Scene-dependent adaptive speed control

Abstract

In order to adaptively control the speed of the motor vehicle (1), a mass estimation is performed in order to determine a range of values of the mass of the motor vehicle (1), mass values within the range of values are selected on the basis of a current driving scenario of the motor vehicle (1), and generating a torque request for performing adaptive speed control based on the mass value and based on at least one target specification with respect to a target speed of the motor vehicle (1) and / or a target safe distance of the motor vehicle (1).

Description

Technical Field

[0001] The present invention relates to a method for adaptive speed control for a motor vehicle, a driver assistance system for adaptive speed control for a motor vehicle, and a computer program product. Background Art

[0002] Driver assistance systems for adaptive speed control (also known as adaptive cruise control or ACC) for motor vehicles are known. Another motor vehicle traveling in front of the motor vehicle can be detected by means of a surrounding environment sensing system, such as a camera, a lidar system, and / or a radar system, and its distance to the motor vehicle and also its speed can be determined. A torque requirement can be generated therefrom, and the drive motor and / or the braking system of the motor vehicle can be controlled based on the torque requirement to achieve a target specification. Thus, the speed of the motor vehicle can be adjusted to a predetermined target speed, for example, if a predetermined minimum distance to another motor vehicle can be maintained; otherwise, for example, the speed of the motor vehicle can be reduced.

[0003] In order to determine the required torque, the total mass of the motor vehicle needs to be determined at least approximately. The empty mass of the motor vehicle can be used as a basis for a rough estimate. However, due to the additional weight of passengers and possible cargo, this estimate will be very inaccurate, which may lead to unreliable speed control or safety risks. Therefore, the mass of the vehicle can be estimated during its operation based on measured values or estimated values related to vehicle dynamics, for example, because the applied torque is related to the generated speed change (thus acceleration or deceleration) of the motor vehicle.

[0004] Document US2013 / 0138288 A1 describes a vehicle system and method that estimate the mass of a vehicle such that a more accurate estimate of the vehicle mass can be provided to other vehicle systems (such as an adaptive speed control system or an automatic lane change system). Here, the actual acceleration of the vehicle is compared with the expected acceleration. Then the difference between these two acceleration values can be used together with the torque to estimate the actual mass of the vehicle.

[0005] Document US2019 / 0171225 A1 describes systems, methods, controllers, and algorithms for controlling a vehicle to follow another vehicle using automatic or semi-automatic control. A mass estimator is used herein that determines the mass of the vehicle based on the motor or braking torque used.

[0006] However, inevitably, uncertainties will arise in the determination of the mass, with the result that generally the exact mass cannot be determined, but only the corresponding value range within which the mass lies according to the corresponding measurements and / or estimates. For safety reasons, the torque request can be based on the most conservative possible value of the mass, which, however, reduces the performance of the adaptive cruise control, since the performance of the drive motor or the braking system is not fully exploited thereby. Summary of the Invention

[0007] The object of the present invention is to improve the performance of the adaptive speed control of a motor vehicle without having to accept an increased safety risk in this case.

[0008] This object is achieved by the corresponding subject matter of the independent claims. Advantageous refinements and preferred embodiments are the subject matter of the dependent claims.

[0009] The present invention is based on the idea that the mass value on which the torque request is based is selected from the value range of the mass of the motor vehicle determined by mass estimation according to the driving scenario in which the motor vehicle is located.

[0010] According to the present invention, a method for adaptive speed control of a motor vehicle is provided. Herein, in particular, a mass estimation is performed by means of at least one control unit of the motor vehicle to determine the value range of the mass of the motor vehicle. The mass value within the value range is selected according to the driving scenario in which the motor vehicle is located, in particular by means of the at least one control unit. Depending on the mass value and depending on the target specifications related to the target speed and / or the target safety distance of the motor vehicle, in particular by means of the at least one control unit, a torque request for adaptive speed control is generated.

