Method and device for operating speed regulator during lane change

Abstract

The invention relates to a device for operating a speed regulator of a vehicle. The device is designed to operate a speed regulator of the vehicle at a target speed when the vehicle travels on a first lane of the multi-lane road, which target speed depends on a first speed limit suitable for the first lane. The device can also be designed to recognize a change of the vehicle from the first lane to a second lane, and to adapt the target speed of the speed regulator to a second speed limit, to which the second speed limit is applicable, only after a change event is recognized.

Description

Technical Field

[0001] The invention relates to a method and a corresponding device, the purpose of which is to provide for a more comfortable and safer operation of a speed controller when changing lanes. Background Art

[0002] The vehicle may have one or more driver assistance functions, which assist the driver of the vehicle in the longitudinal guidance of the vehicle. An exemplary driver assistance function is a distance and / or speed controller (in particular an adaptive cruise control, ACC), which is designed to regulate the driving speed of the vehicle as a function of a target speed and / or as a function of a target distance to a preceding vehicle traveling in front of the vehicle.

[0003] The driver assistance function can be configured to automatically determine a target speed based on a speed limit applicable to the road currently being driven through. Here, different speed limits may be applicable to different lanes of the road currently being driven through, which may lead to uncomfortable behavior of the driver assistance function when changing lanes. Summary of the invention

[0004] This document relates to the technical object of increasing the comfort of a speed controller when changing lanes.

[0005] This object is achieved by each independent claim. Advantageous embodiments are furthermore described in the dependent claims. It is pointed out that the additional features of the dependent claims of the independent claim can form a separate invention independent of the combination of all features of the independent claim without the features of the independent claim or only in combination with a subset of the features of the independent claim, which invention can serve as the subject of an independent claim, a divisional application or a subsequent application. This applies in the same way to the technical teachings described in this description, which can form inventions independent of the features of the independent claim.

[0006] According to one aspect, a device for operating a speed regulator of a (motor) vehicle is described. The speed regulator can be operated in an automatic mode, wherein a target speed is automatically (without requiring a user input from a vehicle user) adapted to the respectively applicable speed limit.

[0007] The device is designed to operate the speed regulator of the vehicle at a target speed when the vehicle is traveling on the first lane of a multi-lane road, and the target speed depends on the first speed limit applicable to the first lane. The device can also be designed to automatically adapt the target speed of the speed regulator to the first speed limit that changes and is applicable to the first lane when the vehicle is traveling on the first lane. The change of the first speed limit can directly (without time delay) cause the corresponding change of the target speed. The target speed can correspond to the first speed limit accordingly. For example, the first speed limit can be identified based on sensor data of one or more environmental sensors (especially cameras) of the vehicle. Alternatively or in addition, the first speed limit can be obtained based on data from a digital map related to the road network driven by the vehicle and / or based on data of a back-end server (external to the vehicle).

[0008] The device is further designed to detect a change of the vehicle from a first lane of the road to a second lane, to which a second speed limit applies, which second speed limit is different from the first speed limit applicable to the first lane. For example, a lane change can be detected based on sensor data of one or more surrounding sensors. For example, a change of the vehicle from the first lane to the second lane can be detected at the change time and / or the change position.

[0009] The second lane may be any other lane of the road on which the vehicle is traveling, wherein the second lane is different from the first lane. If necessary, the second lane may be arranged directly next to the first lane. Alternatively, one or more additional lanes of the road may be arranged between the first lane and the second lane (when the vehicle changes from the first lane to the second lane, these additional lanes intersect with the vehicle).

[0010] For example, the second speed limit can be identified based on sensor data of one or more environmental sensors (especially cameras) of the vehicle. Alternatively or additionally, the second speed limit can be obtained based on data from a digital map of the road network associated with the vehicle and / or based on data from a backend server (external to the vehicle).

