Control system and control method

Abstract

The invention provides a control system and a control method, which for use in a host motor vehicle is configured and determined to detect a vehicle driving ahead in the environment of the host motor vehicle by means of environmental data obtained from environmental sensors of the host motor vehicle, to detect operating data of the host motor vehicle by means of driving state sensors of the host motor vehicle, and to detect and store operating data and / or environmental data of the host motor vehicle in a recording mode, and to set an acceleration and / or a speed of the host motor vehicle in a playback mode depending on the operating data stored in the recording mode and / or depending on the environmental data stored in the recording mode, wherein the control system is configured and determined to interrupt the playback mode as soon as a predetermined temporal distance between the host motor vehicle and the vehicle driving ahead is less than a predetermined temporal distance.

Description

[0001] This application is a divisional application of Chinese invention patent application filed on October 20, 2020, with national application number 202011125748.6 and invention title "Control System and Control Method". Technical Field

[0002] This invention relates to a control system and a control method for motor vehicles, particularly passenger vehicles or truck vehicles. More specifically, it relates to a control system and a control method for speed and / or distance adjustment functions in motor vehicles. Such speed and / or distance adjustment functions are also known as adaptive cruise control (ACC). Background Technology

[0003] The ACC control system known from DE 103 45 319 A1 limits the maximum vehicle acceleration in a vehicle operated by the ACC control system based on the direction of the curve ahead.

[0004] US 6,370,472 B1 discloses a method for operating a vehicle based on usage data, wherein the throttle position along a certain distance during a certain time span is recorded using a first vehicle that provides data. The throttle position of a replica vehicle is then operated along that distance based on the recorded throttle position. Summary of the Invention

[0005] The purpose of this invention is to overcome the shortcomings of the prior art, and in particular to provide a control system and a control method that can implement ACC function as cost-effectively and comfortably as possible.

[0006] The objective is achieved by a control system according to the invention, configured and determined for use in this motor vehicle to: detect vehicles traveling ahead in the environment of this vehicle using environmental data obtained from environmental sensing devices of this motor vehicle; detect operating data of this motor vehicle using driving state sensing devices of this motor vehicle; detect and store the operating data and environmental data of this motor vehicle in recording mode; and set the acceleration and / or speed of this motor vehicle in playback mode based on the operating data stored in the recording mode and / or based on the environmental data stored in the recording mode. The control system is configured and determined to interrupt the playback mode once a predetermined time distance between this motor vehicle and the vehicle traveling ahead is less than a predetermined time distance. Providing both recording and playback modes creates the possibility of predictive speed adjustment, whereby the vehicle speed is adapted to the path and / or environment without having to invoke digital map materials and / or high-resolution environmental sensing devices. An environmental sensor capable of determining the time distance to the vehicle ahead is sufficient here. Furthermore, particularly safe speed adjustment is provided because continuous monitoring of the time distance to the vehicle ahead is ensured to avoid overcrowding. By using known ACC adjustments to achieve overlap with pre-recorded travel curves, comfort and driver satisfaction are improved because the speed curves correspond perfectly to the individual driving preferences of each driver.

[0007] In particular, the control system determines the position and speed of vehicles traveling ahead, especially relative to the vehicle itself, based on environmental data. Preferably, the position is determined exclusively by determining the distance between vehicles. This enables a particularly simple and cost-effective, yet comfort-enhancing, ACC system. In another embodiment, the environmental data includes: video image data, radar data, LiDAR data, ultrasonic sensor data, information about identifiable objects (such as traffic signs), lane usage and lane markings, or object data based on the aforementioned sensors, or combined object data from multiple of the aforementioned sensors. In particular, operational data includes: driving dynamic data, such as yaw rate, acceleration, speed, or dynamic variables derived therefrom; and absolute position data from global satellite navigation sensors, such as GPS position sensor data (GPS - Global Positioning System). Preferably, the vehicle's acceleration in the longitudinal direction is set in playback mode.

[0008] In one particular embodiment, the control system is configured and determined to: store a set of tagged data including operational data and / or environmental data when the recording mode is enabled, and associate the tagged data set with a timestamp and / or the current (especially absolute) position of the vehicle. The tagged data set is used to determine the starting point for recording or replaying a series of recorded operational data and / or environmental data. In particular, the timestamp is the relative duration from the start of recording the vehicle's position and / or from the last recorded position. Preferably, environmental data and / or operational data are stored in recording mode according to a determined time step.