[0011] The control unit can also be referred to as a computing unit. For example, the at least one control unit can be implemented by at least one electronic control unit (ECU). The computing unit can in particular be understood as a data processing device comprising a processing circuit. Thus, the computing unit can process data, in particular for performing computational operations. Optionally, these also include operations for performing indexed access to data structures (such as look-up tables (LUTs)).

[0012] The computing unit may in particular comprise one or more computers, one or more microcontrollers and / or one or more integrated circuits, such as one or more application-specific integrated circuits (ASICs), one or more field-programmable gate arrays (FPGAs) and / or one or more systems-on-chip (SoCs). The computing unit may also comprise one or more processors, such as one or more microprocessors, one or more central processing units (CPUs), one or more graphics processing units (GPUs) and / or one or more signal processors, in particular one or more digital signal processors (DSPs). The computing unit may also comprise a physical or virtual set of computers or other types of the units mentioned above.

[0013] In various exemplary embodiments, the computing unit comprises one or more hardware and / or software interfaces and / or one or more storage units.

[0014] The storage unit may be configured as a volatile data memory, such as a dynamic random access memory (DRAM) or a static random access memory (SRAM), or a non-volatile data memory, such as a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), a flash memory or a flash EEPROM, a ferroelectric random access memory (FRAM), a magnetoresistive random access memory (MRAM) or a phase change random access memory (PCRAM).

[0015] The mass of the motor vehicle corresponds here and hereinafter in particular to the total mass of the motor vehicle, including the unladen mass of the motor vehicle, the mass of all passengers, the possible fuel mass and any other possible cargo.

[0016] The torque request may include, for example, a torque value, thus in particular an absolute value and a sign, and the torque will be generated by the powertrain of the motor vehicle (in particular the drive motor) and / or the braking system of the motor vehicle according to an adaptive speed control. The torque value is calculated here in particular depending on the mass value, depending on the target specification and possibly depending on additional data, in particular ambient sensor data of the surroundings of the motor vehicle and / or status data of the motor vehicle.

[0017] Thus, according to the torque request, in particular by means of the at least one control unit, the drive motor of the motor vehicle and / or the braking system of the motor vehicle are controlled such that a torque is generated according to the torque request. In particular, the drive motor is used for acceleration, and the braking system is used here for deceleration. However, the electric braking effect of the drive motor can also be deliberately used for deceleration, especially in the case of an electric motor.

[0018] The target specifications can include, for example, a target speed and a target safety distance. The target speed can be predefined here, for example, by the driver of the motor vehicle. The target safety distance corresponds in particular to the distance of the motor vehicle from another road user, in particular another motor vehicle, located in front of the motor vehicle in the driving direction of the motor vehicle, where, however, there does not necessarily have to be another road user when carrying out the method according to the invention. The distance of the motor vehicle can be determined by means of the motor vehicle's environment sensor system, such as the motor vehicle's lidar system, radar system, and / or camera system. If a camera system is used, the distance can be estimated by means of a corresponding algorithm for depth estimation, etc.

[0019] Accordingly, a torque request is generated in particular such that, when implemented by generating the corresponding torque, the target safety distance is maintained or attempted and the speed of the motor vehicle is adjusted to the target speed, if this is compatible with maintaining the target safety distance. Otherwise, the speed of the motor vehicle is reduced, for example, accordingly to a maximum speed at which the target safety distance can be maintained. The target safety distance can depend on the speed of the motor vehicle. For example, it can be reduced or increased by a user input within a predefined range.

[0020] The calculation of the torque value itself is known from known driver assistance systems for adaptive speed control. However, according to the invention, a quality value is selected from a value range according to the driving scenario. The value range is generated by a quality estimate. For example, the quality estimate provides a measured value or an estimated value of the quality and an uncertainty of the quality estimate quantified, for example, by the variance of the quality. Then, the value range can be given, for example, by applying the measured value or the estimated value of the uncertainty. Alternatively, a relative or absolute, permanently predefined tolerance range can also be applied to the measured value or the estimated value in order to obtain the value range.

