceleration. This limitation is convenient, for example, when the vehicle is traveling downhill. When a driver wishes to maintain a substantially constant speed and is aware that he / she is traveling downhill, the driver will typically release the accelerator pedal partially or completely. Therefore, the vehicle does not accelerate but maintains a substantially constant speed. However, if the driver is not paying attention and keeps the accelerator pedal pushed, the vehicle will accelerate moderately. If this would cause the vehicle to get too close to the vehicle in front, the limiting protocol can prevent this acceleration.

[0020] In an embodiment, the acceleration threshold is a first acceleration threshold, and the method further includes determining whether the driver's acceleration request is lower than a second acceleration threshold, which is lower than the first acceleration threshold. If the sensor data is lower than a distance threshold, the step of limiting the vehicle's acceleration compared to the acceleration request includes: if the acceleration request is between the first and second acceleration thresholds, limiting the vehicle's acceleration to a first value; and if the acceleration request is lower than the second acceleration threshold, limiting the vehicle's acceleration to a second value, wherein the second value is lower than the first value. For example, the first value may be equal to the value of the second acceleration request, and the second value may be equal to zero. However, it should be understood that the first and second values ​​may also be chosen differently.

[0021] Advantageously, a gradual acceleration limit for the vehicle is provided. This avoids very abrupt changes in acceleration when the limiting protocol is alternately activated and deactivated, as the vehicle travels at a distance approximately equal to a distance threshold. Continuous switching between relatively high acceleration and no acceleration at all would be experienced as unpleasant and erratic behavior by the driver and drivers of other vehicles on the road. It should be understood that, in embodiments, the method may further include a third acceleration threshold, a fourth acceleration threshold, a fifth acceleration threshold, etc., which can achieve further gradual limiting of acceleration.

[0022] In this embodiment, in the step of limiting vehicle acceleration, a continuous mapping from the requested vehicle acceleration to the actual vehicle acceleration is used to limit acceleration. For example, a linear mapping or an exponential mapping can be used to limit the driver's acceleration request. The advantage of using such a continuous mapping is that when the driver's acceleration request fluctuates around the acceleration threshold over time, little or no sudden behavior is experienced.

[0023] In an embodiment, the method may further include converting a vehicle acceleration command into a torque request, and optionally sending the torque request to the vehicle's drivetrain.

[0024] According to a second aspect of the invention, and based on the advantages described above, a control system for sending a torque request to the drivetrain of a vehicle is provided. The system includes a controller arrangement, an accelerator pedal operatively connected to the controller arrangement, and at least one object detection sensor arranged to detect and measure the distance to a vehicle ahead and operatively connected to the controller arrangement. The controller arrangement is configured to receive accelerator pedal input; convert the accelerator pedal input into a driver acceleration request; compare the driver acceleration request with an acceleration threshold; and initiate an acceleration limiting protocol based on the comparison result. If the driver acceleration request is below the acceleration threshold, the controller arrangement is configured to limit the driver acceleration request to a vehicle acceleration command with a lower acceleration than the driver acceleration request when the at least one object detection sensor detects an unsafe driving condition. If the driver acceleration request is above the acceleration threshold, the vehicle acceleration command is set to be equal to the driver acceleration request. The controller arrangement is also configured to convert the vehicle acceleration command into a torque request; and send the torque request to the drivetrain of the vehicle.

[0025] In one embodiment, the controller arrangement may consist of a single control unit. Alternatively, the controller arrangement may include more than one control unit, such as a first control unit and a second control unit. The first and second control units may each have a processor and a memory unit. The first control unit may be provided as a vehicle dynamics controller for the vehicle.

[0026] At least one object detection sensor may be one or more camera sensors, one or more radar sensors, and / or one or more lidar sensors. The sensors may be positioned anywhere within or on the main vehicle, from which vehicles ahead may be detected. Some sensors may be positioned in or near the passenger compartment, chassis, motor, drivetrain, and / or wheels. Sensor locations may vary depending on the type of sensor used. For example, a camera sensor may be positioned inside the windshield, while one or more radar sensors and / or lidar sensors may be positioned in the grille and / or bumper.

[0027] In one embodiment, the system also includes a turn recognition arrangement, wherein the control unit is configured to disable the restriction protocol when the turn recognition arrangement signals to the host vehicle that it is changing lanes or is about to change lanes. The turn recognition arrangement may include, for example, a turn indicator, a steering wheel with a steering angle sensor, and / or a lane recognition system.

[0028] In this embodiment, the control unit is configured to execute the limitation protocol according to the present invention.

[0029] According to another aspect of the invention and based on the advantages described above, a vehicle is provided that includes a control system according to the invention, or is configured to perform a method according to the invention.

