Method for determining a set speed of an assistance system for controlling a longitudinal movement of a vehicle

Abstract

Method for determining a set speed (VS) of an assistance system for controlling a longitudinal movement of a vehicle, characterized in that a route (FS) ahead of the vehicle with a given total route length is checked to see whether on this total route length - Areas with a traffic condition of free traffic (FV), - Areas with a traffic condition of slow-moving and / or congested traffic (ZSV), - areas with a traffic condition of congested traffic (GV) are present, and a route length (LFV, LZSV, LGV) of the respective area is determined, whereby depending on this, a decision is made as to whether the set speed (VS) should be determined by the assistance system and to which of several specified speed values ​​(VSN, VSM, VSH) the set speed (VS) should be set, whereby In addition, depending on sensor data from an environment detection sensor system of the vehicle, a decision is made as to whether the set speed (VS) should be determined by the assistance system and to which of several specified speed values ​​(VSN, VSM, VSH) the set speed (VS) should be set.

Description

[0001] The invention relates to a method for determining a set speed of an assistance system for controlling a longitudinal movement of a vehicle.

[0002] Methods for determining a set speed for assistance systems that control the longitudinal movement of vehicles, such as cruise control systems, are generally known from the state of the art. For example, the set speed is determined based on the detection of a currently prescribed speed.

[0003] From DE 10 2016 218 287 A1 a method for controlling the actual speed of a vehicle to a target speed is known, in which the target speed is determined as a function of traffic information describing the traffic density.

[0004] From DE 10 2017 205 893 A1 a method for controlling the speed of a vehicle is known, in which it is determined whether and, if so, at what distance a situation is expected in which there is a risk of a reduced traffic speed, and in which the target speed for the control is adapted to the result of this determination.

[0005] From DE 10 2017 220 420 B3 a method for controlling the speed of a vehicle is known, in which the vehicle is operated depending on a future speed profile which is determined on the basis of traffic information which the vehicle receives from a collection device.

[0006] From DE 10 2017 214 573 A1 it is known that in order to limit the acceleration of a vehicle in an extreme traffic jam, a predetermined speed profile is set based on the movement of a vehicle in front.

[0007] A method for determining traffic conditions in a vehicle is known from the prior art, as described in DE 10 2009 059 128 A1. In this method, location information is obtained using a road map and a positioning device, traffic information is determined using a traffic information receiver, the route to a destination is determined using the location information, the road map, and the traffic information, and route forecast information is cyclically determined from this. Based on the route forecast information, the route is divided into route sections with individual traffic conditions. Each route section is assigned a piece of route section information, with each piece of route section information containing traffic condition information and location information for the route section. The route section information is output.

[0008] The invention is based on the object of specifying a method for determining a set speed of an assistance system for controlling a longitudinal movement of a vehicle, which method is improved compared to the prior art.

[0009] The object is achieved according to the invention by a method for determining a set speed of an assistance system for controlling a longitudinal movement of a vehicle with the features of claim 1.

[0010] Advantageous embodiments of the invention are the subject of the subclaims.

[0011] In a method for determining a set speed, also referred to as the target speed, of an assistance system for controlling the longitudinal movement of a vehicle, a route ahead of the vehicle with a predetermined total length is checked to determine whether this total length contains one or more areas with a traffic condition of free traffic, one or more areas with a traffic condition of slow-moving and / or stop-and-go traffic, and one or more areas with a traffic condition of congested traffic. The method then determines the length of the respective area. Depending on this, a decision is made, in particular an automatic decision, as to whether the set speed should be set by the assistance system and, if so, to which of several predetermined speed values ​​the set speed should be set.By means of this method it is determined in particular whether a set speed is required on the route ahead and, if so, it is determined which of several predetermined speed values ​​of the set speed is required. Advantageously a corresponding instruction is then transmitted to the assistance system, in particular when the latter is to set the set speed, i.e. the instruction is then advantageously transmitted to the assistance system that it is to set the set speed and to which of the several predetermined speed values ​​it is to set the set speed. By means of this method the assistance system is thus advantageously also instructed, in particular controlled and / or regulated, in order to set the set speed, specifically to one of the several predetermined speed values, once this has been determined.