[0021] Since the quality value for generating the torque request is selected according to the driving scenario, the entire value range can be utilized as the case may be, such that, for example, a larger quality value can be used as a basis if a particularly reliable reduction in speed is required according to the driving scenario, especially for safety reasons. For example, this can be the case in a driving scenario where another motor vehicle that is stationary or moving much slower is located in front of the motor vehicle or in the case of assisted emergency braking, for example, when a pedestrian is stationary or moving at a low speed in front of the motor vehicle. In other driving scenarios, for example, a higher quality value can be used to ensure the highest possible acceleration, for example, when the driving scenario corresponds to an overtaking maneuver or a lane change of the motor vehicle, or a lower quality value can be used to achieve a more conservative acceleration.

[0022] According to at least one embodiment of the method, in particular, ambient sensing data is generated by means of an ambient sensing system of a motor vehicle, and the ambient sensing data represents the ambient environment of the motor vehicle located in front of the motor vehicle. A torque request is generated based on the ambient sensor data. In particular, the torque requested according to the torque request is calculated based on the ambient sensor data.

[0023] The ambient sensor system includes, for example, one or more cameras of the motor vehicle, one or more lidar systems, and / or one or more radar systems. The at least one control unit can identify based on the ambient sensor data whether another road user is located in front of the motor vehicle, in particular within the detection range of the ambient sensor system, and if this is the case, the distance between the motor vehicle and the other road user can be determined. The distance can be determined directly from the ambient sensor data, for example, in the case of a radar system or a lidar system, or indirectly, for example, using one or more algorithms for image processing and / or for computer vision in the case of a camera.

[0024] Then, a torque request can be generated based on the finding of whether another road user is located in front of the motor vehicle and possibly based on the distance.

[0025] According to at least one embodiment, the state data of the motor vehicle is determined in particular by means of at least one state sensor of the motor vehicle. A torque request is generated based on the state data. In particular, the torque requested according to the torque request is calculated based on the state data.

[0026] The state data particularly includes the current speed and / or current acceleration and / or current rotational speed of the drive motor and / or the currently applied torque of the drive motor and / or the currently applied braking torque of the braking system. The at least one state sensor accordingly includes sensors for determining the mentioned variables.

[0027] As an alternative to determining the state data by means of the at least one state sensor, the state data can be provided as estimated state data, for example, by means of the motor control unit or the brake control unit of the motor vehicle.

[0028] According to at least one embodiment, the slope of the road on which the motor vehicle is located is determined based on pre-given digital map data, in particular by means of the at least one control unit, and a torque request is generated based on the slope. In particular, the torque requested according to the torque request is calculated based on the slope.

[0029] The gradient can be the current or upcoming gradient, in particular the upcoming gradient. The at least one control unit can in particular store digital map data or receive digital map data from a computing unit outside the vehicle, such as a server computer, via a corresponding communication network, in particular a radio network.

[0030] According to at least one embodiment, the upcoming lane orientation of the lane is determined depending on pre-given digital map data, in particular by means of the at least one control unit, and a torque request is generated depending on the lane orientation. In particular, the torque requested according to the torque request is calculated according to the lane orientation.

[0031] Due to the consideration of the gradient and / or the lane orientation, the torque request can match the current situation even better. For example, in the case of a positive gradient, the higher the gradient, the higher the torque requested for acceleration or the lower the braking torque is requested, and vice versa.

[0032] As an alternative to or in addition to considering the gradient and / or the lane orientation in the calculation of the requested torque, the gradient and / or the lane orientation can also be considered in the determination of the driving scenario. Accordingly, for example, in the case of a greater positive gradient, a greater quality value can be selected from the value range than in the case of a smaller positive gradient, for example, if the driving scenario requires reliable acceleration of the vehicle. Conversely, if particularly effective deceleration is in the foreground in the driving scenario, a smaller quality value can be selected from the value range in the case of a greater positive gradient than in the case of a smaller positive gradient. This can be transferred analogously to negative gradients. Thus, a smaller quality value can be used in the case of a road route corresponding to a turn than in the case of a straight line.

