System for limiting speed of vehicle and method for overroving speed limitation of vehicle

Abstract

The invention relates to a system (1) for limiting the speed of a vehicle, which system (1) is designed to limit the influence of the actuation of the accelerator pedal of the vehicle in such a way that the vehicle does not exceed a limited speed set by the driver or determined from map information (K) and / or environmental sensor information (U), wherein in addition, the vehicle speed is limited to a turning limiting speed which is lower than the limiting speed and is derived from the map information (K) according to the situation. In this case, by actuating the accelerator pedal beyond a first actuation threshold value, the limit to the turning limit speed and the limit to the limit speed can be overridden. Further, by manipulating the accelerator pedal beyond a second manipulation threshold that is different from the first manipulation threshold, the limit to the turn-limiting speed may be overridden, but the limit to the limiting speed may not be overridden.

Description

TECHNICAL FIELD

[0001] The invention relates to a system for limiting the speed of a vehicle and a method for overriding a speed limit of a vehicle. Furthermore, the invention relates to a computer program for performing the method and a computer readable storage medium storing the computer program. BACKGROUND

[0002] Inappropriate vehicle speed is a common cause of road traffic accidents. Speed limits aim to keep traffic speed within a range of speeds that are appropriate for the respective road type and road conditions. Many modern vehicles are equipped with a driver assistance system, often referred to as a speed limiter, speed limiter or speed limiting device (SLD), which supports the driver in not exceeding a self-set speed limit, thereby contributing to improved road safety. Similar to a conventional cruise control, the speed limiter function intervenes in the engine and transmission control system before the driver-set speed limit is exceeded, to reduce the engine torque requested by the driver. The driver always has the possibility to intentionally exceed the set speed limit, for example by fully or almost fully actuating the accelerator pedal. Then, the speed limiter is cancelled and the system enters a so-called override mode. Thus, the driver can drive as usual at a speed exceeding the set speed limit; the driver does not need to keep a large accelerator pedal angle all the time.

[0003] In addition to the manual setting of the speed limit, advanced systems offer the option to automatically adopt a speed limit applicable for the current section of travel based on digital map information and / or camera-based traffic sign recognition.

[0004] Furthermore, map-based route planning can be provided, for example, that the speed of travel around a bend is limited to a speed limit range that corresponds to the curvature radius of the bend, which can be lower than the set speed limit. In this case, the speed limit range derived from the map information can not correspond to the actual situation, i.e. the actual road layout, due to limited map quality or outdated map data, for example. For example, due to a map error, the speed of travel around a bend that is otherwise flat can be limited to an unnecessarily low speed limit range. In this case, the driver will often feel the need to overtake the speed limiter. However, the conventional oversteering solution requires the accelerator pedal to be actuated very deeply, for example to a force drop threshold or higher, and the oversteering leads to a strong acceleration immediately, which can also be perceived as uncomfortable and unsuitable for the bend by the driver. SUMMARY

[0005] Based on this, it is the task of the present invention to provide a system and a method for limiting the speed of a vehicle or for overriding a speed limit, which overcome the above-mentioned disadvantages of the known solutions of the prior art.

[0006] This task is achieved by the subject matter of the independent patent claims. Advantageous embodiments are specified in the dependent patent claims.

[0007] The first aspect of the application relates to a system for limiting the speed of a vehicle.

[0008] The vehicle can in particular be a motor vehicle. The term "motor vehicle" is to be understood here in particular as a land vehicle that is moved by mechanical force and is not combined with railway tracks. In this sense, the motor vehicle can be designed, for example, as a passenger car, a motorcycle or a tractor.

[0009] The system is configured to limit the influence of operating an accelerator pedal of the vehicle such that the vehicle does not exceed a limit speed that is set by a driver of the vehicle or is derived from map and / or environmental sensor information.

[0010] The accelerator pedal is to be understood here as a pedal that can set the drive power of the vehicle, i.e. for example an accelerator pedal in a vehicle with an internal combustion engine or an electric pedal in an electrically driven vehicle.

[0011] If the limit speed is derived from map and / or environmental sensor information, the limit speed can in particular be the maximum permissible speed that applies for the section of the route that is currently or in the near future to be traveled by the vehicle, which is taken from a digital map or is recognized by means of camera-based traffic sign recognition.

