Vehicle following distance control system for motor vehicle

Abstract

The invention relates to a vehicle following distance control system (100) for a motor vehicle (1), which is designed and arranged to control at least one vehicle following distance (d) of the motor vehicle (1) relative to a preceding vehicle (2) to a target vehicle following distance (d0) without intervention of a driver of the motor vehicle (1), comprising: a sensor system (3, 7, 9), the invention relates to a device (1) for detecting at least one actual following distance (d) of a motor vehicle (1) relative to a preceding vehicle (2) in a detection range and generating a distance signal (Sd) therefrom, an electronic control system (5) which is designed and arranged to at least evaluate the distance signal (Sd), and generating a control signal (S) for a drive and / or brake device of the motor vehicle (1) at least as a function of the distance signal in order to adjust the detected following distance (d) to a target following distance (d0).

Description

Technical Field

[0001] The present invention relates to a following distance control system for a motor vehicle according to the preamble of claim 1, which is designed and arranged to control at least the following distance of the motor vehicle relative to a vehicle ahead without intervention by the motor vehicle driver, according to the preamble of claim 1, and a driver assistance system or automated driving system according to the preamble of claim 12. Background Art

[0002] A general following distance control system is known from the prior art, for example from DE 199 43 611 A1, as part of an adaptive cruise control system (ACC). Based on the driving speed, a target distance or time interval to the vehicle ahead is determined, wherein the distance control takes into account a minimum distance or time interval that the driver can specify when determining the target distance or time interval. In conditions of poor visibility (bad weather, darkness), the known distance control increases the target distance or time interval determined for normal visibility conditions.

[0003] The present invention aims to extend the following distance control system to make it more flexible in terms of road safety and also provides a driver assistance system or an automated driving system having such a following distance control system.

[0004] This object is achieved by the features of claims 1 and 12 . Summary of the Invention

[0005] The present invention discloses a motor vehicle following distance control system, which is designed and arranged to control at least one following distance of a motor vehicle relative to a preceding vehicle without intervention by the motor vehicle driver, comprising:

[0006] a) a sensor system designed and arranged to detect at least one actual following distance of the motor vehicle relative to a preceding vehicle within a detection range and to generate a distance signal therefrom,

[0007] b) an electronic control system designed and arranged to evaluate at least the distance signal and to generate, as a function of at least the distance signal, a control signal for a drive and / or a brake system of the motor vehicle in order to adjust the detected following distance to a target following distance, wherein

[0008] c) The electronic control system is further configured and designed to evaluate or take into account, in addition to the distance signal, at least one further signal generated by the sensor system when generating the control signal and / or determining the target following distance, the sensor system being configured and designed to generate

[0009] d) This other signal

[0010] d1) depending on the dynamic behavior of the vehicle ahead, which in particular differs from the purely longitudinal dynamics of the vehicle ahead, and / or

[0011] d2) depends on a state or condition of the vehicle ahead that differs in particular from the dynamic behavior and the purely longitudinal dynamics of the vehicle ahead, or from the longitudinal, lateral and vertical dynamic behavior of the vehicle ahead, and / or

[0012] d3) depends on the activation of at least one lighting device of a preceding vehicle, and

[0013] e) If the electronic control system considers or evaluates other signals and indicates that

[0014] e1) The dynamic behavior deviates significantly from the expected dynamic behavior of the vehicle ahead, and / or

[0015] e2) the state or condition deviates significantly from the expected state or condition of the vehicle ahead, and / or

[0016] e3) at least one lighting device of the vehicle ahead is activated,

[0017] f) The electronic control is also arranged and designed to adjust the control signal.

[0018] The dynamic behavior of the vehicle ahead specifically differs from the purely longitudinal dynamics, which means that the purely longitudinal dynamics of the vehicle ahead are excluded, for example from conventional adaptive cruise control systems (ACC). In particular, the electronic control system analyzes the dynamic behavior of the vehicle ahead that differs from the purely longitudinal dynamics of the vehicle ahead, including or resulting from the control of the following distance.

