Method for operating adaptive speed controller

Abstract

The invention relates to a method for operating an adaptive speed controller, a computer program product, a control device for a vehicle and a vehicle. A method for operating an adaptive speed controller of a host vehicle (100) comprises the steps of: a) selecting (S1) a first vehicle (200) traveling ahead as a target vehicle; b) controlling (S2) the distance (201) between the target vehicle (200) and the host vehicle (100); c) identifying (S3) a second vehicle (300) traveling ahead in the lane section ahead of the target vehicle (200); the invention relates to a method for limiting the acceleration of a host vehicle (100), comprising the following steps: a) determining (S4) a speed difference between a first vehicle (300) running ahead and a target vehicle (200), d) determining (S4) a speed difference between the second vehicle (300) running ahead and the target vehicle (200), e) comparing (S5) the speed difference with a speed threshold value, f) determining (S6) a distance (301) between the second vehicle (300) running ahead and the target vehicle (200), g) comparing (S7) the distance with a distance threshold value, and h) limiting the acceleration of the host vehicle (100) as a function of the comparison in steps e) and g).

Description

Technical Field

[0001] The invention relates to a method for operating an adaptive speed controller, a computer program product, a control device for a vehicle and a vehicle. Background Art

[0002] When using an adaptive speed controller, there are situations where a vehicle ahead (hereinafter also referred to as the "first" vehicle) accelerates, and the host vehicle controls its distance relative to that vehicle and / or adjusts its speed accordingly. The first vehicle ahead may accelerate for a variety of reasons. Firstly, it may be because a second vehicle ahead of the first vehicle accelerates, and secondly, it may be because the first vehicle ahead of the first vehicle is attempting to overtake the first vehicle ahead and is therefore increasing its speed. In the first case, the host vehicle intends to continue controlling its distance from the first vehicle ahead. However, in the second case, accelerating the host vehicle is disadvantageous because it has a vehicle ahead of it and must first brake once the first vehicle overtakes it.

[0003] US 2019 / 0315355 A1 discloses an adaptive speed controller for a vehicle, configured to identify a change in the state of a small vehicle. A unit for storing an upper limit value is configured to store an upper limit value for a target acceleration, which has been set before a determination unit identifies the change in the state of the small vehicle. A target acceleration setting unit is configured to set the target acceleration to a value equal to or lower than the upper limit value whenever the small vehicle is selected as a follow-up object. Summary of the Invention

[0004] Against this background, it is an object of the present invention to provide an improved method for adaptive speed control.

[0005] A first aspect provides a method for operating an adaptive speed controller of a host vehicle. The method comprises the following steps:

[0006] a) Select the first vehicle traveling ahead as the target vehicle;

[0007] b) Control the distance between the target vehicle and the host vehicle;

[0008] c) identifying a second vehicle traveling ahead on a road segment ahead of the target vehicle;

[0009] d) determining a speed difference between a second vehicle traveling ahead and the target vehicle;

[0010] e) comparing the speed difference with the speed limit;

[0011] f) determining a distance between a second vehicle traveling ahead and the target vehicle;

[0012] g) comparing the distance to the distance limit; and

[0013] h) limiting the acceleration of the host vehicle based on the comparison in steps e) and g).

[0014] This method has the following advantages: the acceleration of the preceding vehicle is only taken over by the host vehicle if the preceding vehicle is likely to remain in the host vehicle's lane. This is indicated by the distance between the first and second preceding vehicles and their relative speeds. This prevents the host vehicle's adaptive speed controller from incorrectly accelerating and braking. This, on the one hand, results in a higher level of safety in the application of the adaptive speed controller and, on the other hand, improves driving comfort for the host vehicle's passengers.

[0015] The vehicle is, for example, a motor vehicle, such as a passenger car or a heavy goods vehicle.

[0016] If a first vehicle traveling ahead meets predetermined criteria of the adaptive speed controller, the first vehicle is selected as the target vehicle. These criteria include, for example, the fact that the target vehicle is a car and not another road user such as a pedestrian.

[0017] “Selecting” a target vehicle is to be understood as meaning that the vehicle in question is used as a target for control by the adaptive speed controller. This is done in particular by selecting or setting values ​​in the software of the adaptive speed controller.