[0011] Furthermore, the device is designed to adapt the target speed of the speed regulator to the second speed limit only after a change event has been detected. In particular, the device can be designed to adapt the target speed of the speed regulator to the second speed limit only after a change event has been detected after a lane change to the second lane has been detected, even if the speed regulator is operated in automatic mode. Within the scope of the automatic mode of the speed regulator, the target speed of the speed regulator can be automatically adapted to a change in the speed limit applicable to the lane when the vehicle is traveling in the lane, in particular without having to detect a change event for this purpose.

[0012] Thus, unlike changes in speed limits when driving within a lane, it is possible that when changing lanes, the speed limit is not automatically taken into account, but only after a change event has been detected, to determine the target speed of the speed controller. As a result, the comfort of the speed controller (especially when changing lanes temporarily) can be increased in an efficient and reliable manner.

[0013] The device can be designed to keep the target speed of the speed regulator unchanged (after identifying the lane change) until a change event is identified. Alternatively or in addition, the device can be designed to adapt the target speed of the speed regulator to the second speed limit once a change event is identified. Here, the second speed limit can be adopted as the target speed of the speed regulator so that the target speed of the speed regulator is adapted to the second speed limit. In addition, the device can be designed to automatically adapt the target speed of the speed regulator to the second speed limit that is applicable to the second lane when the vehicle is traveling in the second lane after the change event is identified. Therefore, during driving in the second lane, the target speed can be automatically adapted to the corresponding applicable speed limit. Therefore, the comfort of the speed regulator can be further improved.

[0014] The device can be designed to (during the automatic mode of the speed regulator), after recognizing that the vehicle changes to the second lane, recognize that a change event from a set of (multiple) possible change events occurs. The set of possible change events can, for example, include: a user input (by the driver of the vehicle) on a user interface of the vehicle; the lapse of a predefined duration (e.g. 1 second or longer or 2 seconds or longer) and / or the traversal of a predefined driving route (e.g. 50 meters or longer or 100 meters or longer) from the start of the change to the second lane; and / or the passing of a signal unit (in particular a traffic sign) which (repeatedly) shows a second speed limit applicable to the second lane. The target speed of the speed regulator can then be adapted to the second speed limit applicable to the second lane in response to the recognized change event. By taking into account a plurality of possible change events, the comfort of the speed regulator when changing lanes can be further improved.

[0015] In particular, the target speed of the speed regulator can only be adapted to the second speed limit at a change time point and / or a change position, wherein the change time point and / or the change position follows the change time point and / or the change position. Here, the change event can be identified at or before the change time point and / or the change position.

[0016] The device can be designed to cause, after recognizing that the vehicle changes from the first lane to the second lane (even though the speed regulator is running in automatic mode), to output a suggestion for adapting the target speed to the second speed limit applicable to the second lane via the user interface of the vehicle. Then, the user input accepting the suggestion for adapting the target speed can be recognized as a change event.

[0017] Alternatively or additionally, the device may be designed to recognize as a change event the elapse of a predefined time period from a change time point and / or the traversal of a predefined driving route from a change position at which a lane change from the first lane to the second lane was detected.

[0018] Alternatively or additionally, the device can be designed to recognize, in particular based on sensor data from one or more surrounding sensors of the vehicle, the vehicle's passing a signal unit (in particular a traffic sign for a speed limit) after changing to the second lane as a change event, by which a second speed limit applicable in the second lane is indicated.

[0019] If necessary, the signal unit can display speed limits for a plurality of different lanes, in particular a first and a second lane, of a road traveled by the vehicle. The device can be designed to identify a second speed limit applicable to the second lane from the plurality of speed limits displayed (e.g. based on data from a digital map and / or based on sensor data from one or more environmental sensors).

[0020] By means of one or more of the above-mentioned change events, the comfort of the speed controller can be increased to a particular extent.