[0019] Pure longitudinal dynamics are specifically determined entirely by variables and parameters such as distance, speed, acceleration, and jerk measured in the direction of travel or along the longitudinal axis of the vehicle. Pure longitudinal dynamic behavior should be excluded from the dynamic behavior of the preceding vehicle in order to distinguish it from known distance control systems of the prior art, which react only to pure longitudinal dynamic variables, such as the following distance between the vehicle and the preceding vehicle. On the other hand, the dynamic behavior of the preceding vehicle should specifically include the lateral dynamic behavior or a combination of longitudinal and lateral dynamic behavior, so that it forms the starting point for adjusting the control signal for distance control in the event of significant deviations from the expected lateral dynamic behavior or the expected combination of longitudinal and lateral dynamic behavior of the preceding vehicle.

[0020] The longitudinal dynamic behavior of the vehicle ahead represents the dynamic behavior viewed along the longitudinal axis of the vehicle, and the lateral dynamic behavior represents the dynamic behavior of the vehicle ahead viewed perpendicular to the longitudinal axis of the vehicle.

[0021] Furthermore, the dynamic behavior of the leading vehicle may deviate or become different from the leading vehicle, causing it to disappear from the sensor system's detection range. This can occur, for example, if the leading vehicle leaves the vehicle's lane.

[0022] For example, if the vehicle ahead

[0023] a) rotates significantly about its vertical axis and then, for example, tilts and / or slides suddenly, and / or

[0024] b) rotates significantly about its longitudinal axis and then, for example, rolls sideways, and / or

[0025] c) rotates significantly about its transverse axis and then pitches significantly, for example, and / or

[0026] d) significant deviation from the intended trajectory, particularly transversely to the longitudinal direction of the vehicle ahead,

[0027] The dynamic behavior of the preceding vehicle (as defined above) then deviates significantly from the expected dynamic behavior of the preceding vehicle.

[0028] These situations do not inherently involve purely longitudinal dynamic changes in the behavior of the vehicle ahead.

[0029] A significant deviation may mean that the deviation exceeds at least one threshold value, in particular a parameterizable or adjustable threshold value.

[0030] - a rotation about its vertical axis (yaw), which may mean that the yaw rate or yaw speed of the vehicle ahead exceeds a (lower) threshold value for the yaw rate or yaw speed,

[0031] - about its longitudinal axis (roll), which may mean that the roll rate or roll velocity of the vehicle ahead exceeds a (lower) threshold value for the roll rate or roll velocity,

[0032] - Rotation about its transverse axis (pitch), which may mean that the pitch rate or pitch speed of the vehicle ahead exceeds a lower pitch rate or pitch speed threshold.

[0033] Of course, any combination of significant yaw, roll and / or pitch may also be used to detect significant deviations of the dynamic behavior of the vehicle ahead from the expected dynamic behavior.

[0034] The expected dynamic behavior of the vehicle ahead can be described by the following facts:

[0035] - the yaw rate or yaw speed of the vehicle ahead does not exceed the (lower) threshold value for yaw rate or yaw speed, and

[0036] - the roll rate or roll velocity of the vehicle ahead does not exceed the (lower) threshold value for roll rate or roll velocity, and

[0037] - The pitch rate or pitch speed of the vehicle ahead does not exceed the (lower) threshold value of the pitch rate or pitch speed.

[0038] The expected trajectory may comprise, for example, a road course detected by vehicle sensors or a road course defined using an external GPS signal received by a GPS receiver, which is evaluated by the electronic control system.

[0039] Alternatively or additionally, the expected trajectory may correspond to a trajectory stored in the electronic control system and to be followed by the motor vehicle, which has been used as a target trajectory, for example, during automated driving of the motor vehicle. This approach is based on the concept that the preceding vehicle must also follow the target trajectory, in particular if the target trajectory has no intersections in the area of ​​the preceding vehicle's current position, from which the preceding vehicle could diverge.