[0012] By means of the method, rules are established as a function of the traffic condition received in the vehicle and its temporal and spatial sequence on the route ahead, as to how parameters, in particular the set speed, of the assistance system can be improved. By means of this method, it is specified in detail on the basis of the rules described above which parameters, in particular the set speed, are used to control and / or regulate the assistance system, for example a braking assistance system and / or a distance and / or cruise control system, i.e. in particular whether and, if so, which set speed this assistance system should set. This decision is expediently transmitted to the assistance system, in particular as a corresponding specification or instruction, in particular a control instruction, and then implemented accordingly by the assistance system.The assistance system thus reacts to the traffic conditions ahead. In particular, it brakes the vehicle accordingly if necessary, especially to the specified set speed, i.e., to the respective specified speed value of the set speed. The method thus enables, in particular, traffic-condition-dependent braking assistance, in particular predictive braking assistance with dynamic traffic information.

[0013] The method according to the invention also provides that, depending on sensor data from an environment detection sensor system of the vehicle, a decision is made as to whether the set speed should be determined by the assistance system and to which of several predefined speed values ​​the set speed should be set. This can prevent incorrect setting of the set speed and thus, for example, unnecessary braking of the vehicle when there is little traffic in the vicinity of the vehicle or insufficient braking of the vehicle when there is already heavy traffic in the vicinity of the vehicle.The determination of the set speed of the assistance system is then compared, for example, with a list of objects in the surroundings of the vehicle known from sensors, for example camera and radar, of the vehicle's environment detection sensor system in order to avoid incorrect and excessive braking interventions, for example when the traffic is so light that there are no other vehicles in the area, or if, in contrast, it is determined, for example based on several overtaking objects, that there is already heavy traffic in the vehicle's surroundings.

[0014] To implement this, the vehicle advantageously has a navigation system with dynamic route calculation and route forecast. The route forecast is, for example, a traffic-condition-dependent route forecast, for example, according to DE 10 2009 059 128 A1. Advantageously, the vehicle has a communication device for the vehicle-external technical device, in particular for an internet backend. The vehicle can advantageously process control suggestions, i.e., specifications or instructions, in particular control instructions, for the assistance system, for example for the brake assistance system and / or the distance and / or cruise control system, in particular the decision regarding the set speed made by means of the method.

[0015] In addition to the criteria described above for deciding whether the set speed should be determined by the assistance system and to which of several predefined speed values ​​the set speed should be set, it can be provided, for example, that an active end-of-traffic jam warning ("Dangerous end of traffic jam ahead."), in particular with an acoustic warning, is also taken into account. If such an end-of-traffic jam warning occurs, it can be provided, for example, that a decision is then made that the set speed should be determined by the assistance system and that it should be set to a predefined very low speed value of, for example, 60 km / h. For example, it can be provided that this very low speed value is parameterizable, i.e.for example, by the vehicle owner and / or vehicle user and / or by the vehicle-external technical device, in particular by the vehicle-external server, in particular by the vehicle-external technical device of the vehicle manufacturer.

[0016] For example, a position of a detected dangerous traffic jam front can be integrated into a predictive traffic condition message according to DE 10 2009 059 128 A1.

[0017] Alternatively or in addition to the decision described above as to whether the set speed should be determined by the assistance system and to which of several predefined speed values ​​the set speed should be set, and in particular the transmission of this decision to the assistance system, an active braking recommendation can be issued, for example, instead of the decision to set the set speed or in addition to it, for example by means of a visual, in particular graphic, and / or acoustic and / or haptic message. This is advantageous, for example, for vehicles that do not have a corresponding assistance system, in particular a brake assistance system and / or a distance and / or cruise control system.

[0018] The method described above can, for example, be provided for manual driving, i.e. driving carried out entirely by a vehicle driver, for driving supported by one or more assistance systems, for partially automated, for fully automated and / or for autonomous driving, i.e. advantageously for all variants of driving.