[0030] In this embodiment, the vehicle also includes an adaptive cruise control system and / or one or more other automated or semi-automatic driving functions. Modern vehicles today are equipped with many different control systems. For example, a vehicle may also include lane departure warning and / or control systems, collision avoidance systems, automatic braking systems, traffic sign recognition systems, various communication systems, navigation systems, inertial measurement systems, intelligent transportation systems, safe road training systems, automatic parking systems, and so on. An acceleration limiting system may be just one of many subsystems within the vehicle. Combining one or more of these systems can achieve an optimal driving experience that is both comfortable and safe. Attached Figure Description

[0031] The invention will now be discussed in more detail with reference to the accompanying drawings, in which:

[0032] Figure 1A A schematic diagram of a main vehicle having an acceleration limiting system according to a first embodiment of the present invention is depicted in traffic conditions.

[0033] Figure 1B Depicting Figure 1A The system in the main vehicle is configured to perform a method for limiting the driver's acceleration request.

[0034] Figure 2 A flowchart illustrating a first embodiment of a method for limiting a driver's acceleration request is shown.

[0035] Figure 3 A flowchart of an alternative embodiment of a method for limiting a driver's acceleration request is shown. Detailed Implementation

[0036] Figure 1a schematically shows a main vehicle 1 with a control system 4 that can limit the driver's acceleration request in traffic conditions. The main vehicle 1 is equipped with an object detection sensor 2, an accelerator pedal 3, one or more turn indicators 5, and a controller arrangement 10.

[0037] Object detection sensor 2 is integrated into a camera inside the windshield, which is arranged to detect a moving or stationary vehicle 80 in front of the main vehicle 1. Object detection sensor 2 can determine the distance D between the front side 12 of the main vehicle 1 and the rear side 81 of the vehicle 80 in front. Object detection sensor 2 and accelerator pedal 3 are operatively connected to controller arrangement 10.

[0038] One or more turn indicators 5 are part of a turn recognition arrangement 11 that identifies when a vehicle is changing lanes or is about to change lanes. A driver can convey his / her intention to change lanes or initiate a turn by activating a turn indicator 5. In embodiments, the turn recognition arrangement 11 may additionally or alternatively include other turn recognition components, such as sensors for measuring steering wheel angle, steering wheel rotation, or sensors for sensing road conditions (such as road markings) to identify when a turn or lane change has been initiated.

[0039] Figure 1b shows a flowchart of the control system 4. The controller arrangement 10 includes a first control unit 13 and a second control unit 14. It should be understood that the first control unit 13 and the second control unit 14 can be provided as separate units, but the first control unit 13 can also be programmed to take over the tasks of the second control unit 14, so that a separate control unit is not required. However, for illustrative purposes, an embodiment providing two separate control units 13, 14 is shown most clearly.

[0040] The first control unit 13 is typically associated with vehicle dynamics. Several vehicle sensors configured to measure vehicle conditions are operatively connected to the first control unit 13, such as sensors for wheel speed, steering wheel angle, vehicle yaw rate, or vehicle lateral acceleration. The first control unit 13 also receives input from the accelerator pedal 3. By pushing the accelerator pedal 3, a throttle request 41 is sent from the accelerator pedal 3 to the first control unit 13. In this embodiment, the throttle request 41 is expressed as a percentage of pushing the accelerator pedal 3. However, in alternative embodiments, the throttle request 41 may also be based on another input, such as pressure measured on the accelerator pedal 3.

[0041] The first control unit 13 receives the throttle request 41 and converts it into a speed of m / s 2 The driver acceleration request 42 (DAR) is then sent to the second control unit 14. The first control unit 13 then determines whether the driver acceleration limiting protocol should be activated. If the driver acceleration limiting protocol should be activated, it sends the driver acceleration request (DAR) 42 to the second control unit 14. If not, it converts the DAR 42 into a torque request 44 in Nm.

[0042] The second control unit 14 receives DAR 42 and runs a limiting protocol to calculate the vehicle output command 43. The calculation of the limiting protocol is based on sensor data 45 received from object detection sensor 2 and / or turning indicator information 46 received from turning indicator 5. The second control unit 14 will then calculate the vehicle output command 43 in m / s. 2The VAO 43, expressed in Nm, is sent back to the first control unit 13, where it is converted into a torque request 44. The torque request 44 is then sent to the drivetrain 15 of the vehicle 1. It will be understood that although in this embodiment the determination of whether the driver acceleration limiting protocol should be activated is performed by the first control unit 13, this determination can alternatively be performed by the second control unit 14.