[0033] According to at least one embodiment, the driving scenario is selected from a plurality of predefined scenarios depending on the ambient sensor data and / or depending on the status data of the motor vehicle.

[0034] In particular, the at least one control unit can determine the position of another motor vehicle relative to the motor vehicle, for example, based on the ambient sensor data, and thus in particular the distance of the motor vehicle from the other motor vehicle and / or the speed of the other motor vehicle, in particular the speed relative to the motor vehicle. The at least one control unit can determine, based on the status data, for example, the speed and / or the steering activity and / or the currently requested torque of the motor vehicle. Based on the mentioned variables or parts thereof and / or additional variables, the at least one control unit can identify the driving situation in which the motor vehicle is located as one of a plurality of predefined scenarios and select accordingly. The selection can include, for example, storing in a computer-readable form which scenarios are identified.

[0035] For example, the plurality of predefined scenarios may include a first scenario in which, based on the ambient sensor data, there are no additional road users within a predefined length of travel in front of the motor vehicle.

[0036] If the first scenario is selected, a torque request may thus be generated such that the speed of the motor vehicle is adjusted to a target speed. A relatively low first quality value within a value range is thus selected, for example, for calculating the requested torque.

[0037] For example, the plurality of predefined scenarios may include a second scenario in which, based on the ambient sensor data, another motor vehicle located in front of the motor vehicle is identified, and the other motor vehicle is moving in the driving direction of the motor vehicle at a certain speed, in particular at a speed greater than zero, wherein the speed of the other motor vehicle is less than the speed of the motor vehicle. It is established based on the state data of the motor vehicle that a lane change of the motor vehicle is not imminent or has not been initiated.

[0038] Thus, based on the ambient sensor data, the other motor vehicle is traveling, in particular, in the same lane as the motor vehicle, and the distance is decreasing. Thus, if the second scenario is selected, a torque request may be generated such that the speed of the motor vehicle is reduced, in particular to a value less than the target speed. Thus, for example, a medium or higher second quality value within a value range is selected for the calculation of the requested torque. In the hypothetical case where the first scenario has been identified instead of the second scenario, the second quality value is in particular greater than the first quality value.

[0039] For example, the second quality value may also be selected based on the difference between the speed of the motor vehicle and the speed of the other motor vehicle, wherein the greater the difference, the greater the second quality value in particular. Thus, the safety level can be increased because too low a braking torque request is avoided.

[0040] For example, the plurality of predefined scenarios may include a third scenario in which, based on the ambient sensor data, another motor vehicle located in front of the motor vehicle is identified, and it is established based on the state data of the motor vehicle that a lane change of the motor vehicle is imminent or has been initiated.

[0041] The speed of the other motor vehicle is in particular less than the speed of the motor vehicle here. If the third scenario is selected, a passing process may be imminent or has been initiated. In order to be able to perform this as quickly as possible, a relatively large third quality value may be selected such that a less-than-expected acceleration of the motor vehicle is avoided. The third quality value is in particular greater than the first quality value in the hypothetical case where the first scenario has been identified instead of the second scenario, and is, for example, greater than the second quality value in the hypothetical case where the second scenario has been identified instead of the third scenario.

[0042] For example, the plurality of predefined scenarios may include a fourth scenario in which a stationary object (e.g., a stationary vehicle) located in front of the motor vehicle is identified based on ambient environment sensor data, and it is established based on the state data of the motor vehicle that a lane change of the motor vehicle is not upcoming or has not been initiated.