[0009] In one particular embodiment, the control system is configured and determined to set the acceleration and / or speed of the vehicle based on the acceleration and / or speed stored in the recording mode. Preferably, the control system is configured and determined to set the acceleration of the vehicle exactly to the acceleration stored in the recording mode. Speed ​​adjustment is achieved by setting the acceleration exactly to the acceleration recorded in the recording mode, which corresponds precisely to the driver's driving preference, which has been enabled and is used to move the vehicle in the recording mode. In particular, the control system reduces the acceleration and / or speed to the average or median of the acceleration and / or speed of multiple sets of stored operational data and / or environmental data. That is, if a certain distance is driven multiple times in the recording mode, resulting in multiple sets of environmental or operational data, an average driving behavior or average driving preference can be derived from these environmental or operational data. Through this measure, the influence of individual driving actions in the recording mode caused by a certain situation (such as hard braking due to roughly entering another vehicle) on the playback mode can be compensated, thereby achieving a more comfortable speed adjustment behavior overall. In particular, operational data and / or environmental data that are above or below a predetermined range are deleted from memory and replaced with interpolated data points.

[0010] In one particular implementation, the control system is configured and determined to activate the recording mode based on input actions from the user of the vehicle. Preferably, the control system receives the input actions via a user interface.

[0011] In one particular embodiment, the control system is configured and determined to set the acceleration and / or speed of the vehicle based on the operating data and / or environmental data stored in the recording mode. Specifically, when determining the desired acceleration and / or speed, it is considered whether the instantaneously detected environmental data (especially traffic density or detected speed limit) differs from the environmental data stored in the recording mode. In this case, the desired speed and / or acceleration is adapted to the difference based on the instantaneously detected environmental data.

[0012] In a particular design, the control system is configured and defined to: in a standard adjustment mode that can be interrupted by manual control intervention, adapt the actual speed of the vehicle to a set theoretical speed by setting the vehicle's acceleration; or, when the vehicle ahead is traveling at a speed less than the theoretical speed, set the vehicle's acceleration to set a predetermined time distance between the vehicle and the vehicle ahead in the same lane; and when the standard adjustment mode is interrupted, detect and store the vehicle's operating data and / or environmental data, particularly by automatically activating the recording mode. Therefore, the control system includes a distance-adjusting speedometer, also referred to as the standard adjustment mode, and is extended by the recording mode, which does not require additional operational actions as a manual transition control to the standard adjustment mode. In particular, the detection of operating data and / or environmental data is independent of whether the standard adjustment mode is enabled or interrupted. That is, the stored operating data and / or environmental data can be obtained either from automatic ACC adjustment in the standard adjustment mode or from manual intervention by the vehicle driver. This reduces the burden on the driver in recording mode because the driver can be assisted by the distance-adjusting speedometer while recording the journey.

[0013] In one particular embodiment, the control system is configured and determined to: derive a path within a range ahead of the vehicle based on operational data and / or environmental data stored in the recording mode, and limit acceleration and / or speed based on the derived information in the playback mode and / or when the vehicle is manually controlled. In other words, even if the vehicle is driven too fast through a curve during recording, the control system can limit the vehicle's speed and / or acceleration to a safe and comfortable value to improve safety when driving in playback mode or when the vehicle is manually controlled. Specifically, when determining whether acceleration and / or speed permit safe driving, operational data stored in the recording mode, such as yaw rate, roll rate, and / or vehicle acceleration in each vehicle direction, is recalled.

[0014] In one particular implementation, the control system is configured and determined to: compare currently existing operational data and / or environmental data with the marked data set when the playback mode is enabled, and enable the playback mode if it is found that the operational data and / or environmental data are sufficiently consistent with the marked data set. This ensures that the playback mode is not enabled on road sections where no data stored in the recording mode is available. This objective is also achieved by a control method used in this motor vehicle, wherein a vehicle traveling ahead in the environment of this motor vehicle is detected using environmental data obtained from the vehicle's environmental sensors, the vehicle's operational data is detected using the vehicle's vehicle operation sensors, the vehicle's operational data and / or environmental data are detected and stored in the recording mode, the vehicle's acceleration and / or speed is set in the playback mode based on the operational data stored in the recording mode and / or based on the environmental data stored in the recording mode, and wherein the playback mode is interrupted once the predetermined time distance between this motor vehicle and the vehicle traveling ahead is less than this time distance.