[0018] An adaptive speed controller of a host vehicle is configured to control the distance between a target vehicle and the host vehicle. The distance is controlled, in particular, by adjusting the speed of the host vehicle. The adaptive speed controller receives sensor data from one or more sensors of the host vehicle, which is used to determine, for example, the speed of the target vehicle and the distance between the target vehicle and the host vehicle. The adaptive speed controller is also configured to actuate an engine control device, a braking device, and / or a steering device of the host vehicle.

[0019] The adaptive speed controller controls the distance between the target vehicle and the host vehicle by actuating an engine control device, a steering device, and / or a braking device of the host vehicle, thereby causing acceleration or braking.

[0020] In step c), a second vehicle traveling ahead is detected, in particular, by one or more sensors of the host vehicle. These sensors are, in particular, one or more cameras (e.g., a front-facing camera) of the host vehicle. For this purpose, object recognition can be performed in the image data captured by the camera or cameras (e.g., using software-based image recognition).

[0021] When the second vehicle traveling ahead is on the road section ahead of the target vehicle, the second vehicle traveling ahead is identified. In particular, if the second vehicle traveling ahead is not blocked by the target vehicle, the second vehicle traveling ahead is identified.

[0022] Sensor data from one or more sensors of the host vehicle is used to determine the speed of a second vehicle traveling ahead and the speed of the target vehicle. A speed difference between the speeds of the two vehicles is then determined.

[0023] In step e), the speed is compared with speed limit values, wherein the speed limit values ​​can be a lower limit value and an upper limit value.

[0024] Furthermore, the sensor data is used to determine the distance between a second vehicle traveling ahead and the target vehicle.

[0025] In step g), the determined distance is compared with distance limit values, wherein the distance limit values ​​can be a lower limit value and an upper limit value.

[0026] Based on the comparison in steps e) and g), the acceleration of the host vehicle is limited, and the comparison is used to estimate whether the target vehicle remains in the lane of the host vehicle or whether the target vehicle intends to overtake a second vehicle traveling ahead. If the speed difference is greater than a speed limit value and if the distance between the target vehicle and the second vehicle traveling ahead is less than a distance limit value, it is assumed with high probability that the target vehicle intends to overtake the second vehicle traveling ahead.

[0027] "Limiting" the host vehicle's acceleration is understood to mean that the adaptive speed controller still follows the vehicle in question (or, in some embodiments, no longer follows), but the host vehicle does not accelerate when the target vehicle accelerates. This may also mean that the distance between the host vehicle and the target vehicle is not controlled. For example, the host vehicle's acceleration may be limited to zero, a positive value, or a negative value.

[0028] According to one embodiment, a speed limit value is set before step e), in particular before step a).

[0029] For example, the speed limit value may respectively be a fixed limit value set in the software of the adaptive speed controller.

[0030] The speed limit value may also be set only before step e), for example by an adaptive speed controller which uses sensor data to estimate the traffic volume around the host vehicle and derives the speed limit value therefrom. The limit value is preferably set by the driver of the host vehicle.

[0031] According to one embodiment, the speed limit value has a value between 3 km / h and 10 km / h.

[0032] According to one embodiment, a distance limit value is set before step g), in particular before step a).

[0033] For example, the distance limit value can respectively be a fixed limit value set in the software of the adaptive speed controller.

[0034] The distance limit value may also be set only before step e), for example by an adaptive speed controller which uses sensor data to estimate the traffic volume around the host vehicle and derives the distance limit value therefrom. The distance limit value is preferably set by the driver of the host vehicle.

[0035] According to one embodiment, the distance limit value has a value between 0 m and 25 m.

[0036] The distance limit value particularly advantageously has a value of 10 m.

[0037] According to one embodiment, in step h), the acceleration of the host vehicle is limited if the speed difference is greater than a speed limit value and the distance is less than a distance limit value.

[0038] According to one embodiment, the target vehicle is a motorcycle.

[0039] According to one embodiment, the distance between the target vehicle and the host vehicle is selected depending on the speed of the target vehicle and / or depending on the road conditions.