[0043] Since no lane change is taking place, the speed of the motor vehicle can thus be significantly reduced or the motor vehicle can be braked to a standstill. In order to be able to perform the braking procedure as quickly and reliably as possible, a relatively large fourth mass value can be selected such that an undesirably low deceleration of the motor vehicle is avoided. The fourth mass value is in particular greater than the first mass value in the hypothetical case where the first scenario has been identified instead of the second scenario, and is greater than the second mass value, for example, in the hypothetical case where the second scenario has been identified instead of the fourth scenario, and is greater than the third mass value, for example, in the hypothetical case where the third scenario has been identified instead of the fourth scenario.

[0044] According to at least one embodiment, the mass estimation includes a respective measurement or estimation of at least one measurement variable or estimation variable, and the value range is determined based on the measurement uncertainty or estimation uncertainty of at least one measurement or estimation.

[0045] The at least one measurement variable or estimation variable particularly includes the torque according to another torque request and the acceleration or deceleration of the motor vehicle following the torque request.

[0046] According to at least one embodiment, a Kalman filter algorithm is used to perform the mass estimation, and the value range is determined depending on the covariance matrix, which is determined by means of the Kalman filter algorithm, in particular predicted.

[0047] The state or state vector is determined cyclically according to the Kalman filter algorithm, which in the present case includes the mass of the motor vehicle. The measurement variables on which the Kalman filter algorithm is based particularly include

[0048] the torque according to another torque request and the acceleration or deceleration of the motor vehicle after the torque request.

[0049] According to the Kalman filter algorithm, for each cycle, in addition to the respective state or state vector, an associated covariance matrix is also determined, which is commonly referred to as the covariance P of the respective state in the formalism of the Kalman filter algorithm. The process noise typically designated by Q and the measurement noise typically designated by R are incorporated, for example, particularly into the calculation of the covariance P.

[0050] According to at least one embodiment, the torque according to the torque request is generated by means of the drive motor of the motor vehicle and / or the braking system of the motor vehicle. For this purpose, the drive motor and / or the braking system are particularly controlled by the at least one control unit according to the torque request.

[0051] For application scenarios or application scenarios that may lead to this method and are not explicitly described herein, it can be expected that, according to this method, an error message is output and / or a request for user feedback is input and / or default settings are set and / or an initial state is predefined.

[0052] According to another aspect of the present invention, a driver assistance system for adaptive speed control of a motor vehicle is specified. The driver assistance system has at least one control unit that is configured to perform a mass estimation to determine a value range of the mass of the motor vehicle, select a mass value within the value range according to the driving scenario in which the motor vehicle is located, and generate a torque request for adaptive speed control according to the mass value and according to a target specification that relates to the target speed of the motor vehicle and / or the target safety distance of the motor vehicle.

[0053] According to at least one embodiment of the driver assistance system, the at least one control unit is configured to obtain a corresponding measurement or estimation result of at least one measurement variable or estimation variable from a communication network of the motor vehicle, and perform a mass estimation according to the measurement result or estimation result.

[0054] In particular, a communication network, such as a communication bus system, for example a CAN bus, connects one or more sensors for detecting the at least one measurement variable to the at least one control unit. In some embodiments, one sensor or multiple sensors can be part of the driver assistance system. The communication network can also connect a motor controller or a brake controller to the at least one control unit in order to provide at least one estimation variable or estimation result to the at least one control unit.

[0055] According to at least one embodiment, the driver assistance system includes at least one surrounding environment sensor system for the motor vehicle, which is configured to generate surrounding environment sensor data that, in particular when the surrounding environment sensor system is installed on the motor vehicle, represents the surrounding environment of the motor vehicle in front of the motor vehicle, and the at least one control unit is configured to generate a torque request according to the surrounding environment sensor data.

[0056] According to at least one embodiment, the driver assistance system includes at least one state sensor for the motor vehicle, which is configured to determine state data of the motor vehicle, in particular when the at least one state sensor is installed in or on the motor vehicle, and the at least one control unit is configured to generate a torque request according to the state data.