[0012] The system is further configured to additionally limit the vehicle speed, i.e. to exceed the limit to the limit speed, to a turn limit speed that is derived from the map information depending on the situation. Here, the turn limit speed can be determined, for example, from the turn curvature derived from the digital map and / or in terms of the turn radius derived from the digital map. In general, the course of the route is taken into account when deriving the turn limit speed.

[0013] The vehicle speed limitation to the turn limit speed and the vehicle speed limitation to the limit speed can be overridden by operating the accelerator pedal beyond a first operating threshold. In other words, the first operating threshold is set, beyond which both limits, i.e. not only the limit to the turn limit speed but also the limit to the limit speed, are overridden. For example, the first operating threshold can be chosen such that the accelerator pedal has to be depressed to a force downshift threshold or even higher in order to override the limit to the limit speed in particular. For example, embodiments are conceivable in which the first operating threshold is set to an accelerator pedal angle of more than 90%, for example 96%, of the full stroke.

[0014] According to the application, a second operating threshold that is different from the first operating threshold is now additionally provided, wherein by operating the accelerator pedal beyond the second operating threshold, the vehicle speed limitation to the turn limit speed can be overridden, but not the vehicle speed limitation to the limit speed. This means that, beyond the second operating threshold, only the limit to the turn limit speed is canceled, while the limit to the limit speed, which is higher than the turn limit speed, can remain valid.

[0015] In particular, the first and second actuation thresholds can again be set such that a lower intensity of accelerator pedal actuation is sufficient to override the limit to the cornering limit speed than is necessary to override the limit to the defined speed. Thus, the second actuation threshold can be set more sensitive than the first actuation threshold, or by setting the first and second actuation thresholds, the system can be more sensitive to accelerator pedal actuation for overriding the limit to the cornering limit speed than for overriding the limit to the defined speed. For example, upon actuation of the accelerator pedal, it can be easier to trigger an override to the limit to the cornering limit speed than to the limit to the (higher) defined speed.

[0016] Here, the application is based on the idea that it makes sense to provide a second actuation threshold by which the limit to the cornering limit speed is more easily overridden than the limit to the defined speed, since the limit to the cornering limit speed is only an automatic comfort function for driving through a determined route event, and not a legal provision or a speed limit set by the driver himself. At the same time, the second actuation threshold, which is more sensitive than the first actuation threshold, solves the problem of excessive acceleration in the case of the above-mentioned speed limit override function in a corner, in which the speed is limited to a cornering limit speed that is considered too low.

[0017] According to one embodiment, the first and / or second actuation threshold can respectively correspond to a determined accelerator pedal angle. For example, the first actuation threshold can correspond to an accelerator pedal angle that is greater than or equal to 80%, in particular greater than or equal to 90%, of the full stroke of the accelerator pedal, i.e. the accelerator pedal angle at full actuation. It is also conceivable that the first actuation threshold corresponds to an accelerator pedal angle of 95% or more, for example 96%, of the full stroke of the accelerator pedal. Here, the second actuation threshold can correspond to a smaller accelerator pedal angle, for example an accelerator pedal angle in the range of 60% to 80%, in particular in the range of 65% to 75%, of the full stroke.

[0018] It is also within the scope of the application that the first and / or second actuation threshold can respectively correspond to a determined temporal change of the accelerator pedal angle. In other words, the first and / or second actuation threshold can be defined by the temporal gradient, i.e. the derivative with respect to time, of the accelerator pedal actuation. For example, it is conceivable that the second actuation threshold is reached when the temporal change of the accelerator pedal angle is 500% / s, where the percentage relates to the full stroke, i.e. the entire angular range that the accelerator pedal position can assume. In other words, the second actuation threshold will be reached or exceeded in this embodiment if a determined change in the accelerator pedal angle occurs so quickly that at this rate of change of the accelerator pedal angle at least five times the entire angular range that the accelerator pedal can be set to would be covered if it were (theoretically) maintained for one second.

[0019] According to some embodiments, a hybrid form is also feasible, wherein for example the first manipulation threshold is defined by a determined accelerator pedal angle and the second manipulation threshold is defined by a determined temporal change of the accelerator pedal angle (or vice versa).

[0020] A second aspect of the present application is a vehicle, in particular a motor vehicle, having a system according to the first aspect of the present application.