[0021] The device can be designed to, when driving in the first lane, before changing lanes from the first lane to the second lane, already detect that there is a multi-lane restriction situation on the road traveled by the vehicle, wherein different speed limits apply to different lanes of the road, in particular the first lane and the second lane.

[0022] Even in the presence of a recognized multi-lane restriction situation, the target speed of the speed controller can be adapted to the changing speed limit automatically during driving within the lane without checking for change events (in order to operate the speed controller in automatic mode).

[0023] On the other hand, in response to a detected multi-lane restriction situation (even when the speed controller is operated in automatic mode), the target speed of the speed controller is adapted to the speed limit applicable to the respective lane due to the lane change not immediately after the lane change is detected, but only after the change event is detected. Thus, the comfort of the speed controller can be increased in a particularly reliable manner.

[0024] The device can be designed to determine whether the second speed limit is greater than or less than the first speed limit. When the second speed limit is greater than the first speed limit, the target speed of the speed regulator can be adapted to the second speed limit only after a change event is recognized. On the other hand, when the second speed limit is less than the first speed limit, the target speed of the speed regulator can be adapted to the second speed limit automatically, especially without the need for a change event. Therefore, the comfort of the speed regulator can be further improved.

[0025] According to a further aspect, a (road) motor vehicle, in particular a passenger car or a truck or a bus or a motorcycle, is described, said motor vehicle comprising the device described in this document.

[0026] According to another aspect, a method for operating a speed regulator of a (motor) vehicle is described. The method comprises operating the speed regulator of the vehicle at a target speed when the vehicle is traveling in a first lane of a multi-lane road, the target speed being dependent on a first speed limit applicable to the first lane (wherein the target speed can be adapted automatically (without time delay) to a changing first speed limit while the vehicle is traveling in the first lane, if necessary).

[0027] The method also includes identifying that the vehicle changes from a first lane to a second lane, to which a second speed limit applies, which is different from the first speed limit applicable to the first lane. In addition, the method also includes adapting the target speed of the speed regulator to the second speed limit only after identifying the change event.

[0028] According to another aspect, a software (SW) program is described. The software program can be designed to be executed on a processor (for example, on a control unit of a vehicle) and thereby to carry out the method described in this document.

[0029] According to another aspect, a storage medium is described. The storage medium may include a software program designed to be executed on a processor and thereby to perform the method described in this document.

[0030] It should be noted that the methods, devices and systems described in this document can be used not only alone, but also in combination with other methods, devices and systems described in this document. In addition, any aspects of the methods, devices and systems described in this document can be combined with each other in a variety of ways. In particular, the features of the claims can be combined with each other in a variety of ways. In addition, the features listed in brackets should be understood as optional features. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] The present invention will be described in detail below with reference to examples.

[0032] Figure 1 Exemplary components of a vehicle are shown;

[0033] Figure 2 An exemplary multi-lane road with lane-specific speed limits is shown; and

[0034] Figure 3 A flow chart of an exemplary method for operating a speed controller during a lane change is shown. DETAILED DESCRIPTION

[0035] As explained above, this document is concerned with improving the comfort of the speed regulator when changing lanes on multi-lane roads with lane-specific speed limits. Figure 1 An exemplary vehicle 100 is shown with one or more environmental sensors 102 (e.g. one or more cameras, one or more radar sensors, one or more lidar sensors and / or one or more ultrasonic sensors). The vehicle 100 also includes one or more longitudinal and / or transverse guiding actuators 103 (e.g. drive motors, brake devices and / or steering devices) which are designed to achieve automatic longitudinal and / or transverse guidance of the vehicle 100.

[0036] The (control) device 101 of the vehicle 100 can be designed to operate one or more actuators 103 according to the sensor data of one or more environmental sensors 102 in order to provide a driving assistance function. In this case, in particular, automatic speed and / or distance regulation can be implemented. Within the scope of automatic speed regulation, the driving speed of the vehicle 100 can be automatically adjusted to a specific target speed. Here, the target speed can be preset by the driver of the vehicle 100 via the user interface 104 of the vehicle 100. Alternatively or in addition, the target speed can be automatically obtained based on the sensor data of one or more environmental sensors 102, for example as a currently applicable (and indicated by a traffic sign) speed limit.