[0057] According to at least one embodiment, the at least one control unit is configured to determine a slope of a road on which a motor vehicle is located based on predetermined digital map data and to generate a torque request based on the slope.

[0058] If the present disclosure relates to a component of a driver assistance system according to the invention, in particular to at least one control unit of a driver assistance system, which is designed, formed, configured, etc. to perform or implement a specific function to achieve a specific effect or for a specific purpose, then this can be understood in such a way that the component, beyond the basic or theoretical usability or applicability of the component for the function, effect or purpose, is specifically and actually capable of performing or implementing the function, achieving the effect or achieving the purpose by means of appropriate adaptation, programming, physical configuration, etc.

[0059] Other embodiments of the driver assistance system for adaptive speed control according to the invention directly follow the various designs of the method for adaptive speed control according to the invention and vice versa. In particular, the respective features and the corresponding explanations and advantages of the various embodiments related to the method according to the invention can be transferred in a similar way to the corresponding embodiments of the driver assistance system according to the invention. In particular, the driver assistance system according to the invention is designed or programmed to perform the method according to the invention. In particular, the driver assistance system according to the invention performs the method according to the invention.

[0060] According to another aspect of the invention, a computer program with commands is specified. When the commands are executed by a driver assistance system according to the invention, in particular by at least one control unit of the driver assistance system, the commands prompt the driver assistance system to perform the method according to the invention.

[0061] According to another aspect of the invention, a computer-readable storage medium is specified which stores the computer program according to the invention.

[0062] The computer program and the computer-readable storage medium can be interpreted as respective computer program products with commands.

[0063] Other features of the invention can be found in the claims, the drawings and the description of the drawings. The features and combinations of features mentioned above in the description and the features and combinations of features mentioned below in the description of the drawings and / or shown in the drawings can be included in the invention not only in the combinations specified in each case, but also in other combinations. In particular, embodiments and combinations of features of all features of the claims without the original wording can also be included in the invention. In addition, embodiments and combinations of features that go beyond or are different from the combinations of features set forth in the back references of the claims can be included in the invention.

[0064] The present invention will now be explained in more detail on the basis of specific exemplary embodiments with reference to the relevant schematic diagrams. In the drawings, identical or functionally identical elements may be provided with the same reference signs. The description of identical or functionally identical elements may not necessarily be repeated with respect to different drawings. Description of the Drawings

[0065] In the drawings:

[0066] Figure 1 A schematic diagram of a motor vehicle and another motor vehicle is shown, the motor vehicle having an exemplary embodiment of a driver assistance system for adaptive speed control according to the present invention;

[0067] Figure 2 A flowchart showing an exemplary embodiment of a method for adaptive speed control according to the present invention; and

[0068] Figure 3 A schematic block diagram showing another exemplary embodiment of a driver assistance system for adaptive speed control according to the present invention. Detailed Description of the Invention

[0069] Figure 1 A motor vehicle 1 is schematically shown, which has an exemplary embodiment of a driver assistance system 2 for adaptive speed control according to the present invention. In addition, another motor vehicle 1' located in front of the motor vehicle 1, in particular traveling in the same direction in the same lane, is shown at a distance d in front of the motor vehicle 1.

[0070] The driver assistance system 2 has at least one control unit 3, which, according to a specific embodiment, may also represent two or more control units of the motor vehicle 1. The driver assistance system 2 may also have an environment sensor system 4, such as a camera, a lidar system or a radar system, and / or one or more state sensors 5, 6, such as a torque sensor 5 and an acceleration sensor 6.

[0071] The driver assistance system 2 can in particular carry out a method for adaptive speed control according to the present invention. Figure 2 A schematic flowchart of such a method in an exemplary embodiment is shown.