[0021] A third aspect of the present application is a computer-implemented method for overriding a speed limit of a vehicle, comprising the following steps: determining a limit speed depending on a pre-given or map- and / or environment sensor-based specification of a vehicle driver; generating a control signal for limiting the effect of manipulating a vehicle accelerator pedal such that the vehicle does not exceed the limit speed; determining a turn limit speed of a turn being currently driven or ahead of the vehicle based on map information, wherein the turn limit speed is lower than the limit speed; generating a control signal for limiting the vehicle speed to the turn limit speed (in particular when the vehicle is located in the turn or is about to enter the turn) in excess of the limit to the limit speed; generating a control signal for removing the limit to the turn limit speed and the limit to the limit speed if the manipulating accelerator pedal exceeds a first manipulation threshold; generating a control signal for removing the limit to the turn limit speed but not the limit to the limit speed if the manipulating accelerator pedal exceeds a second manipulation threshold different from the first manipulation threshold.

[0022] The method according to the third aspect of the present application can be implemented by means of the system according to the first aspect of the present application. Accordingly, the above and following explanations of the system according to the present application and its possible configurations can be understood analogously for the method according to the present application and vice versa.

[0023] For example, the system according to the present application can comprise a (data) processing device having at least one processor and being arranged to execute the method according to the third aspect of the present application by means of the at least one processor. According to some embodiments, the processing device can also be a spatially distributed processing device (e.g. on a plurality of processors or microcontrollers spaced apart from each other).

[0024] For example, the processing device can be a controller or a part of a controller of the vehicle. In particular, the processing device can be a controller for controlling the speed limit function.

[0025] A fourth aspect of the present application is a computer program comprising instructions which, when the computer program is executed by a processing device (e.g. a processing device of a system according to the first aspect of the present application), cause the processing device to carry out the method according to the third aspect of the present application. Herein, the computer program can be divided into a plurality of independent sub-programs which can be executed by different, possibly spatially distant from each other, processing devices (e.g. by a plurality of independent processors) respectively.

[0026] The processing apparatus of the system according to the first aspect of the invention can be configured (in particular programmed) to execute a computer program according to the fourth aspect of the invention.

[0027] A fifth aspect of the invention is a computer-readable storage medium comprising instructions that, when executed by a (possibly distributed) processing device, cause the processing device to perform the method according to a third aspect of the invention. In other words, a computer program according to a fourth aspect of the invention can be stored on this computer-readable storage medium. Attached Figure Description

[0028] The invention will now be described in more detail with reference to embodiments and the accompanying drawings.

[0029] Figure 1 An exemplary and schematic illustration shows a system for limiting vehicle speed;

[0030] Figure 2 The steps of a method for limiting the speed of overtaking vehicles are illustrated exemplaryly and schematically. Detailed Implementation

[0031] Below, we will combine Figure 2 Steps 21 to 25a and b of method 2 for overspeed limiting, shown in block diagram form, are described. Figure 1 The diagram illustrates a system 1 for limiting vehicle speed.

[0032] System 1 includes an accelerator pedal 13 and a processing device 10, which is connected to the accelerator pedal 13 via a signal technology and is configured to receive a pedal signal P from the accelerator pedal 13 or an accelerator pedal angle sensor disposed thereon. For example, the pedal signal P may contain information about the adjusted accelerator pedal angle.

[0033] The processing unit 10 is also connected to the drive module 14 via signal technology. Here, the processing unit 10 is configured to determine a control signal S based on the received pedal signal P, and output the control signal S to the drive module 14. The drive module 14 can then provide driving torque to the vehicle based on the control signal S.

[0034] In particular, the processing device 10 is configured to generate a control signal S based on the pedal signal P, thereby limiting the vehicle speed to a limit adjustable by the driver due to the driver's operation of the accelerator pedal 13. In other words, if the vehicle is already traveling at the limit speed, the processing device 10 will ignore further operation of the accelerator pedal 13, and will not output a control signal S to the drive module 14 for further acceleration of the vehicle.

[0035] The speed limit can not only be set by the driver, but it can additionally or alternatively be derived from map and / or environmental sensor information. For example, the system 1 can comprise a map memory 11 which is in signal-technical connection with the processing device 10. The processing device 10 can retrieve map information K from the map memory, which comprises information on speed limit definitions applicable in the section of the road currently traveled by the vehicle or in the near future, for example according to a route plan. This speed limit can then be directly employed as the limit speed, for example. It is also conceivable, however, that the speed limit is modified by a certain offset, so that in the context of the speed limit function, a speed value corresponding to the speed limit plus or minus the offset is employed as the limit speed.