[0019] For example, it is provided that the predictive braking function implemented or achievable by means of the method, i.e., the automatic setting of a set speed that deviates, for example, from a set speed specified by the vehicle user and / or driver, is displayed to the vehicle user and / or driver, for example, in the vehicle's instrument cluster. This informs the vehicle user and / or driver and does not irritate them, for example, about the vehicle braking even though a larger traffic volume is not yet in sight for the vehicle user and / or driver.

[0020] The total length of the route ahead being checked is, for example, at least 2.5 km, in particular at least 3 km, in particular at least 3.5 km, and in particular it is greater than 3.5 km. This enables a realistic assessment of the traffic conditions ahead and, in particular, a timely response to these traffic conditions ahead by setting the appropriate speed value for the set speed, if required according to the aforementioned criteria.

[0021] For example, a low speed value, in particular 80 km / h, a medium speed value, in particular 100 km / h, and a high speed value, in particular 120 km / h, are specified as speed values ​​for the set speed. In other embodiments of the method, for example, further speed values ​​between the low and the high speed value can be provided. These different speed values ​​enable a set speed adapted to the respective traffic situation on the route ahead.

[0022] For example, the decision as to whether the set speed should be determined by the assistance system and to which of several predefined speed values ​​the set speed should be set depends particularly on the type and / or number and / or sequence and / or length of the areas along the route. This decision therefore varies for the various possible traffic situation combinations on the route ahead, adapted to the respective traffic situation.For example, if the traffic state of free traffic is followed by the traffic state of congested traffic with vehicle standstill in less than 500 m, which can be parameterized in particular, after a distance of 2 km, for example, the set speed in free traffic is limited to the low speed value, which can be parameterized in particular, of 80 km / h, and the vehicle is braked accordingly. For example, if the traffic state of slow-moving and / or stop-and-go traffic with low speeds and a length of at least 500 m, which can be parameterized in particular, after a distance of 2 km, for example, the set speed in free traffic is limited to the high speed value, which can be parameterized in particular, of 120 km / h, and the vehicle is braked accordingly less, in particular hardly at all.

[0023] For example, it is decided that the set speed should be determined by the assistance system if, at the beginning of the checked route ahead, there is an area with the traffic condition of free traffic whose route length is smaller than a specified route limit value for the area with the traffic condition of free traffic, and - immediately after this there is an area with the traffic condition of congested traffic, the length of which is greater than a specified route limit value for the area with the traffic condition of congested traffic, or - immediately after this there is an area with the traffic condition of slow-moving and / or congested traffic, the length of which is greater than a predefined small route limit value for the area with the traffic condition of slow-moving and / or congested traffic, or - immediately after this there is an area with the traffic condition of slow-moving and / or congested traffic, the length of which is less than the specified small route limit for the area with the traffic condition of slow-moving and / or congested traffic, and immediately after this there is an area with the traffic condition of congested traffic, the length of which is greater than the specified route limit for the area with the traffic condition of congested traffic, or - immediately after this there is an area with the traffic condition of slow-moving and / or congested traffic, the length of which is shorter than the predefined small route limit for the area with the traffic condition of slow-moving and / or congested traffic, immediately after this there is an area with the traffic condition of congested traffic, the length of which is shorter than the predefined small route limit for the area with the traffic condition of congested traffic, and immediately after this there is an area with the traffic condition of slow-moving and / or congested traffic, the length of which is shorter than the predefined small route limit for the area with the traffic condition of slow-moving and / or congested traffic, or - immediately after this there is an area with the traffic condition of congested traffic, the length of which is shorter than the specified route limit for the area with the traffic condition of congested traffic, immediately after this there is an area with the traffic condition of slow-moving and / or stop-going traffic, the length of which is shorter than the specified small route limit for the area with the traffic condition of slow-moving and / or stop-going traffic, and immediately after this there is an area with the traffic condition of congested traffic, the length of which is shorter than the specified route limit for the area with the traffic condition of congested traffic, or - immediately after this there is an area with the traffic condition of congested traffic, the length of which is shorter than the specified route limit value for the area with the traffic condition of congested traffic, and immediately after this there is an area with the traffic condition of slow-moving and / or stop-going traffic, the length of which is longer than the specified small route limit value for the area with the traffic condition of slow-moving and / or stop-going traffic.