[0015] In a particular design, the control method operates according to the operating mode of the control system of the present invention. Attached Figure Description

[0016] Further features, advantages, and characteristics of the present invention will be set forth by way of description of preferred embodiments of the invention with reference to the accompanying drawings, in which: Figure 1 : This illustrates a control system according to the present invention; Figure 2 This illustrates the operation of the control system according to the present invention; Figure 3 : This shows another demonstration of how the control system according to the invention operates. Detailed Implementation

[0017] Figure 1An embodiment of the control system 1 according to the present invention is shown. The control system 1 includes a computing unit 11, which may be equipped with one or more microprocessors, a data memory 13, and a communication interface 15, which are interconnected for bidirectional data communication (not shown in detail for clarity). Through the communication interface 15, the control system 1 sends and receives signals and data to and from an environmental sensor 3, a driving state sensor 5, and a vehicle actuator 7. The control system 1 is configured for use in the vehicle and to connect with the environmental sensor 3, the driving state sensor 5, and the vehicle actuator 7 of the vehicle 10, in such a way that the control system 1 processes signals and / or data from the vehicle 10 and generates signals and / or data, at least temporarily, for vehicle actions preset by the control system 1.

[0018] exist Figure 1 In a particularly preferred example shown, the environmental sensing device 3 includes: a distance sensor 31 (viewed in the vehicle's direction of travel), such as a camera, radar sensor, photoradar sensor, and / or ultrasonic sensor; and an absolute position sensor 33, such as a GPS sensor, which allows for globally and precisely determining the position of the vehicle 10. In a particularly cost-effective embodiment of the invention, a radar sensor (especially an exclusive arrangement) serving as the distance sensor 31 is sufficient as the functionally necessary environmental sensing device 3; while in other embodiments of the invention, other sensors, such as camera sensors, photoradar sensors, ultrasonic sensors, or vehicle-to-vehicle communication sensors, can be used to fulfill the function of the distance sensor 31, particularly through sensor data fusion.

[0019] The driving status sensing device 5 includes (in other designs not shown in detail) at least one acceleration or velocity sensor 51, an inertial measurement system and / or sensors of the vehicle system alone, which provide information about the instantaneous driving status of the vehicle, but at least about the instantaneous speed of the vehicle. The driving status sensing device 5 may also include, for example, a GPS sensor from a global navigation satellite system or other sensors as an absolute position sensor 33.

[0020] The communication interface 15 of the control system 1 is ultimately connected to the vehicle actuator 7, which includes at least a motor controller 71 or a brake controller 73 (preferably both), to enable the setting of the instantaneous speed of the vehicle 10. Based on environmental data obtained by means of the environmental sensor 3, one or more vehicles traveling ahead within the measurement range of the environmental sensor 3 are detected, the distance between the vehicle 10 and the corresponding detected vehicle traveling ahead is determined, and this distance is transmitted to the control system 1. The control system 1 is designed and configured to adjust the speed and distance of the vehicle 10 relative to the vehicles traveling ahead by means of environmental data (i.e., the distance measurement to the vehicles traveling ahead) and operating data (especially the speed of the vehicle) determined by the driving state sensor 5.

[0021] according to Figure 1 The control system 1 is configured and determined to be enabled via a user interface (not shown in detail) in either recording or playback mode. In recording mode, the control system detects the instantaneous speed of the vehicle 10 and its instantaneous global absolute position as operational data and stores this operational data in the data memory 13.

[0022] Additionally, it can store environmental data to more accurately detect driving curves and simplify or improve position determination.

[0023] The control system 1 associates the records stored in the data memory 13 with a set of marker data, which includes at least the absolute position of the vehicle at the start of recording. Additionally, it can store environmental data (such as camera images) and time information.

[0024] The detection and storage of operational and environmental data are performed at the start time of the recording mode and subsequently at discrete time steps. In a particular design, the time step for detecting and storing operational data can be shorter than the time step for recording environmental data used to determine absolute position. In this design, absolute position signals are provided only at specific time points, where interpolation is performed on the position of the corresponding operational data detected and stored at smaller time steps. Thus, at least one speed curve dependent on the vehicle's absolute position is recorded in the recording mode. This series of vehicle absolute positions reflects the distance traveled in the recording mode. The control system 1 is configured and designed to store multiple records of one or more distances and manage them via a user interface.

[0025] In another design of control system 1 (which is identical to the above except in the following aspects), additional environmental data, such as camera data, yaw rate, acceleration in each vehicle direction, lane marking direction, traffic density, lane used, and / or traffic signs, are detected and stored in recording mode. The environmental data recorded at the corresponding time step is correlated with operational data, such as instantaneous speed and / or instantaneous vehicle acceleration (also detected and stored). Based on the additionally recorded environmental data, improved absolute position determination and / or position interpolation can be achieved, and / or additional functionality can be provided for the playback mode of control system 1 as described below.