[0040] Therefore, the distance controlled by the adaptive speed controller in step b) can be determined dynamically according to the speed of the target vehicle. For example, the adaptive speed controller is configured to never go below a safe distance, which is, for example, half the speed.

[0041] Furthermore, the distance between the target vehicle and the host vehicle can be selected based on the road conditions. For example, if the host vehicle sensors detect a wet road, the adaptive speed controller can be configured to control the distance to be greater than on a dry road.

[0042] According to one embodiment, the driver of the host vehicle sets the distance between the target vehicle and the host vehicle via an input interface before step b).

[0043] The driver of the host vehicle may adjust the distance controlled by the adaptive speed controller itself before step b).The adaptive speed controller is configured to, for example, only allow distances greater than a safety distance.

[0044] In this case, the safety distance is determined according to the speed of the host vehicle by the adaptive speed controller. Here, the safety distance is selected so that when the target vehicle is emergency braked, the host vehicle enters a stationary state in time and does not have a rear-end collision.

[0045] According to one embodiment, steps d) to h) are repeated until the second vehicle traveling ahead is no longer detected.

[0046] Therefore, whenever a second vehicle traveling ahead of the target vehicle is identified, the speed difference and distance are determined, and then the speed difference is compared with a speed limit, and the distance is compared with a distance limit. This ensures that the acceleration of the host vehicle is limited as soon as the speed difference exceeds the speed limit and the distance is less than the distance limit. This improves the safety aspects of the adaptive speed controller.

[0047] According to one embodiment, as an alternative or in addition to step h), the target vehicle is retained or deselected depending on the comparison according to steps e) and g).

[0048] "Deselecting" a target vehicle is understood to mean that the adaptive speed controller no longer controls the vehicle in question or stops following it. To this end, a value is set in the adaptive speed controller's software. The adaptive speed controller can then select a new target vehicle to follow, or it can be deactivated if, for example, there are no vehicles ahead.

[0049] For example, a second vehicle traveling ahead can also be selected as the new target vehicle. This has the advantage that the adaptive speed controller remains active and controls the distance between the second vehicle traveling ahead and the host vehicle. This prevents the host vehicle from suddenly braking when the deselected target vehicle leaves the lane to overtake.

[0050] A second aspect provides a method for operating an adaptive speed controller of a host vehicle, the method comprising the steps of:

[0051] a) Select the first vehicle traveling ahead as the target vehicle;

[0052] b) Control the distance between the target vehicle and the host vehicle;

[0053] c) identifying a second vehicle traveling ahead on a road segment ahead of the target vehicle;

[0054] d) determining a speed difference between a second vehicle traveling ahead and the target vehicle;

[0055] f) determining a distance between a second vehicle traveling ahead and the target vehicle; and

[0056] h) limiting the acceleration of the host vehicle based on the determined speed difference and the determined distance.

[0057] A third aspect provides a computer program product comprising instructions which, when executed by a computer, cause the computer to perform the method according to the first or second aspect.

[0058] The computer program product according to the third aspect can, for example, be provided on a computer-readable storage medium, such as a memory card, a USB flash drive, a CD-ROM, or a DVD. Alternatively, the computer program product can also be provided as a file downloadable from a server on a network. The computer program product can be transmitted, for example, by transmitting a corresponding file containing the computer program product over a wireless communication network.

[0059] A fourth aspect provides a control device for a vehicle, for operating an adaptive speed controller, comprising: a processor unit and a memory unit, wherein means for executing the method according to the first aspect are stored in the memory unit.

[0060] The control device (eg in the form of a central vehicle control device or electronic control unit - "ECU") is in particular configured to process the above-mentioned computer program product for operating the adaptive speed controller, eg on a processor unit of the control device.

[0061] The corresponding unit (e.g., a memory unit) can be implemented in hardware and / or software. In the case of hardware implementation, the corresponding unit can be in the form of, for example, a computer or microprocessor. In the case of software implementation, the corresponding unit can be in the form of a computer program product, a function, a routine, an algorithm, a portion of a program code, or an executable object.

[0062] A fifth aspect provides a vehicle having one or more sensors and the control device according to the fourth aspect.