[0043] Figure 2 A flowchart illustrating a first embodiment of a method for restricting incoming DAR 42 to VAO 43 is shown. This method is performed by a first control unit 13 and / or a second control unit 14 of the controller arrangement 10.

[0044] The second control unit 14 periodically checks whether a DAR has been received. For example, the controller 10 may check for the presence of a DAR every 0.01 seconds, every 0.1 seconds, or every second. After receiving a DAR (step 21), the second control unit 14 compares the DAR with the acceleration threshold T. a,1 Compare (step 22), and if the DAR value is lower than the acceleration threshold T a,1 Then, restriction protocol 23 is activated. If DAR exceeds the threshold T... a,1 If so, the requested acceleration is permitted and VAO is set to equal DAR (step 24).

[0045] Threshold T a,1 It is designed to distinguish between situations where the driver intentionally requests vehicle acceleration and situations where he / she unintentionally requests vehicle acceleration. If the acceleration request is strong, for example, the driver requests a large acceleration, it is considered intentional. Intentional acceleration requests should always be permitted to achieve safe and comfortable driving. Furthermore, it allows the driver to quickly and intuitively regain full control of the vehicle in emergency situations that may require strong acceleration. However, if the request is moderate, for example, requesting relatively small acceleration, it cannot be assumed that the driver intends to intentionally accelerate the vehicle. DAR can be, for example, the result of a moment of decreased driver awareness and / or due to changes in external conditions (such as road gradient or wind conditions). In the case of moderate DAR (e.g., DAR with a low value), DAR is permitted only if safe driving conditions allow.

[0046] If DAR does not exceed the acceleration threshold T a,1 If this occurs, restriction protocol 23 is initiated. According to restriction protocol 23, one or more of the sensors 2 detect the vehicle 80 ahead of the main vehicle 1 and obtain sensor data associated with the distance D from the main vehicle 1 to the vehicle 80 ahead (step 25). The sensor data is converted by the controller 10 into a duration D. s This duration is the duration taken for the main vehicle to travel a distance D (step 26).

[0047] Duration D s With distance threshold T d Compare (step 27). Distance threshold T d It has a value of 1 second. If the duration D is 80 degrees before reaching the vehicle in front... S Greater than the distance threshold T d If so, DAR is considered safe and permitted (step 28). It should be understood that, alternatively, the distance threshold can be converted to a distance in units of length, and step 27 may involve comparing the distance D with the threshold expressed in units of length.

[0048] The second control unit 14 provides VAO equal to DAR. Conversely, if the duration D of reaching the vehicle ahead 80 is... S Less than distance threshold T d If so, DAR is rejected. Vehicle 1 does not accelerate, and VAO equals 0 m / s. 2 (Step 29)

[0049] Figure 3 An alternative embodiment of the restriction protocol 123 is shown. The restriction protocol 123 can be used in... Figure 2 The method is depicted in the flowchart.

[0050] In the duration D S With distance threshold T d,1 Simultaneously, subsequently, or before the comparison, the second control unit 14 checks the input of the turn recognition arrangement 11 (step 130). If the second control unit 14 detects that vehicle 1 is changing lanes or is about to change lanes, the restriction protocol 23 should be disabled or aborted. For example, if the turn indicator 5 is on, it is assumed that the driver is actively focused on driving and therefore has good awareness. Therefore, when the vehicle is changing lanes or is about to change lanes, DAR is automatically permitted. VAO equals DAR (step 131).

[0051] If the distance to the vehicle ahead is 80 degrees and is less than the distance threshold T d If the turn recognition arrangement 11 does not provide recognition of a turn that is in progress or about to occur, then the restriction protocol 123 continues.

[0052] exist Figure 2 In this embodiment, DAR is limited to zero. However, this may not provide optimal driving comfort. To avoid abrupt switching of the host vehicle between zero acceleration and acceleration based on DAR, a gradual limiting protocol can be implemented.

[0053] After controller 10 has confirmed the need to limit DAR, controller 10 can compare DAR with the second acceleration threshold T. a,2Comparison (step 131). The second acceleration threshold T a,2 Below the first acceleration threshold T a,1 If DAR is below the second acceleration threshold T a,2 If the DAR is zero, then vehicle 1 does not accelerate (step 132). However, if the DAR is higher than the second acceleration threshold T... a,2 Then the acceleration is limited to the following values ​​(step 133):

[0054]

[0055] In the embodiment, the second acceleration threshold T a,2 It can be defined as the first acceleration threshold T a,1 Half the value of T a,2 =T a,1 / 2. However, it should be understood that the threshold can also be defined differently, for example, T a,2 =0.8*T a,1 , or T a,2 =0.9*T a,1 .