[0040] If it is subsequently determined that the vehicle ahead is significantly deviating from the intended trajectory, particularly perpendicular to the longitudinal direction of the vehicle ahead, for example, moving toward or beyond the outer edge of a curve, this indicates an impending accident. Control signals for the vehicle's drive and / or braking systems may then need to be adjusted, particularly to slow the vehicle down, thereby increasing the target following distance and improving road safety.

[0041] According to another embodiment, the electronic control system can detect that the dynamic behavior of the leading vehicle significantly deviates from the expected dynamic behavior of the leading vehicle if the sensor system detects significant relative movement of a portion of the leading vehicle relative to at least another portion of the leading vehicle. This significant relative movement can specifically be significant relative movement of the trailer portion of the leading vehicle relative to the tractor portion.

[0042] According to another embodiment, if the sensor system detects

[0043] a) smoke is generated on at least a part or section of the vehicle ahead, in particular on a part or section of at least one brake actuator, and / or

[0044] b) at least one dimension of the vehicle ahead exceeds a threshold, and / or

[0045] c) relative movement of the load relative to the loading area or loading space of the vehicle ahead,

[0046] The electronic control system may then assess or identify that the state has significantly deviated from the expected state of the vehicle ahead.

[0047] In particular, for a leading vehicle designed for transporting heavy objects, its dimensions, in particular the width (transversely to the longitudinal direction of the vehicles) and / or the height (in the vertical direction) of the leading vehicle may represent such dimensions exceeding the threshold value.

[0048] Particularly preferably, activation of at least one lighting device of the preceding vehicle may include at least the following situations:

[0049] a) The direction indicators of the vehicle ahead are activated, and / or

[0050] b) the hazard warning lights of the vehicle ahead are activated, and / or

[0051] c) The brake lights of the vehicle ahead are activated.

[0052] The activation of the lighting device or lighting devices may indicate a critical situation, in which case it may be necessary to adjust the control signal, for example to slow down the motor vehicle in advance.

[0053] In principle, the electronic control system can adjust the control signal so that the vehicle decelerates to increase the target following distance from the original target following distance. Alternatively, the electronic control system can adjust the control signal so that the vehicle accelerates to decrease the target following distance from the original target following distance.

[0054] During distance control, a significant deviation can be detected if at least one threshold value is exceeded, said threshold value being stored in the electronic control system, for example,

[0055] a) a fixed value, or

[0056] b) Through the electronic control system according to

[0057] b1) the speed and / or acceleration of the motor vehicle, and / or

[0058] b2) Road friction coefficient, and / or

[0059] b3) Visibility from motor vehicles

[0060] To adjust.

[0061] The sensor system may also include at least the following components: a laser sensor, a radar sensor, an ultrasonic sensor, a camera sensor, a GPS receiver, which defines, for example, a path or a target trajectory of the motor vehicle and the vehicle ahead based on external GPS signals. As described above, significant deviations of the (actual) trajectory of the vehicle ahead from the expected or target trajectory, in particular transversely to the longitudinal direction of the vehicle, can then be detected.

[0062] In order to be able to detect the mentioned significant deviations,

[0063] a) expected dynamic behavior, and / or

[0064] b) The expected state of the vehicle ahead

[0065] The expected or target value and / or value range of may be stored in the electronic control system.

[0066] The present invention also relates to a driver assistance system or automated driving system for a motor vehicle having a following distance control system as described above, in particular an adaptive cruise control (ACC), and a motor vehicle having such a driver assistance system or automated driving system. A driver assistance system or automated driving system is to be understood in particular as a system that controls or regulates a motor vehicle at least semi-autonomously or fully autonomously, in particular within the framework of levels 1 to 5. BRIEF DESCRIPTION OF THE DRAWINGS

[0067] A preferred embodiment of the present invention is shown in the following drawings and explained in more detail in the following description. In the drawings, the single figure shows a schematic top view of a traffic situation in which a motor vehicle equipped with a preferred embodiment of the following distance control system according to the present invention is following a vehicle at a following distance. DETAILED DESCRIPTION

[0068] In the illustrated traffic situation, motor vehicle 1, equipped with a preferred embodiment of a following distance control system 100, is following a preceding vehicle 2 at a following distance d. Distance following control system 100 may, for example, constitute a component of an adaptive cruise control (ACC) system equipped in motor vehicle 1. Although shown in simplified form as a passenger vehicle, motor vehicle 1 and / or preceding vehicle 2 may be in the form of a heavy commercial vehicle, in particular a tractor-trailer combination or a tractor designed and equipped to tow a trailer.