[0072] In step S2, the control unit 3 performs a mass estimation to determine the value range of the mass of the motor vehicle 1. The control unit 3 can perform the mass estimation, for example, based on the status data of the motor vehicle 1, which is generated by the status sensors 5, 6 in step S1. In particular, the control unit 3 can use the applied torque measured by the torque sensor 5 and the acceleration or deceleration of the motor vehicle 1 generated by the torque and measured by means of the acceleration sensor 6 in order to calculate or estimate the mass of the motor vehicle 1. Instead of measuring the torque by means of the torque sensor 5, the control unit 3 can, for example, receive the estimated applied torque from the motor controller or the brake controller (not shown) of the motor vehicle 1.

[0073] Furthermore, in step S3, the control unit 3 can identify the driving scenario in which the motor vehicle 1 is located. For this purpose, the control unit 3 can use the status data and / or the ambient sensor data, which is generated by the ambient sensor system 4 in step S1, and the ambient sensor data represents the ambient environment of the motor vehicle 1 located in front of the motor vehicle 1. The control unit 3 can, for example, identify from the ambient sensor data: whether there is another motor vehicle 1' and possibly identify how large the spacing d is.

[0074] In step S4, the control unit 3 selects a mass value within the value range according to the driving scenario, and generates a torque request for adaptive speed control according to the mass value and according to the target specifications, which relate to the target speed of the motor vehicle 1 and / or the target safety distance of the motor vehicle 1 from another motor vehicle 1'. In step S5, the control unit 3 controls the drive motor (not shown) and / or the brake system (not shown) of the motor vehicle 1 such that a torque is generated according to the torque request.

[0075] Figure 3 is a block diagram of another exemplary embodiment of the driver assistance system 2 according to the present invention.

[0076] The driver assistance system 2 is connected via an input interface 11 to the controllers of the drive motor and the brake system such that the control unit 3 can receive the corresponding operation data therefrom, in particular the applied torque. Furthermore, the driver assistance system 2 is connected via an output interface 12 having the controllers of the drive motor and the brake system to the controllers of the drive motor and the brake system in order to transmit the torque request. The control unit 3 can also be connected to the status sensors 5, 6 via the input interface 11. The input interface 11 and the output interface 12 can also be implemented as a common input and output interface.

[0077] In Figure 3In an exemplary embodiment, the control unit includes a scene classifier module 8, a quality estimation module 7, and a control module 10. The scene classifier module 8 can identify the driving scene as described, the quality estimation module 7 can perform the quality estimation as described, and the control module 10 can select the quality value and generate the torque request as described. For example, the control unit 3 may further have a target selection module 9, which can detect and, if necessary, track an object based on the ambient sensor data, and for which an adaptive speed control is to be performed, in particular another motor vehicle 1'.

[0078] As described, in particular with reference to the drawings, the performance of the adaptive speed control is enhanced by the present invention without an increased safety risk in this case.

Claims

1. A method for adaptive speed control of a motor vehicle (1), wherein: a mass estimation is performed to determine a value range of the mass of the motor vehicle (1); a mass value within the value range is selected depending on the driving scenario in which the motor vehicle (1) is located; and a torque request for adaptive speed control is generated depending on the mass value and depending on at least one target specification, the target specification relating to a target speed of the motor vehicle (1) and / or a target safety distance of the motor vehicle (1).

2. The method according to claim 1, characterized in that ambient sensor data is generated, the ambient sensor data representing the surroundings of the motor vehicle (1) located in front of the motor vehicle (1), and a torque request is generated depending on the ambient sensor data; and / or state data of the motor vehicle (1) is determined, and a torque request is generated depending on the state data; and / or - the slope of the road on which the motor vehicle (1) is located is determined depending on predetermined digital map data, and a torque request is generated depending on the slope; and / or - the upcoming lane direction of the road is determined depending on predetermined digital map data, and a torque request is generated depending on the lane direction.

3. The method according to claim 2, characterized in that a driving scenario is selected from a plurality of pre-given scenarios depending on ambient sensor data and / or depending on state data of the motor vehicle (1) and / or slope and / or lane direction.