[0063] The vehicle's sensors may be, for example, radar sensors, lidar sensors, ultrasonic sensors, and / or cameras (as described above). The vehicle may have one type of sensor, multiple sensors of one type, and / or multiple sensors of multiple types. The vehicle advantageously has multiple sensors of multiple types. In particular, the vehicle has a radar sensor, which is advantageously arranged in the center of the front portion of the vehicle.

[0064] Steps a), b), c), etc. may also be performed in a different order. The presence of steps a) and c) does not require the presence of an intermediate step b), etc. "A" or "an" does not exclude a plurality.

[0065] Features and advantages described herein with respect to the first aspect apply mutatis mutandis to the other aspects, and vice versa.

[0066] Other possible implementations of the present invention also include combinations not explicitly mentioned of features or embodiments described above or below with respect to the exemplary embodiments. Those skilled in the art will also add separate aspects as improvements or supplements to the corresponding basic forms of the present invention in this case.

[0067] Further advantageous configurations and aspects of the invention form the subject matter of the dependent claims and of the exemplary embodiments of the invention described below.The invention is explained in more detail below based on preferred embodiments with reference to the drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0068] The present invention will be explained in more detail below based on preferred embodiments with reference to the accompanying drawings.

[0069] Figure 1 shows a schematic top view of a vehicle having an adaptive speed controller according to one embodiment;

[0070] Figure 2 A schematic diagram showing a case where an adaptive speed controller according to one embodiment is used; and

[0071] Figure 3 A flow chart of adaptive speed control according to one embodiment is shown.

[0072] Unless stated otherwise, identical or functionally identical elements are denoted by the same reference numerals in the figures. DETAILED DESCRIPTION

[0073] Figure 1 1 shows a schematic top view of a vehicle 100 having a control unit 103 and a sensor 102 according to one exemplary embodiment. Figure 1 In the example shown, vehicle 100 is a motor vehicle, in particular a passenger car. Sensor 102 is designed, for example, as part of a driver assistance system. Adaptive speed controller is designed, for example, as a software component of the driver assistance system. The driver assistance system is used, for example, to assist the driver of vehicle 100. In addition, the driver assistance system can be designed for semi-automatic or fully automatic operation of vehicle 100. The driver assistance system is configured, for example, to control components of the vehicle, such as engine control device 104, brake device 106, and steering device 107, so that driver assistance, semi-automatic, and / or fully automatic operation is possible. For example, the driver assistance system is designed for operation at higher speeds, such as those occurring on country roads or highways. The driver assistance system is also designed for operation at lower speeds, such as those occurring on city roads.

[0074] The sensor 102 in this case is a radar sensor and as in Figure 1As shown in FIG, 1 , the sensor 102 is arranged in the middle of the front portion of the vehicle 100. The sensor 102 is connected to the control device 103 wirelessly and / or by wire for transmitting sensor data. The vehicle 100 preferably includes additional sensors 109 configured to detect the driving state of the vehicle 100 and the environment of the vehicle 100. Examples of such sensors 109 of the vehicle 100 include image capture devices such as cameras, radar (radio detection and ranging) or lidar (light detection and ranging), ultrasonic sensors, position sensors, wheel angle sensors, and / or wheel speed sensors. Each sensor 109 is configured to provide sensor data to the control device 103 and / or a driver assistance system, for example, which assists the driver and implements semi-autonomous and / or fully autonomous driving based on the detected sensor data.

[0075] The control device 103 includes a processor unit and a memory unit (not shown), both of which are configured to execute a method for operating an adaptive speed controller during operation of the vehicle 100, as described below. The control device 103 is configured to receive sensor data from sensors 109 of the vehicle, in particular from sensor 102. A data link between the control device 103 and the vehicle components is indicated by reference numeral 105, where a data link represents a wire, a data line, a vehicle bus, and / or wireless data transmission.

[0076] exist Figure 1 In the example diagram of a vehicle 100 in FIG, a control device 103 is connected to an engine control device 104 and is configured to transmit data to the engine control device 104. The transmitted data includes, for example, a control signal that causes the engine control device 104 to accelerate and / or brake the vehicle 100.