[0069] Following distance control system 100 includes a sensor system designed and configured to detect at least a following distance d of motor vehicle 1 relative to a preceding vehicle 2 within a detection area or range, and to generate a distance signal Sd based on the following distance d. The sensor system includes, for example, two radar sensors 3 disposed on the front surface of motor vehicle 1. Each radar sensor feeds a distance signal Sd representing the actual following distance d of motor vehicle 1 relative to preceding vehicle 2 to a signal conditioning device 4. Signal conditioning device 4 conditions distance signal Sd, whereby the conditioned distance signal Sd is fed to an electronic control system 5 for processing.

[0070] The electronic control system 5 is designed and configured to evaluate at least the (adjusted) distance signal Sd and to generate, based on the distance signal Sd, a control signal S for a drive (not shown here) and / or a braking system of the motor vehicle 1 in order to produce, for example, a predefined target following distance d0. If, for example, a parameterizable target following distance d0 is set or predefined in the motor vehicle, as is the case here, the following distance control system 100 uses the control signal S to ensure that the target following distance d0 is adjusted by increasing the power of the drive, which is caused by the control signal S, or by reducing the power of the drive, which is caused by the control signal S, and / or by activating the braking system.

[0071] Furthermore, the motor vehicle 1 has wheel speed sensors 6, in particular on all wheels, which are shown here in simplified form as blocks, whose wheel speed signals are processed in the electronic control system 5, for example to determine the speed v and the acceleration / deceleration a of the motor vehicle 1. Furthermore, the motor vehicle may be equipped with an anti-skid control system (ABS) to prevent excessive brake slip during braking, wherein the anti-skid control system (ABS) uses the wheel speed signals as input signals.

[0072] Furthermore, motor vehicle 1 is equipped with a camera 7 as part of a sensor system, which generates a camera image signal Sk and feeds it to electronic control system 5 for evaluation. This evaluation is carried out by means of software implementation and also includes an analysis of the dynamic behavior of vehicle ahead 2. In particular, the dynamic behavior of vehicle ahead 2, which differs from the purely longitudinal dynamics of vehicle ahead 2 and includes or is formed by the control of the aforementioned following distance d, is also analyzed.

[0073] In the coordinate system X, Y, and Z of the front vehicle 2, the X direction extends parallel to or coaxially with the longitudinal axis of the front vehicle 2, and the Y direction extends transversely thereto. The Z direction of the coordinate system X, Y, and Z extends vertically.

[0074] The longitudinal dynamics of the vehicle ahead 2 are then related to the driving variables or driving parameters acting in the X direction or in the direction of the longitudinal axis of the vehicle, for example the speed v effective in the X direction x or acceleration / deceleration a x For example, the longitudinal dynamics can be detected by the radar sensor 3 and the camera 7 and then evaluated as part of the above-described following distance control system 100. Here, for example, the camera image signal Sk generated by the camera 7 is used in the electronic control system 5, in particular, to analyze the lateral dynamic behavior of the preceding vehicle 2, in this case in the Y direction, transverse to the X direction or transverse to the longitudinal axis of the preceding vehicle 2, and in particular to analyze the vertical dynamic behavior of the preceding vehicle 2, in this case in the Z direction.

[0075] Furthermore, the electronic control system 5 is configured and designed to analyze the state of the leading vehicle 2, for example, using the camera image signal Sk generated by the camera 7. The state of the leading vehicle 2 is preferably different from the aforementioned (longitudinal, lateral, and vertical) dynamic behavior, or from the driving parameters and driving variables of the leading vehicle 2 that describe the dynamics of the leading vehicle 2 itself, such as the driving speed v and / or the acceleration a in the X, Y, and Z directions. The state of the leading vehicle 2 is intended to be a state that has already occurred before the leading vehicle 2 is driven (for example, the load of the leading vehicle 2 is not properly secured) or a state that only occurs during the driving process (for example, the load of the leading vehicle 2 is slipping on the loading surface, the brake actuator of the leading vehicle 2 is smoking, or a component of the leading vehicle 2 is loose).