[0037] Figure 2 An exemplary driving situation is shown, in which vehicle 100 is traveling on a multi-lane road having a first lane 201 and a second lane 202. A first speed limit may exist on first lane 201, which is indicated, for example, by a first signal unit 211 of signal bridge 210. A second speed limit may exist on second lane 202, which is indicated, for example, by a second signal unit 212 of signal bridge 210. The first speed limit and the second speed limit may be different.

[0038] Vehicle 100 can be automatically guided longitudinally (and, if necessary, laterally by a lane keeping assistant) in first lane 201 using active speed control. In this case, a first speed limit can be determined as a target speed for the speed controller, so that vehicle 100 is guided longitudinally in first driving lane 201 at a first driving speed that depends on the first speed limit.

[0039] At the change position or change time 221, the vehicle 100 can perform a lane change to the second lane 202. This can result in a second target speed for the speed regulator being automatically determined, which second target speed depends on (corresponds to) a second speed limit, for example. This can be perceived as unpleasant by the driver of the vehicle 100, especially when only a temporary change to the second lane 202 is performed.

[0040] The device 101 may be designed to delay the adaptation of the target speed of the speed regulator to the second speed limit of the second lane 202 and to perform the adaptation only after a change event occurs. Then, in response to the change event, the target speed may be adapted.

[0041] Exemplary change events are:

[0042] Identifying a signal bridge 210 and / or a signal unit 212 for indicating a second speed limit on the second lane 202;

[0043] the passage of a change time period and / or the passage of a change route 223 starting from a change time point or starting from a change position 221 at which a lane change to the second lane 202 is made; and / or

[0044] The driver of the vehicle 100 confirms via the user interface 104 of the vehicle 100 that the target speed of the speed regulator should be adapted to the second lane 202 .

[0045] If necessary, a plurality of possible change events can be defined. The device 101 can be designed to detect whether at least one change event occurs. If this is the case, then what can be achieved automatically is that the target speed of the speed regulator is adapted to the second lane 202, in particular to the second speed limit of the second lane 202. Therefore, the comfort of the speed regulator can be improved in an efficient and reliable manner.

[0046] Therefore, if the set speed (ie, target speed) changes and the vehicle 100 decelerates or accelerates accordingly when changing lanes, especially when using the other lane 202 for a short period of time, the driver may feel uncomfortable.

[0047] Device 101 can be designed to recognize the presence of a multi-lane restriction situation. When entering a multi-lane restriction situation, the restrictions (i.e., speed limits) applicable to the lane 201 currently being traveled are automatically adopted. When the driver performs a lane change, the new restrictions of other lanes 202 are not adopted at first, but the driver can be suggested to adopt new restrictions through user interface 104. The driver can adopt the new restrictions through an operating action. Alternatively or in addition, device 101 can monitor whether the driver is driving in the new lane 202 for a long time. If the set stop time or driving route 223 in the new lane 202 elapses, then the new restrictions can be automatically adopted (at the change position or change time point 222).

[0048] When the speed limit on the corresponding lane 201, 202 changes, the limit applicable to the lane 201, 202 is automatically adopted again. At the end of a multi-lane restriction situation, that is, when the same limit applies to all lanes 201, 202 again, the limit can be automatically adopted.

[0049] Figure 3 A flow chart of a (possibly computer-implemented) method 300 for operating a speed controller of a vehicle 100 is shown. The speed controller is designed to automatically adapt the driving speed of the vehicle 100 according to a predefined target speed, in particular to adjust the driving speed to the target speed. The target speed can be predefined by the driver of the vehicle 100 and / or the target speed can be automatically determined based on a speed limit.