4. The method according to claim 3, characterized in that the plurality of predetermined scenarios includes a first scenario, in which, depending on the ambient sensor data, it is established that there are no additional road users within a predetermined length of travel in front of the motor vehicle (1).

5. The method according to claim 3 or 4, characterized in that the plurality of predetermined scenarios includes a second scenario, in which, depending on the ambient sensor data, another motor vehicle (1') located in front of the motor vehicle (1) is identified, the other motor vehicle (1') moving at a speed less than the speed of the motor vehicle (1) in the driving direction of the motor vehicle (1), and it is determined depending on the state data of the motor vehicle (1) that a lane change of the motor vehicle (1) is not upcoming or has not been initiated.

6. The method according to any one of claims 3 to 5, characterized in that the plurality of predetermined scenarios includes a third scenario, in which, depending on the ambient sensor data, another motor vehicle (1') located in front of the motor vehicle (1) is identified, and it is determined depending on the state data of the motor vehicle (1) that a lane change of the motor vehicle (1) is upcoming or has started.

7. The method according to any one of claims 3 to 6, characterized in that The plurality of predefined scenarios includes a fourth scenario in which, depending on ambient sensor data, a stationary object located in front of the motor vehicle (1) is identified and it is determined, depending on the status data of the motor vehicle (1), that a lane change of the motor vehicle (1) is not upcoming or has not been initiated.

8. The method according to any one of the preceding claims, characterized in that the mass estimation includes a respective measurement of at least one measurement variable and the value range is determined depending on the measurement uncertainty of at least one measurement.

9. The method according to claim 8, characterized in that the respective measurement of the at least one measurement variable includes a measurement of the generated torque for speed control of the motor vehicle (1) and a measurement of the acceleration or deceleration of the motor vehicle (1) caused by the generation of the torque.

10. The method according to any one of claims 1 to 8, characterized in that the mass estimation is performed using a Kalman filter algorithm and the value range is determined based on the covariance matrix determined by means of the Kalman filter algorithm.

11. The method according to any one of the preceding claims, characterized in that a torque is generated depending on a torque request by means of the drive motor of the motor vehicle (1) and / or the braking system of the motor vehicle (1).

12. A driver assistance system (2) for adaptive speed control of a motor vehicle (1), comprising at least one control unit (3), the at least one control unit being configured to: - perform a mass estimation to determine a value range of the mass of the motor vehicle (1); - select a mass value within the value range depending on the driving scenario in which the motor vehicle (1) is located; and - generate a torque request for the adaptive speed control depending on the mass value and depending on at least one target specification related to the target speed of the motor vehicle (1) and / or the target safety distance of the motor vehicle (1).

13. The driver assistance system (2) according to claim 12, characterized in that the at least one control unit (3) is configured to receive the measurement result of the respective measurement of at least one measurement variable from the communication network of the motor vehicle (1) and perform the mass estimation depending on the measurement result.

14. The driver assistance system (2) according to claim 12 or 13, characterized in that - the driver assistance system (2) includes at least one ambient sensor system (4) for the motor vehicle, the ambient sensor system being configured to generate ambient sensor data representative of the ambient of the motor vehicle (1) located in front of the motor vehicle (1), and the at least one control unit (3) being configured to generate the torque request depending on the ambient sensor data; and / or - The driver assistance system (2) includes at least one status sensor (5, 6) for the motor vehicle (1), the status sensor being configured to determine status data of the motor vehicle (1), and the at least one control unit (3) being configured to generate the torque request depending on the status data; and / or - The at least one control unit (3) is configured to determine the gradient of the road on which the motor vehicle (1) is located depending on predetermined digital map data and to generate the torque request depending on the gradient.

15. A computer program product having instructions which, when executed by the driver assistance system (2) according to any one of claims 12 to 14, cause the driver assistance system (2) to perform the method according to any one of claims 1 to 11.

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