[0024] For these traffic situations, it is advisable for the vehicle to approach the respective traffic situation at a specified set speed in order to avoid a collision with other vehicles traveling ahead or at the end of a traffic jam. The specification of the respective set speed and thus the reduction of the vehicle's speed to this set speed should then be carried out in the area with the traffic condition of free traffic, particularly at the beginning of the route being examined and / or at the earliest possible time after the decision has been made.

[0025] For example, it is decided that the set speed should be set to the low speed value, in particular 80 km / h, if at the beginning of the checked route ahead there is an area with the traffic condition of free traffic, the length of which is smaller than the specified route limit value for the area with the traffic condition of free traffic, and - immediately after this there is an area with the traffic condition of congested traffic, the length of which is greater than the specified route limit value for the area with the traffic condition of congested traffic, or - immediately following this is an area with a traffic condition of slow-moving and / or congested traffic, the length of which is shorter than the predefined small route limit for the area with a traffic condition of slow-moving and / or congested traffic, and immediately following this is an area with a traffic jam, the length of which is longer than the predefined route limit for the area with a traffic jam. These traffic situations ahead require particularly careful approach and therefore a reduction to a low speed in order to avoid a collision with other vehicles traveling ahead or at the end of a traffic jam ahead.

[0026] For example, it is decided that the set speed should be set to the average speed value, in particular 100 km / h, if at the beginning of the examined route ahead there is an area with the traffic condition of free traffic, the length of which is smaller than the specified route limit value for the area with the traffic condition of free traffic, and - immediately after this there is an area with the traffic condition of slow-moving and / or congested traffic, the length of which is greater than the specified small route limit value for the area with the traffic condition of slow-moving and / or congested traffic and smaller than a specified large route limit value for the area with the traffic condition of slow-moving and / or congested traffic, and immediately after this there is an area with the traffic condition of congested traffic, the length of which is greater than the specified route limit value for the area with the traffic condition of congested traffic, or - immediately after this there is an area with the traffic condition of slow-moving and / or congested traffic, the length of which is shorter than the predefined small route limit for the area with the traffic condition of slow-moving and / or congested traffic, immediately after this there is an area with the traffic condition of congested traffic, the length of which is shorter than the predefined small route limit for the area with the traffic condition of congested traffic, and immediately after this there is an area with the traffic condition of slow-moving and / or congested traffic, the length of which is shorter than the predefined small route limit for the area with the traffic condition of slow-moving and / or congested traffic, or - immediately after this there is an area with the traffic condition of congested traffic, the length of which is shorter than the predefined route limit for the area with the traffic condition of congested traffic, immediately after this there is an area with the traffic condition of slow-moving and / or stop-going traffic, the length of which is shorter than the predefined small route limit for the area with the traffic condition of slow-moving and / or stop-going traffic, and immediately after this there is an area with the traffic condition of congested traffic, the length of which is shorter than the predefined route limit for the area with the traffic condition of congested traffic.Although these traffic situations ahead require a cautious approach, a slightly higher speed is possible here, so the speed is reduced to an average value in order to avoid a collision with other vehicles ahead or those at the end of a traffic jam ahead.

[0027] For example, it is decided that the set speed should be set to the high speed value, in particular 120 km / h, if at the beginning of the checked route ahead there is an area with the traffic condition of free traffic, the length of which is smaller than the specified route limit value for the area with the traffic condition of free traffic, and - there is an area immediately after this with the traffic condition of slow-moving and / or congested traffic, the length of which is greater than the specified small route limit value for the area with the traffic condition of slow-moving and / or congested traffic, and in particular there is an area immediately after this with the traffic condition of free traffic, or - immediately after this there is an area with the traffic condition of congested traffic, the length of which is shorter than the specified route limit for the area with the traffic condition of congested traffic, immediately after this there is an area with the traffic condition of slow-moving and / or congested traffic, the length of which is longer than the specified small route limit for the area with the traffic condition of slow-moving and / or congested traffic, and in particular immediately after this there is an area with the traffic condition of free traffic, or - immediately after this there is an area with the traffic condition of slow-moving and / or congested traffic, the length of which is greater than the predefined small route limit for the area with the traffic condition of slow-moving and / or congested traffic, immediately after this there is an area with the traffic condition of congested traffic, the length of which is less than the predefined route limit for the area with the traffic condition of congested traffic, and in particular immediately after this there is an area with the traffic condition of free traffic. Although these traffic situations ahead require a relatively cautious approach, a relatively high speed is still possible here, so the speed is reduced to a higher value in order to avoid a collision with other vehicles ahead or at the end of a traffic jam ahead.