[0050] The method 300 comprises, when the vehicle 100 is traveling on the first lane 201 of the multi-lane road, operating 301 a speed regulator of the vehicle 100 at a target speed, the target speed depending on a first speed limit applicable to the first lane 201. Here, the target speed can be automatically adjusted according to the first speed limit. The target speed can in particular correspond to the first speed limit. In addition, the speed regulator can be operated in an automatic mode, so that the target speed when traveling on the first lane 201 is automatically adapted to the changing first speed limit.

[0051] Method 300 also includes detecting 302 that vehicle 100 changes from first lane 201 of a multi-lane road to second lane 202, to which a second speed limit applies, which is different from the first speed limit applicable to first lane 201. Here, when a lane change is detected, the speed regulator can continue to operate in automatic mode in order to automatically adapt the target speed to the respectively applicable speed limit. In addition, if necessary, it can already be detected before the lane change that a second speed limit different from the first speed limit exists for second lane 202. In particular, it can be detected (already before the lane change) that there is a multi-lane restricted driving situation, in which different speed limits apply to different lanes 201, 202.

[0052] Method 300 also includes adapting 303 the target speed of the speed regulator to the second speed limit only after a change event has been identified. Thus (in contrast to an automatic adaptation to the respectively applicable speed limit) it is possible to adapt the target speed to the second speed limit only when a change event has been identified.

[0053] Within the scope of method 300, it can be recognized that vehicle 100 changes back to first lane 201 (from second lane 202) before a change event occurs and / or is recognized (e.g. due to a relatively short overtaking process). In this case, the suggestion (output or to be output via user interface 104) for adapting the target speed to the second speed limit can be automatically revoked or suppressed if necessary.

[0054] By means of the measures described in this document, the comfort of a speed regulator of the vehicle 100 can be increased in an effective and reliable manner.

[0055] The present invention is not limited to the embodiments shown. In particular, it should be noted that the description and drawings are intended only to illustrate the principles of the proposed methods, devices and systems.

Claims

1. A device (101) for operating a speed regulator of a vehicle (100), wherein: The device (101) is designed to: - operating a speed regulator of the vehicle (100) at a target speed when the vehicle (100) is travelling in a first lane (201) of a multi-lane road, the target speed being dependent on a first speed limit applicable to the first lane (201); - identifying that the vehicle (100) changes from the first lane (201) to a second lane (202), a second speed limit being applicable to the second lane, the second speed limit being different from the first speed limit applicable to the first lane (201); and The target speed of the speed regulator is adapted to the second speed limitation only after a change event has been detected.

2. The device (101) according to claim 1, wherein: The device (101) is designed to: - recognizing at a change time and / or change position (221) that the vehicle (100) changes from the first lane (201) to the second lane (202); - the target speed of the speed regulator is adapted to the second speed limit only at a change time point and / or change position (222); wherein, - the change time point and / or the change position (222) follows the change time point and / or the change position (221); and / or - the change event is identified at or before the change time point and / or the change position (222).

3. The device (101) according to any one of the preceding claims, wherein: The device (101) is designed to: - after recognizing that the vehicle (100) changes from the first lane (201) to the second lane (202), causing a recommendation to be output via a user interface (104) of the vehicle (100) for adapting the target speed to a second speed limit applicable for the second lane (202); - recognizing a user input accepting a suggestion for adapting the target speed as a change event.

4. The device (101) according to any one of the preceding claims, wherein: The device (101) is designed to recognize as a change event the elapse of a predefined time period from a change time point and / or the traversal of a predefined driving route (223) from a change position (221), at which a lane change from the first lane (201) to the second lane (202) was recognized.

5. The device (101) according to any one of the preceding claims, wherein: The device (101) is designed to recognize, in particular based on sensor data of one or more surrounding sensors (102) of the vehicle (100), that the vehicle (100) passes a signal unit (210, 212) after changing to the second lane (202) as a change event, by which a second speed limit applicable in the second lane (202) is displayed.