[0036] Instead of or in addition to the map information K, environmental sensor information can also be taken into account as a basis for determining the limit speed. For example, the system can comprise environmental sensor means 12 which provide environmental sensor information U to the processing device 10. The environmental sensor information U can here comprise camera images, for example, from which the processing device 10 can determine a speed limit applicable for the current or a forward section of the road by means of automatic traffic sign recognition. The speed limit thus derived can also be set as the limit speed, if necessary modified by an offset.

[0037] The processing device 10 is also set up to generate a control signal S for the drive module 14 from a pedal signal P received from the gas pedal 13, so that the vehicle speed in the determined situation, i.e. in particular when or before turning, is additionally limited to a turning limit speed derived from the map information K, which is lower than the limit speed, in addition to the limitation to the limit speed. The map information K used to determine the turning limit speed does not necessarily have to be identical to the map information K from which the limit speed is derived here. Rather, separate digital maps can be taken into account as sources for both purposes. Here, the turning limit speed can be determined in particular from a turning curvature derived from the digital map and / or in terms of a turning radius derived from the digital map. In other words, the turning limit speed can be determined on the basis of a turning radius or a turning curvature which enables a comfortable turning for the vehicle occupants. In the determined situation, this turning limit speed can be lower than the limit speed, which can correspond to the official speed limit applicable for the corresponding section of the road, for example.

[0038] The speed limitation implemented by the system 1 can be overridden by the driver in such a way that when the driver depresses the gas pedal 13 beyond a first actuation threshold, not only the limitation to the (lower) turning limit speed and the limitation to the (higher) limit speed are eliminated. In the schematic diagram according to Figure 1 , the first actuation threshold is represented by the dashed position of the gas pedal 13.

[0039] Furthermore, it is provided that Figure 1The dash-dotted line indicates a pedal position at which a second steering threshold is reached. Upon exceeding this second steering threshold, the vehicle speed limit to the corner limit speed is removed, but the limit to the defined speed is not removed (i.e. overridden). In the illustrated embodiment, the second steering threshold corresponds to an accelerator pedal angle that is set when the accelerator pedal 13 is depressed with a lower intensity than necessary to reach the first steering threshold.

[0040] For example, the first steering threshold and the second steering threshold can be chosen such that the first steering threshold is reached when the accelerator pedal angle is 96% of the maximum accelerator pedal angle (when the accelerator pedal is fully depressed). In contrast, the second steering threshold is reached at a significantly lower accelerator pedal angle, for example 70% of the maximum accelerator pedal angle. Thus, the first steering threshold and the second steering threshold are set such that a lower intensity of accelerator pedal manipulation is sufficient to override the limit to the corner limit speed than is necessary to (also) override the limit to the defined speed.

[0041] In one example scenario, the vehicle initially travels on a straight road at a set defined speed of 100 km / h. This defined speed can correspond to an official speed limit applicable in the relevant road section, for example. If the vehicle now approaches a corner, the defined speed does not change. However, due to the course information contained in the map data, in particular based on the corner radius contained in the map information, it can be inferred that it is comfortable to drive through the upcoming corner at a maximum speed of 50 km / h. The speed limit function implemented by the system 1 then limits the vehicle's speed to the corner limit speed of 50 km / h during the corner drive (and, if necessary, already shortly before the corner). However, the driver can in some circumstances consider this corner limit speed to be too slow, for example in circumstances in which the corner limit speed is set too low due to an error in the map information K. Therefore, the driver increases the accelerator pedal angle beyond the second steering threshold, which enables him to accelerate the vehicle back to the set defined speed of 100 km / h. If the driver also wants to accelerate beyond the defined speed of 100 km / h, he can continue to depress the accelerator pedal 13 and override the limit to the defined speed upon exceeding the first steering threshold. Since, in addition to the first steering threshold, also a "softer" second steering threshold is set, the driver does not have to endure a strong acceleration when cornering, which would be the case if he had to immediately exceed the first steering threshold to override the limit to the corner limit speed. As a result, the system 1 thus contributes to improving driver comfort when using the speed limit function that takes the course into account.