[0076] Last but not least, the electronic control system 5 is here also provided and designed, due to the implementation of software, to detect activation of at least one lighting device 8 of the preceding vehicle 2 , for example by evaluating a camera image signal Sk generated by the camera 7 .

[0077] If the evaluation of the camera image signal Sk by the electronic control system 5 indicates that the dynamic behavior of the vehicle ahead 2 deviates significantly from the expected dynamic behavior of the vehicle ahead 2 and / or the state of the vehicle ahead 2 deviates significantly from the expected state of the vehicle ahead 2 and / or at least one lighting device 8 of the vehicle ahead 2 is activated, the electronic control system 5 is configured and designed using implementation software to adjust the control signal S, in particular to adjust the deceleration of the motor vehicle 1.

[0078] For example, if the vehicle ahead

[0079] a) a significant rotation about its vertical axis (here: the Z direction or Z axis in the X, Y, Z coordinate system), followed by, for example, significant slipping and / or oversteering and / or understeering, and / or

[0080] b) a significant rotation about its longitudinal axis (here: the X direction or X axis in the X, Y, Z coordinate system) and then, for example, a significant roll, and / or

[0081] c) rotate significantly about its transverse axis (here: the Y direction or Y axis in an X, Y, Z coordinate system), and then e.g. pitch significantly, and / or

[0082] d) significant deviation from the intended or target trajectory 13, in particular transversely to the longitudinal axis or X direction of the vehicle,

[0083] As defined above, the dynamic behavior of the preceding vehicle 2 then deviates significantly from the expected dynamic behavior of the preceding vehicle 2 .

[0084] A significant deviation means that the deviation exceeds at least one threshold value, in particular a parameterizable or adjustable threshold value.

[0085] - is significantly rotated about its vertical axis (yaw), which may mean that the yaw rate or yaw speed of the vehicle ahead exceeds the lower yaw rate or yaw speed threshold,

[0086] - a significant rotation about its longitudinal axis (roll), which may mean that the roll rate or roll velocity of the vehicle ahead exceeds the lower roll rate or roll velocity threshold,

[0087] - is significantly rotated about its lateral axis (pitch), which may mean that the pitch rate or pitch velocity of the vehicle ahead exceeds the lower pitch rate or pitch velocity threshold.

[0088] Of course, any combination of significant yaw, roll and / or pitch may also be employed to detect significant deviations of the leading vehicle's dynamic behavior from the expected dynamic behavior.

[0089] The expected dynamic behavior of the vehicle ahead can be described in particular by the following facts:

[0090] - the yaw rate or yaw speed of the vehicle ahead does not exceed the lower yaw rate or yaw speed threshold, and

[0091] - the roll rate or roll velocity of the vehicle ahead does not exceed the lower roll rate or roll velocity threshold, and

[0092] -The pitch angle change rate or pitch speed of the vehicle ahead does not exceed the pitch angle change rate or pitch speed lower threshold.

[0093] The expected or target trajectory may, for example, include the course of the road detected by a camera 7 of the motor vehicle 1 or an external GPS signal S received by a GPS receiver 9 . GPS Defined road course, the external GPS signal S GPS The evaluation is performed, for example, by the electronic control system 5 .

[0094] Alternatively or additionally, the expected or target trajectory 13 may correspond to a trajectory that is stored in the electronic control system 5 and automatically followed by the motor vehicle 1, said trajectory having been used as the target trajectory 13, for example, as part of the autonomous driving of the motor vehicle 1. This approach is based on the idea that the preceding vehicle 2 must also follow said target trajectory 13, in particular if the target trajectory has no intersections in the current position area of ​​the preceding vehicle 2, from which the preceding vehicle 2 could diverge.