6. The device (101) according to any one of the preceding claims, wherein: The device (101) is designed to keep a target speed of the speed regulator constant until a change event is detected.

7. The device (101) according to any one of the preceding claims, wherein: The device (101) is designed to adapt the target speed of the speed regulator to the second speed limit as soon as a change event is detected.

8. The device (101) according to any one of the preceding claims, wherein: The device (101) is designed to: - after recognizing that the vehicle (201) changes to the second lane (202), recognizing that a change event from a set of possible change events occurs; wherein the set of possible change events includes in particular: - user input on a user interface (104) of the vehicle (100); - starting from the change to the second lane (202), a predefined duration has elapsed and / or a predefined driving route (223) has been travelled; and / or - passing a signal unit (210, 212) which shows a second speed limit applicable to the second lane (202); and - in response to a recognized change event, adapting the target speed of the speed regulator to a second speed limit applicable for the second lane (202).

9. The device (101) according to any one of the preceding claims, wherein: The device (101) is designed to use the second speed limit as a target speed of the speed regulator in order to adapt the target speed of the speed regulator to the second speed limit.

10. The device (101) according to any one of the preceding claims, wherein The device (101) is designed to adapt the target speed of the speed controller to the second speed limit only after a change event has been detected after a lane change has been detected, even though the speed controller is operated in an automatic mode in which the target speed of the speed controller is automatically adapted to changes in the speed limits applicable to the lanes (201, 202) within the range in which the vehicle (100) is traveling in the lanes (201, 202), in particular without requiring a change event to be detected for this purpose.

11. The device (101) according to any one of the preceding claims, wherein: The device (101) is designed to: - automatically adapting the target speed of the speed regulator to a changing first speed limit applicable to the first lane (201) when the vehicle (100) is traveling on the first lane (201); and / or After the change event is detected, the target speed of the speed regulator is automatically adapted to the changed second speed limit applicable to the second lane (202) when the vehicle (100) is traveling in the second lane (202).

12. The device (101) according to any one of the preceding claims, wherein: The device (101) is designed to: - when driving in the first lane (201), before changing lanes from the first lane (201) to the second lane (202), it has been detected that a multi-lane restriction situation exists on the road traveled by the vehicle (100), wherein different speed limits apply to different lanes (201, 202) of the road, in particular the first lane (201) and the second lane (202); and - in response to a detected multiple lane restriction situation, the target speed of the speed regulator is adapted to the speed limit applicable for the respective lane (201, 202) due to the lane change not immediately after the lane change is detected but only after the change event is detected.

13. The device (101) according to claim 12, wherein: The device (101) is designed to automatically adapt the target speed of the speed regulator to the changed speed limit when driving in lanes (201, 202) without checking the change event, even when a multiple lane restriction situation is detected.

14. The device (101) according to any one of the preceding claims, wherein: The device (101) is designed to: - determining whether the second speed limit is greater than or less than the first speed limit; - when the second speed limit is greater than the first speed limit, the target speed of the speed regulator is adapted to the second speed limit only after a change event has been identified; and / or When the second speed limit is less than the first speed limit, the target speed of the speed regulator is automatically adapted to the second speed limit, in particular without requiring a change event.

15. A method (300) for operating a speed regulator of a vehicle (100), wherein: The method (300) comprises: - operating (301) a speed regulator of the vehicle (100) at a target speed when the vehicle (100) is travelling in a first lane (201) of a multi-lane road, the target speed being dependent on a first speed limit applicable to the first lane (201); - identifying (302) that the vehicle (100) changes from the first lane (201) to the second lane (202), a second speed limit being applicable to the second lane, the second speed limit being different from the first speed limit applicable to the first lane (201); and - The target speed of the speed regulator is adapted ( 303 ) to the second speed limit only after a change event has been detected.

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