[0042] As described above, the system 1 is set up to perform the following method steps 21 to 25a, b according to the description below by means of the processing device 10. Figure 2

[0043] ​In method step 21, the processing device 10 determines the limited speed based on a pre-given value from the vehicle driver or based on map information K and / or environmental sensor information U.

[0044] In method step 22, the processing device generates a control signal to limit the effect of manipulating the accelerator pedal 13 so that the vehicle does not exceed a limited speed.

[0045] In method step 23, the processing device 10 calculates the turning limit speed based on map information K, wherein the turning limit speed is lower than the specified speed.

[0046] In method step 24, the processing device generates a control signal to limit the vehicle speed exceeding the speed limit to a (lower) turning speed limit.

[0047] If the accelerator pedal 13 is operated beyond the first operating threshold (see...) Figure 1 (The pedal position is shown by the dashed line). In method step 25a, the processing device 10 generates a control signal to eliminate not only the speed limit for turning but also the speed limit for a given speed. Subsequently, the vehicle can be accelerated beyond the speed limit by manipulating the accelerator pedal 13.

[0048] However, if the accelerator pedal 13 is operated beyond the second operating threshold (see...) Figure 1 (The pedal position is shown by the dashed line) but does not exceed the first operating threshold. In method step 25b, the processing device 10 will generate a control signal to eliminate the limit on turning speed but not the limit on the speed limit. Therefore, by manipulating the accelerator pedal 13, the vehicle can accelerate beyond the turning speed limit, but (until exceeding the first operating threshold) not exceed the speed limit.

Claims

1. A system (1) for limiting the speed of a vehicle, wherein the system is arranged to limit the effect of operating an accelerator pedal of the vehicle such that the vehicle does not exceed a limit speed set by a driver or derived from map information (K) and / or environmental sensor information (U), wherein the speed of the vehicle is additionally limited to a cornering limit speed, which is lower than the limit speed, derived from the map information (K) depending on the situation, wherein the limit to the cornering limit speed and the limit to the limit speed can be overridden by operating the accelerator pedal beyond a first operating threshold, and wherein the limit to the cornering limit speed can be overridden but the limit to the limit speed cannot be overridden by operating the accelerator pedal beyond a second operating threshold which is different from the first operating threshold.

2. The system (1) according to claim 1, wherein the first operating threshold and the second operating threshold are set such that a smaller strength of accelerator pedal operation is sufficient to override the limit to the cornering limit speed compared to the accelerator pedal operation necessary to override the limit to the limit speed.

3. The system (1) according to any one of the preceding claims, wherein the first operating threshold and / or the second operating threshold corresponds to an accelerator pedal angle.

4. The system (1) according to any one of the preceding claims, wherein the first operating threshold and / or the second operating threshold corresponds to a time change of an accelerator pedal angle.

5. A vehicle having a system (1) according to any one of the preceding claims.

6. A computer-implemented method (2) for overriding speed limits of a vehicle, comprising the steps of: - deriving (21) a limit speed from a pre-given by a driver of the vehicle or from map information (K) and / or environmental sensor information (U); - generating (22) a control signal for limiting the effect of operating an accelerator pedal of the vehicle such that the vehicle does not exceed the limit speed; - deriving (23) a cornering limit speed from the map information (K), wherein the cornering limit speed is lower than the limit speed; - generating (24) a control signal for limiting the speed of the vehicle beyond the limit to the limit speed to the cornering limit speed; - generating (25a) a control signal for removing the limit to the cornering limit speed and the limit to the limit speed if the accelerator pedal is operated beyond a first operating threshold; - generating (25a) a control signal for removing the limit to the cornering limit speed but not removing the limit to the limit speed if the accelerator pedal is operated beyond a second operating threshold which is different from the first operating threshold.

7. The method (2) according to claim 6, wherein the derivation (23) of the cornering limit speed is performed from a cornering curvature derived from a digital map and / or from a cornering radius derived from a digital map.

8. A computer program comprising instructions which, when the computer program is executed by a processing apparatus (10), cause the processing apparatus to carry out the method (2) according to claim 6 or 7.

9. A computer-readable storage medium comprising instructions which, when executed by a processing apparatus (10), cause the processing apparatus to carry out the method (2) according to claim 6 or 7.

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