[0095] Alternatively, the motor vehicle 1 and the preceding vehicle 2 may each be equipped with a vehicle-to-vehicle (V2V) communication system. In this case, the expected or target trajectory 13 that may be present in the control unit of the preceding vehicle 2 may also be transmitted to the electronic control system 5 of the motor vehicle 1 via the V2V communication. This allows the target trajectory 13 of the preceding vehicle 2 to be present in the electronic control system 5 of the motor vehicle 1 so that it can be compared with the actual trajectory of the preceding vehicle 2, for example, as detected by the camera 7.

[0096] If the electronic control system 5 then determines using the camera image signal Sk that the vehicle ahead 2 is significantly deviating from the intended or target trajectory 13, in particular transversely to the longitudinal axis of the vehicle ahead 2, or in this case in the Y direction, and is, for example, moving towards the outer limits of a curve in the road 12 or even beyond them, this indicates an impending accident. It is then necessary to adjust the control signals S of the drive and / or braking devices of the motor vehicle 1, in particular to decelerate the motor vehicle 1, thereby increasing the target following distance d0, in order to improve road safety.

[0097] According to another embodiment, the electronic control system 5 can detect that the dynamic behavior of the leading vehicle 2, here in particular the dynamic behavior recorded by the camera 7, deviates significantly from the expected dynamic behavior of the leading vehicle 2 if a significant relative movement of a part or segment of the leading vehicle 2 relative to at least another part or segment of the leading vehicle 2 is detected.

[0098] For example, a significant relative movement of the trailer component relative to the tractor component of the preceding vehicle 2 can trigger the electronic control system 5 to adjust the control signal S. For example, the relative movement can be assessed as significant if the articulation angle between the tractor component and the trailer component of the preceding vehicle 2 exceeds an articulation angle threshold. For example, the articulation angle can be determined or estimated by evaluating a camera signal Sk in the electronic control system 5, as the motor vehicle 1 typically follows the preceding vehicle 2 in alignment. The electronic control system 5 can then detect the articulation angle of the trailer component relative to the tractor component in the camera image.

[0099] According to another embodiment, if, for example, camera 7 detects smoke 10 on the brake actuator of leading vehicle 2, as shown, the electronic control system 5 can assess or recognize that the state of leading vehicle 2 has significantly deviated from the expected state. The generation of smoke 10 on the brake actuator indicates that the braking performance of leading vehicle 2 has degraded, which may cause the driving behavior of leading vehicle 2 to become unstable during braking. Therefore, it is also necessary to decelerate motor vehicle 1 by adjusting control signal S accordingly to increase target following distance d0.

[0100] According to another embodiment, the electronic control system 5 can also evaluate or recognize that the state of the preceding vehicle 2 deviates significantly from the expected state of the preceding vehicle 2 if, for example, the camera 7 detects that at least one dimension of the preceding vehicle 2 (e.g., width, height, length) exceeds a threshold value. This situation particularly applies to very wide and tall preceding vehicles 2 designed to transport heavy objects. When following very large vehicles 2, it is advantageous to adjust the control signal S to set an increased target following distance d0.

[0101] Last but not least, with reference to the example in the figures, a relative movement of, for example, a load 11 that is improperly secured on the roof rack relative to the roof rack can be detected by the camera 7 and then analyzed or assessed by the electronic control system 5 as a significant change in the state of the vehicle 2 ahead.

[0102] As mentioned above, activation of at least one lighting device 8 of the preceding vehicle 2 can alternatively or likewise result in an adjustment of the control signal S by the electronic control system 5. In particular, the camera 7 can detect activation of the direction indicators of the preceding vehicle 2, and / or activation of the hazard warning lights of the preceding vehicle 2, and / or activation of the brake lights of the preceding vehicle 2. This is because the activation of such lighting devices 8 or such lighting devices may indicate a critical situation in which an adjustment of the control signal S may be necessary, for example, in order to preemptively decelerate the motor vehicle 1.