[0077] Figure 1 Control device 103 in the vehicle 100 is also connected to brake system 106. Control device 103 transmits data to brake system 106 of vehicle 100 wirelessly and / or by wire, wherein the data includes, for example, control signals. These control signals cause brake system 106 to brake vehicle 100. In particular, the control signals may include information about a possible imminent emergency braking by the driver of vehicle 100, which is detected by sensor 109 and / or by the adaptive speed controller, and which thus prepares brake system 106.

[0078] Figure 1 The control device 103 in the embodiment is connected to the steering device 107 of the vehicle 100. The control device 103 transmits data to the steering device 106 of the vehicle 100 wirelessly and / or in a wired manner, wherein the data includes, for example, control signals. These control signals cause the steering device 107 to change the steering angle of the vehicle 100.

[0079] Furthermore, the control device 103 has a computer program product comprising program code means stored on a computer-readable medium in order to be able to carry out the method described below for operating an adaptive speed controller.

[0080] Use from Figure 2 Schematic diagram of the case where an adaptive speed controller according to one embodiment is used and Figure 3 The method for operating the adaptive speed controller is explained in more detail with reference to a flow chart of FIG.

[0081] Figure 2 a) shows the Figure 1 The first vehicle 200 traveling ahead is selected as the target vehicle (refer to Figure 3 Step S1). Figure 2 In the example shown, the first vehicle 200 traveling ahead is a passenger car. However, the first vehicle 200 traveling ahead may be a motorcycle, in particular.

[0082] The adaptive speed controller of the host vehicle 100 is configured to control the distance 201 between the target vehicle 200 and the host vehicle 100 (see Figure 3 (Step S2 in the figure). Sensor 102 is used to acquire sensor data and transmit it to control device 103. Control device 103 is used to determine distance 201 and speed and / or acceleration of vehicle 200 traveling ahead. Control device 103 is also configured to control distance 201 between target vehicle 200 and host vehicle 100. To this end, control device 103 transmits data containing control signals to engine control device 104, brake system 106, and / or steering system 107. These devices then actuate corresponding vehicle components to control distance 201.

[0083] More specifically, controlling distance 201 means that when distance 201 is greater than a specified distance, host vehicle 100 accelerates. Therefore, control device 103 transmits data containing a control signal to engine control device 104, causing engine control device 104 to control the engine of host vehicle 100 to accelerate host vehicle 100. If distance 201 is less than the specified distance, control device 103 transmits data containing a control signal to engine control device 104, steering device 107, and / or braking device 106, causing host vehicle 100 to experience negative acceleration.

[0084] If host vehicle 100 accelerates, control device 103 ensures, for example, that a maximum permissible speed is not exceeded. This maximum permissible speed can be derived, for example, from GPS data of a driver assistance system, wherein a stored map specifies the maximum permissible speed for a route section. Furthermore, the maximum permissible speed can also be determined by sensor 109, which is configured to recognize traffic signs.

[0085] Furthermore, for example, the driver of the host vehicle 100 may input a maximum speed that they do not wish to exceed via the input interface. The control device 103 is further configured to adjust the data transmitted to the engine control device 104 so that the engine control device 104 does not accelerate the host vehicle 100 to a speed greater than the maximum speed input by the driver.

[0086] Distance 201 between target vehicle 200 and host vehicle 100 is, for example, determined by an adaptive speed controller based on the speed of target vehicle 200. Therefore, distance 201 is determined based on the speed of target vehicle 200. Therefore, distance 201 is dynamically set and is not a fixed variable. Distance 201 can also be determined based on road conditions detected by sensor 109. For example, distance 201 may be selected to be greater when the road is detected to be wet than when the road is detected to be dry.

[0087] For example, distance 201 is the distance determined by the driver of host vehicle 100 prior to step S2. Distance 201 is transmitted to control device 103 by the driver, for example, via an input interface. Therefore, the adaptive speed controller is configured to control distance 201 specified by the driver of host vehicle 100. Furthermore, the adaptive speed controller can be configured to implement only those inputs from the driver of host vehicle 100 that are greater than a safety distance. The safety distance is determined by the adaptive speed controller based on the speed of host vehicle 100. The safety distance can be selected so that, if a preceding vehicle 200 or 300 performs emergency braking, host vehicle 100 is not involved in a rear-end collision, but rather stops in a timely manner.