[0056] This will be further understood in step 28 ( Figure 2 ) and step 132 ( Figure 3 In this embodiment, DAR does not need to be always limited to zero. In other embodiments, alternative values ​​or functions may exist for calculating VAO.

[0057] This invention should not be considered limited to the preferred embodiments described above; many further variations and modifications are possible without departing from the scope of the patent claims. The motor constructed according to this invention can be used anywhere a small and efficient motor is required, for example, for controlling valves in an internal combustion engine.

Claims

1. A method for limiting a driver's acceleration request, the method comprising: - Receive (21) driver acceleration request (42); - Determine whether the driver's acceleration request is below the acceleration threshold (22); as well as - If the driver's acceleration request is below the acceleration threshold, a limiting protocol (23) is initiated, wherein the limiting protocol includes: Detect the vehicle (80) in front of the main vehicle (1) and obtain sensor data (25) associated with the distance (D) from the main vehicle to the vehicle in front, the sensor data (25) representing the distance (D) between the front side (12) of the main vehicle (1) and the rear side (81) of the vehicle in front (80). The sensor data is compared with a distance threshold for the safe distance between vehicles (27). If the sensor data is lower than the distance threshold, a vehicle acceleration command (28, 29) is output, wherein the vehicle acceleration is limited to be lower than the acceleration request.

2. The method according to claim 1, wherein, The restriction protocol is disabled when the vehicle is changing lanes or is about to change lanes.

3. The method according to claim 1, wherein, The driver acceleration request is received after the accelerator pedal input (41) is converted into the driver acceleration request.

4. The method according to claim 1, wherein, The acceleration threshold is a constant value.

5. The method according to claim 1, wherein, The acceleration threshold depends on the detected vehicle condition and / or the detected road condition.

6. The method according to claim 1, wherein, The distance threshold is determined based on the current speed of the main vehicle.

7. The method according to claim 1, wherein, The distance threshold is determined based on long-term average driver behavior.

8. The method according to claim 1, wherein, The restriction protocol is disabled when the master vehicle moves at a speed below a speed threshold.

9. The method according to claim 1, wherein, In the step of limiting the acceleration of the vehicle, the acceleration is limited to a constant value.

10. The method according to claim 1, wherein, In the step of limiting the acceleration of the vehicle, the acceleration is limited to zero.

11. The method according to claim 1, wherein, The acceleration threshold is a first acceleration threshold, and the method further includes: - Determine whether the driver's acceleration request is below a second acceleration threshold, where the second acceleration threshold is lower than the first acceleration threshold. Wherein, if the sensor data is lower than the distance threshold, the step of limiting the vehicle's acceleration compared to the acceleration request includes: - If the acceleration request is between the first acceleration threshold and the second acceleration threshold, then the acceleration of the vehicle is limited to a first value; - If the acceleration request is lower than the second acceleration threshold, the vehicle's acceleration is limited to a second value, which is lower than the first value.

12. The method according to any one of the preceding claims, wherein, In the step of limiting the vehicle's acceleration, a continuous mapping from the requested vehicle acceleration to the actual vehicle acceleration command is used to limit the acceleration.

13. A control system (4) for sending a torque request to a drivetrain (15) of a vehicle (1), the system comprising: Controller layout (10); Accelerator pedal (3), which is operatively connected to the controller arrangement; and at least one object detection sensor (2), said at least one object detection sensor (2) being arranged to detect and measure the distance to the vehicle (80) ahead and being operatively connected to the controller arrangement, The controller arrangement is configured as follows: - Receive accelerator pedal input (41); - Convert the accelerator pedal input (41) into a driver acceleration request (42). - Compare the driver's acceleration request with an acceleration threshold; - Based on the comparison results, the acceleration limiting protocol is activated (23). Wherein, if the driver acceleration request is lower than the acceleration threshold, the controller arrangement is configured to: when the at least one object detection sensor detects an unsafe driving condition, limit the driver acceleration request to a vehicle acceleration command (43) with an acceleration lower than the driver acceleration request, and If the driver's acceleration request is higher than the acceleration threshold, the vehicle acceleration command (43) is set to be equal to the driver's acceleration request. - Convert the vehicle acceleration command (43) into a torque request (44); and - The torque request is transmitted to the vehicle's drivetrain (15).

14. The control system of claim 13 further includes a turn recognition arrangement (11), wherein the controller arrangement is configured to disable the restriction protocol when the turn recognition arrangement signals to the master vehicle that it is changing lanes or is about to change lanes.

15. The control system according to claim 13 or claim 14 is further configured to perform an acceleration limiting protocol according to any one of claims 1-12.

16. A vehicle (1) comprising a system (4) according to any one of claims 13 to 15, or configured to perform the method according to any one of claims 1 to 12.

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