[0103] As described above, the electronic control system 5 can detect a significant deviation if at least one threshold value is exceeded, which threshold value is stored, for example, in a memory area of ​​the electronic control system 5 . The threshold value can be fixed or parameterizable, or can also be adjusted by the electronic control system 5 based on, for example, the speed v and / or acceleration a of the motor vehicle 1 as detected by the wheel speed sensors 6 . The threshold value can also be adjusted based on the coefficient of friction of the road 12 on which the motor vehicle 1 and the preceding vehicle 2 are traveling. The coefficient of friction of the road 12 can be determined, for example, from the signals of the wheel speed sensors 6 during braking of the motor vehicle 1, for example, based on activation of the anti-skid control system (ABS) of the motor vehicle 1. Furthermore, the threshold value can be adjusted based on the visibility range from the motor vehicle 1, which can be detected by the camera 7 .

[0104] The sensor system of the vehicle may generally include at least one of the following sensors: a radar sensor 3, a camera 7 and a sensor for receiving an external GPS signal S GPS The GPS receiver 9 also has a laser sensor and / or an ultrasonic sensor.

[0105] Based on the received external GPS signal S GPS, GPS receiver 9 is able to define, for example, a target trajectory 13 along which motor vehicle 1 and preceding vehicle 2 should travel, particularly in autonomous operation, represented here by, for example, road 12. Alternatively or additionally, target trajectory 13 can be defined based on camera image signal Sk, wherein said signal also represents the center line and boundaries of road 12 and its lanes. In particular, target trajectory 13 also represents the expected trajectory of preceding vehicle 2, since it is expected that preceding vehicle 2 will travel along target trajectory 13.

[0106] The camera signal 7 can then be evaluated by the electronic control system 5, for example, to detect significant deviations between the actual trajectory recorded by the camera 7 and the expected or target trajectory 13 of the leading vehicle 2, in particular deviations transversely to the longitudinal axis or Y direction of the leading vehicle 2.

[0107] In order to be able to detect the above-mentioned significant deviations, expected values ​​and / or value ranges for the expected dynamic behavior and / or expected state of the preceding vehicle 2 are particularly stored in the electronic control system 5. The same applies to the activation / deactivation state of the lighting device 8 in order to provide a basis for comparison between the activated state and the deactivated state.

[0108] Reference Signs List

[0109] 1 Motor Vehicle

[0110] 2 Vehicles ahead

[0111] 3 radar sensors

[0112] 4 Signal Conditioning Device

[0113] 5 Electronic control system

[0114] 6 wheel speed sensors

[0115] 7 Camera

[0116] 8 lighting fixtures

[0117] 9 GPS receiver

[0118] 10. Producing smoke

[0119] 11 Load

[0120] 12 Road

[0121] 13 Target trajectory

[0122] 100 Following distance control system

[0123] d Actual following distance

[0124] d0 target following distance

[0125] S control signal

[0126] Sd distance signal

[0127] Sk camera image signal

[0128] S GPS GPS signal

[0129] X, Y, Z coordinate system

[0130] XX direction

[0131] YY direction

[0132] ZZ direction

Claims

1. A following distance control system (100) for a motor vehicle (1), designed and arranged to control at least one following distance (d) of the motor vehicle (1) relative to a preceding vehicle (2) to a target following distance (d0) without intervention by a driver of the motor vehicle (1), the following distance control system comprising: a) a sensor system (3, 7, 9) designed and arranged to detect at least one actual following distance (d) of the motor vehicle (1) relative to the preceding vehicle (2) within a detection range and to generate a distance signal (Sd) therefrom, b) an electronic control system (5) designed and arranged to evaluate at least the distance signal (Sd) and to generate, based on at least the distance signal, a control signal (S) for a drive and / or brake device of the motor vehicle (1) in order to adjust the detected following distance (d) to a target following distance (d0), characterized in that: c) the electronic control system (5) is further configured and designed to take into account, in addition to the distance signal (Sd), at least one further signal (Sk; SGPS) generated by the sensor system (3, 7, 9), the sensor system (3, 7, 9) being configured and designed to generate d) the at least one further signal (Sk, SGPS) d1) depends on the dynamic behavior of the vehicle ahead (2), which in particular differs from the purely longitudinal dynamics of the vehicle ahead (2), and / or d2) depends on the state of the vehicle ahead (2), which state in particular differs from the dynamic behavior and the purely longitudinal dynamics of the vehicle ahead (2), and / or d3) depending on the activation of at least one lighting device (8) of the preceding vehicle (2), and e) If the electronic control system (5) responds to the further signal (Sk, S GPS ) considerations indicate that e1) the dynamic behavior significantly deviates from the expected dynamic behavior of the preceding vehicle (2), and / or e2) the state deviates significantly from the expected state of the preceding vehicle (2), and / or e3) the at least one lighting device (8) of the preceding vehicle (2) has been activated, f) The electronic control system (5) is further configured and designed to adjust the control signal (S).