[0026] The control system provides additional options for the ACC operating modes provided by the vehicle based on existing technology, namely (for the recording mode enabled under ACC driving) recording manual intervention (which forms a deviation from the preset value of ACC adjustment), thereby creating a personalized ACC curve for a certain road segment.

[0027] Control system 1 is configured and determined to set the acceleration and / or speed of the vehicle in playback mode, which can be enabled via a user interface not shown in detail, to recall the driving footage stored in recording mode. Specifically, the acceleration and / or speed of vehicle 10 is set to the speed stored at the corresponding absolute position, more precisely, to reach the corresponding speed. Here, time-distance adjustment takes precedence over playback mode. This time-distance adjustment determines the instantaneous speed and the distance to the vehicle ahead, and if the distance is less than a predetermined time distance (i.e., the safe distance between vehicle 10 and the vehicle ahead), playback mode is interrupted at least temporarily. Once the minimum time distance is met, playback mode is resumed. Furthermore, control system 1 is configured and determined to operate motor controller 71 or brake controller 73 in the event of interruption of playback mode by increasing the time distance to the vehicle ahead.

[0028] The control system 1 is further configured and determined to: once the control system 1 detects that the operating data and / or environmental data stored in the recording mode are available for the instantaneous absolute position of the vehicle, it will suggest driving the motor vehicle 10 in the playback mode via a user interface.

[0029] The control system 1 is further configured and determined to set the operating data and / or environmental data stored in the recording mode, based on a second set of operating data and / or environmental data already stored in the recording mode, for a series of absolute position data (i.e., the stored distance). In particular, the average or median of the stored multiple sets of operating data and / or environmental data can be derived and set for specific road segments. By means of the operating data (especially acceleration and / or speed) stored in the vehicle 10, the driving speed can be predictively adapted to curves without having to access digital map data. Timely predictive speed adaptation is also advantageous in situations with speed limits, increased traffic density, intersections, etc., because it adapts to speed regulation behavior that is generally comfortable and enhances passenger safety.

[0030] In another design, the control system 1 is configured and determined to: derive the driver's driving preferences based on one or more sets of operational data and / or environmental data, such as the timing and extent of deceleration and / or acceleration before or after situations involving speed limits, high traffic density, or intersections. The control system 1 is particularly configured and determined to: adapt the regulatory behavior according to the derived driver preferences.

[0031] exist Figure 2 The diagram illustrates how the vehicle 10, equipped with control system 1, is driven along a certain distance. The recording mode of control system 1 is activated by the driver of the vehicle 10 via a user interface, and at the activation time, the control system stores a set of marker data in data memory 13. The marker data set includes at least the absolute position of the vehicle 10 at the time of recording activation.

[0032] Additionally, vehicle speed and / or acceleration and / or other operational data of the vehicle, as well as environmental data (e.g., images or image sequences recorded by a camera or groups of objects identified by a camera, such as traffic signs) can be stored as part of a marker data set. The marker data set is used to determine the starting point for operating the control system in playback mode. After storing the marker data set, the absolute position of the vehicle 10 and the instantaneous acceleration and / or velocity of the vehicle at the corresponding position are recorded sequentially at predetermined speed-dependent distances, as shown by measurement points 80, 81, and 82. The recording mode continues until it is terminated by input via a user interface.

[0033] exist Figure 3The speed curve 92 obtained from this driving in recording mode is quantitatively displayed as a graph with relevant road segments. As can be seen on the speed curve 92, from a certain position of the vehicle 10, that is, from the position where the driver has detected the speed limit 90, the speed decreases and then continues to decrease based on the braking behavior characteristic of the driver and the curves ahead. Once the apex of the curve is passed, the acceleration of the speed curve 92 can then be seen. Once the vehicle 10 is at the absolute position stored in the marked data set at the start of recording, the speed curve 92 stored in recording mode can be accurately reproduced again by the control system 1 in playback mode.