[0088] In step S3, it is checked whether the host vehicle 100 detects a second vehicle 300 (a truck in this example) traveling ahead on the road section ahead of the target vehicle 200 ( Figure 3 If the second vehicle 300 traveling ahead is not detected in step S3, the distance 201 from the target vehicle 200 is continuously controlled ( Figure 3 Step S2 in the above example).

[0089] If the second vehicle 300 traveling ahead is detected in step S3, as in Figure 2 b), then execute Figure 3 Step S4 in .

[0090] Host vehicle 100 identifies second vehicle 300 traveling ahead, for example, using sensor 102 and / or sensor 109. Second vehicle 300 traveling ahead is particularly identified when the distance between target vehicle 200 and second vehicle 300 decreases, or when second vehicle 300 traveling ahead is larger than target vehicle 200. Furthermore, second vehicle 300 traveling ahead can be identified when target vehicle 200 and second vehicle 300 traveling ahead are traveling behind each other with a slight offset, as is typically the case on highways.

[0091] In step S4, the adaptive speed controller uses the sensor data from the sensor 102 to determine the speed of the target vehicle 200 and the speed of the second vehicle 300 traveling ahead. The speed difference between the two specified speeds is then calculated.

[0092] exist Figure 3 In step S5, the calculated speed difference is compared with a speed limit value. The speed limit value can be set before step S5, for example, by the driver of host vehicle 100 via an input interface, or in particular before step S1, wherein the speed limit value is stored in the adaptive speed controller. For example, the speed limit value can also be dynamically determined by the adaptive speed controller using sensor data from sensor 109 and / or sensor 102, taking into account traffic flow, etc. This allows the speed limit value to be determined dynamically. In this case, the speed limit value has a value between 3 km / h and 10 km / h. In particular, the speed limit value is particularly advantageously 5 km / h.

[0093] If the speed difference is less than the speed limit value during the comparison in step S5, the method is executed starting from step S2. The adaptive speed controller further controls the distance 201 ( Figure 3 The adaptive speed controller is configured to execute the method starting from step S2 and accordingly check whether a second vehicle 300 traveling ahead is detected ( Figure 3 , step S3 in the process.

[0094] If the speed difference in the comparison in step S5 is greater than or equal to the limit value, then execute Figure 3 Step S6 in .

[0095] In step S6, the adaptive speed controller uses the sensor data from the sensor 102 to determine the distance 301 between the target vehicle 200 and the second vehicle 300 traveling ahead, as shown in FIG. Figure 2 b).

[0096] exist Figure 3In step S7, determined distance 301 is compared with a distance limit value. The distance limit value can be set before step S7, for example, by the driver of host vehicle 100 via an input interface or, in particular, before step S1, wherein the distance limit value is stored in the adaptive speed controller. For example, the distance limit value can also be dynamically determined by the adaptive speed controller using sensor data from sensor 109 and / or sensor 102, taking into account traffic flow, etc. Thus, the distance limit value can be determined dynamically. In this case, the distance limit value has a value between 0 m and 25 m. In particular, the limit value is particularly advantageously 10 m.

[0097] If the distance determined in step S7 is greater than the distance limit value, the adaptive speed controller executes the method starting from step S2. Thus, the distance 201 between the target vehicle 200 and the host vehicle 100 is controlled. The adaptive speed controller is configured to execute the method starting from step S2 and accordingly check whether a second vehicle 300 traveling ahead ( Figure 3 , step S3 in the process.

[0098] In this case, the driver assistance system or adaptive speed controller assumes that the target vehicle 200 has increased its speed because the second vehicle 300 traveling ahead has also increased its speed. The adaptive speed controller continues to use the target vehicle 200 as a reference for speed or distance control.

[0099] If the distance 301 determined in step S7 is less than the limit value, Figure 2 b), the acceleration of the host vehicle is limited. Additionally or alternatively, the target vehicle 200 may be deselected.