2. The following distance control system according to claim 1, characterized in that: When the front vehicle (2) a) when significantly rotated about its vertical axis (Z), and / or b) when significantly rotated about its longitudinal axis (X), and / or c) when significantly rotated about its transverse (Y) axis, and / or d) When the vehicle deviates significantly from the expected or target trajectory (13), Then the dynamic behavior deviates significantly from the expected dynamic behavior.

3. The following distance control system according to claim 1 or 2, characterized in that: If a significant relative movement of a part of the leading vehicle (2) relative to at least another part of the leading vehicle (2) is detected by the sensor system (3, 7, 9), the dynamic behavior of the leading vehicle (2) deviates significantly from the expected dynamic behavior of the leading vehicle (2).

4. The following distance control system according to claim 3, characterized in that: The apparent relative motion represents the apparent relative motion detected between the trailer portion of the leading vehicle (2) relative to the tractor portion.

5. The vehicle distance control system according to any one of the preceding claims, characterized in that If the sensor (3, 7, 9) detects a) smoke (10) is generated on at least a portion or section of the preceding vehicle (2), and / or b) at least one dimension of the preceding vehicle (2) exceeds a threshold, and / or c) the relative movement of the load (11) relative to the loading surface or loading space of the preceding vehicle (2), The electronic control system (5) then assesses that the state of the preceding vehicle (2) deviates significantly from the expected state of the preceding vehicle (2).

6. A vehicle distance control system according to any one of the preceding claims, characterized in that The activation of the at least one lighting device (8) of the preceding vehicle (2) includes at least the following situations: a) activation of the direction indicator of the preceding vehicle (2), and / or b) activation of the hazard warning flashers of the preceding vehicle (2), and / or c) Activation of the brake lights of the preceding vehicle (2).

7. A vehicle distance control system according to any one of the preceding claims, characterized in that The electronic control system (5) adjusts the control signal (S) so that the target following distance (d0) increases or decreases.

8. The vehicle distance control system according to any one of the preceding claims, characterized in that The electronic control system (5) detects a significant deviation when at least one threshold value stored in the electronic control system (5) is exceeded.

9. The following distance control system according to claim 8, characterized in that: The threshold a) is a fixed value, or b) through the electronic control system (5) according to b1) the speed and / or acceleration of the motor vehicle (1), and / or b2) road friction coefficient (12), and / or b3) The visibility range from the motor vehicle (1) detected by the sensor system (3, 7, 9) To adjust.

10. The vehicle distance control system according to any one of the preceding claims, characterized in that The sensor system (3, 7, 9) comprises at least the following sensors: a laser sensor, a radar sensor, an ultrasonic sensor, a camera sensor, and a GPS receiver for receiving external GPS signals.

11. A vehicle distance control system according to any one of the preceding claims, characterized in that In the electronic control system (5), the a) expected dynamic behavior, and / or b) expected values ​​and / or value ranges of the expected state of the preceding vehicle (2).

12. A driver assistance system or an automatic driving system, characterized in that: It comprises a following distance control system according to one of the preceding claims.

13. The driver assistance system or the automatic driving system according to claim 12, characterized in that: This is achieved through the Adaptive Cruise Control (ACC).

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