[0034] List of reference numerals

[0035] 1 Control System

[0036] 3. Environmental sensing device

[0037] 5. Driving status sensing device

[0038] 7 Vehicle actuators

[0039] 8 Motor controller

[0040] 9. Brake controller

[0041] 10 Motor vehicles

[0042] 11 Computing Units

[0043] 13 Data Storage

[0044] 15 Communication Interface

[0045] 31 Distance sensor

[0046] 33 Absolute position sensor

[0047] 51 Accelerometer or velocity sensor

[0048] 80 measurement points

[0049] 81 Measurement Points

[0050] 82 measurement points

[0051] Speed ​​limit 90

[0052] 92 Speed ​​Curve

Claims

1. A control system (1), for use in the present motor vehicle (10), the control system being configured and determined to: detect a vehicle traveling ahead in the environment of the present motor vehicle (10) by means of environmental data obtained from environmental sensing devices (3) of the present motor vehicle (10), wherein, Environmental data is selected from video image data, radar data, photoradar data, ultrasonic sensor data, information about identifiable objects, lane usage, and lane markings. The vehicle's (10) operational data is detected using the vehicle's (10) driving status sensing device (5), which is selected from driving dynamic data, including yaw rate, acceleration, speed, or dynamic variables derived therefrom; and absolute position data from global satellite navigation sensors. In recording mode, the operation data and environmental data of this motor vehicle (10) are detected and stored. Furthermore, in playback mode, the acceleration and / or speed of the motor vehicle (10) are set based on the operational data stored in the recording mode and the environmental data stored in the recording mode. The control system (1) is configured and determined to continuously monitor the time distance to a vehicle traveling ahead, and to interrupt the playback mode once the time distance between the vehicle (10) and the vehicle traveling ahead is less than a predetermined time distance, wherein the time distance adjustment takes precedence over the playback mode.

2. The control system (1) according to claim 1, wherein the control system is configured and determined to: store a set of tagged data including operational data and / or environmental data when the recording mode is enabled, and associate the set of tagged data with a timestamp and / or the current location of the vehicle (10).

3. The control system (1) according to claim 2, wherein the control system is configured and determined to set the acceleration and / or speed of the motor vehicle depending on the acceleration and / or speed stored in the recording mode.

4. The control system according to claim 1, wherein the control system is configured and determined to set the acceleration and / or speed of the motor vehicle exactly to the acceleration and / or speed stored in the recording mode.

5. The control system according to claim 1, wherein the control system is configured and determined to enable the recording mode based on input actions of a user of the motor vehicle.

6. The control system according to claim 1, wherein the control system is configured and determined to: set the acceleration and / or speed of the motor vehicle to an acceleration and / or speed derived based on operating data and / or environmental data stored in the recording mode.

7. The control system according to claim 1, wherein the control system is configured and determined to: in a standard adjustment mode that can be interrupted by manual control intervention, adapt the actual speed of the vehicle to a set theoretical speed by setting the acceleration of the vehicle, or when the vehicle ahead is moving at a speed less than the theoretical speed, set a predetermined time distance between the vehicle and the vehicle ahead in the same lane by setting the acceleration of the vehicle; and in the recording mode, when the standard adjustment mode is interrupted by manual control intervention, detect and store the vehicle's operating data and / or environmental data.

8. The control system according to claim 2, wherein the control system is configured and determined to: in a standard adjustment mode that can be interrupted by manual control intervention, adapt the actual speed of the vehicle to a theoretical speed that can be set by setting the acceleration of the vehicle, or when the vehicle ahead is moving at a speed less than the theoretical speed, set a predetermined time distance between the vehicle and the vehicle ahead in the same lane by setting the acceleration of the vehicle; and in the recording mode, when the standard adjustment mode is interrupted by manual control intervention, detect and store the vehicle's operating data and / or environmental data.

9. The control system according to claim 7 or 8, wherein the control system is configured and determined to: derive a path within a range prior to the vehicle based on operational data and / or environmental data stored in the recording mode, and limit the acceleration and / or speed of the vehicle based on the derived path in the playback mode and / or when the vehicle is manually controlled.

10. The control system of claim 2, wherein the control system is configured and determined to: when the playback mode is enabled, compare the currently existing operational data and / or environmental data with the marked data set, and enable the playback mode if it is found that the operational data and / or environmental data are sufficiently consistent with the marked data set.

11. A control method for use in a host vehicle, wherein a vehicle driving ahead in an environment of the host vehicle is detected by means of environmental data obtained from environmental sensing means of the host vehicle, wherein, Environmental data is selected from video image data, radar data, LiDAR data, ultrasonic sensor data, information about identifiable objects, lane usage, and lane markings. Furthermore, the vehicle's operational data is detected using its driving status sensing devices. This operational data is selected from driving dynamic data, including yaw rate, acceleration, speed, or dynamic variables derived therefrom; and absolute position data from global satellite navigation sensors. In recording mode, the vehicle's operational data and environmental data are detected and stored. In playback mode, the acceleration and / or speed of the vehicle are set based on the operational data stored in the recording mode and the environmental data stored in the recording mode. Furthermore, it continuously monitors the time distance to the vehicle ahead, and interrupts the playback mode if the time distance adjustment is less than a predetermined time distance between the vehicle and the vehicle ahead, wherein the time distance adjustment takes precedence over the playback mode.

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