[0100] In this state, the driver assistance system or the adaptive speed controller assumes that the target vehicle 200 will soon overtake the second vehicle 300 traveling ahead. For example, the driver assistance system may issue a warning to the driver of the host vehicle 100 that the adaptive speed controller is deactivated and / or that the acceleration of the host vehicle 100 is limited. In addition, the adaptive speed controller may select the second vehicle 300 traveling ahead as the new target vehicle.

[0101] Steps S4 to S8 are executed until second vehicle 300 is no longer detected in step S3. For example, if target vehicle 200 is at least as large as second vehicle 300, second vehicle 300 can no longer be detected. In this case, for example, second vehicle 300 may be detected only because target vehicle 200 is traveling behind it, offset to the right or left. If target vehicle 200 again travels behind second vehicle 300, second vehicle 300 can no longer be detected by sensors 102, 109 of host vehicle 100. In other words, second vehicle 300 may be obscured by target vehicle 200. Consequently, it is impossible to determine the speed difference between second vehicle 300 and target vehicle 200 (step S4) or the distance between the two vehicles (step S6).

[0102] The speed difference (step S4) and the distance (step S6) can be determined in parallel or in reverse order. Furthermore, the comparison (steps S5, S7) can also be performed in parallel or in reverse order. In another variant, the comparison according to steps S5 and S7, or one of the two comparisons, can be omitted.

[0103] Although the present invention has been described based on exemplary embodiments, the present invention can be modified in various ways.

[0104] Reference Signs List

[0105] 100 vehicles

[0106] 102 sensors

[0107] 104 Engine Control Equipment

[0108] 105 Data Link

[0109] 106 Braking equipment

[0110] 107 Steering Equipment

[0111] 109 sensors

[0112] 200 The first vehicle in front

[0113] 201 Distance (between the vehicle and the first vehicle ahead)

[0114] 300 The second vehicle in front

[0115] 301 Distance (between the target vehicle and the second vehicle traveling ahead)

[0116] Method steps S1 to S8

Claims

1. A method for operating an adaptive speed controller of a host vehicle (100), comprising the following steps: a) selecting (S1) a first vehicle (200) traveling ahead as a target vehicle; b) controlling (S2) the distance (201) between the target vehicle (200) and the host vehicle (100); c) identifying (S3) a second vehicle (300) traveling ahead on a road section ahead of the target vehicle (200); d) determining (S4) a speed difference between the speed of the second vehicle (300) traveling ahead and the speed of the target vehicle (200); e) comparing the speed difference with a speed limit value (S5); f) determining (S6) a distance (301) between the second vehicle (300) traveling ahead and the target vehicle (200); g) comparing the distance with a distance limit value (S7); and h) limiting the acceleration of the host vehicle (100) based on the comparison in steps e) and g).

2. The method according to claim 1, wherein The speed limit value is set before step e), in particular before step a).

3. The method according to claim 1 or 2, wherein: The speed limit value has a value between 3 km / h and 10 km / h.

4. A method according to any one of the preceding claims, wherein The distance limit value is set before step g), in particular before step a).

5. A method according to any one of the preceding claims, wherein The distance limit value has a value between 0 m and 25 m.

6. A method according to any one of the preceding claims, wherein In step h), if the speed difference is greater than the speed limit value and the distance (301) is less than the distance limit value, the acceleration of the host vehicle (100) is limited.

7. A method according to any one of the preceding claims, wherein The target vehicle (200) is a motorcycle.

8. A method according to any one of the preceding claims, wherein The distance between the target vehicle (200) and the host vehicle (100) is selected according to the speed of the target vehicle (200) and / or according to the road conditions.

9. A method according to any one of the preceding claims, wherein The driver of the host vehicle (100) sets the distance (201) between the target vehicle (200) and the host vehicle (100) via an input interface before step b).

10. The method according to any one of the preceding claims, wherein Steps d) to h) are repeated until the second vehicle (300) traveling ahead is no longer recognized.

11. A computer program product comprising instructions for causing a computer to perform the method according to any one of claims 1 to 10 when the program is executed by the computer.

12. A control device (103) for a vehicle (100) for operating an adaptive speed controller, comprising: Processor unit; and A memory unit on which means for executing the method according to any one of claims 1 to 10 are stored.

13. A vehicle (100) comprising: one or more sensors (102); and A control device (103) according to claim 12.

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