[0028] The specified distance limit for the area with the traffic condition "free" is, for example, 2 km. This prevents the set speed from being determined and set to the respective specified speed value too early, and thus prevents the vehicle from braking too early. Such very early braking of the vehicle could, for example, lead to a lack of acceptance by a driver, as they cannot recognize why the vehicle is braking. For example, it could also lead to an unnecessarily extended travel time and, for example, to the vehicle braking unnecessarily if the traffic situation ahead has already changed again while the vehicle is approaching at an unnecessarily slow pace. These problems are avoided in the manner described above.

[0029] The specified small distance limit for the area with the traffic condition of slow-moving and / or congested traffic is, for example, 500 m. This makes it possible to distinguish between relatively short areas with slow-moving and / or congested traffic, which may have already cleared up again, for example, as the vehicle continues to approach, and longer areas of this type, and the set speed can be specified accordingly.

[0030] The specified long distance limit for the area with slow-moving and / or congested traffic is, for example, 1 km. This allows the set speed to be adjusted accordingly, especially for such a relatively long area with slow-moving and / or congested traffic, which is then followed, for example, by an area with congested traffic.

[0031] The specified distance limit for the area with the traffic condition of congested traffic is, for example, 500 m. This makes it possible to distinguish between relatively short areas of congested traffic, which may have already cleared again during the further approach of the vehicle, and longer areas of this type, and the set speed can be specified accordingly.

[0032] In one possible embodiment of the method, it can be provided that the total route length and / or the speed values ​​for the set speed and / or the route limit value for the area with the traffic condition of free traffic and / or the small route limit value for the area with the traffic condition of slow-moving and / or congested traffic and / or the large route limit value for the area with the traffic condition of slow-moving and / or congested traffic and / or the route limit value for the area with the traffic condition of congested traffic can be specified by a vehicle owner and / or vehicle owner and / or vehicle user and / or by a technical device external to the vehicle, in particular by a server external to the vehicle, in particular by a technical device external to the vehicle of a manufacturer of the vehicle.When specified by the technical device external to the vehicle, this is done in particular wirelessly, in particular via a radio connection, in particular via an internet connection. This makes it possible, for example, to adapt one or more of the above-mentioned parameters to individual requirements. Alternatively or additionally, it can be provided, for example, that the speed values ​​for the set speed, to which braking should in particular occur, are transmitted temporally and spatially via such a technical device external to the vehicle, for example via the server external to the vehicle, in particular via a cloud-based service. This makes it possible, for example, to take into account specific country characteristics, in particular specific requirements of a respective country in which the vehicle is currently located, for example speed limits, and / or route-specific speed limits.Alternatively or additionally, such a vehicle-external technical device, for example, via the vehicle-external server, in particular via the cloud-based service, can also incorporate test results from fleet data and / or feedback from other vehicle users into the specification of the speed values ​​for the set speed, i.e., take them into account for this purpose. This allows, for example, more speed values ​​to be specified, in particular additional speed values ​​between the low and high speed values, in order to enable a more differentiated specification of the respective set speed. For example, speed values ​​for the set speed in 5 km / h intervals are possible.

[0033] Embodiments of the invention are explained in more detail below with reference to drawings.

[0034] Showing: Fig. 1 schematically shows various combinations of traffic conditions on a route ahead of a vehicle, for each of which no intervention is provided for determining a set speed, Fig. 2 schematically shows various combinations of traffic conditions on a route ahead of a vehicle, for each of which a set speed with a low predetermined speed value is provided, Fig. 3 schematically shows various combinations of traffic conditions on a route ahead of a vehicle, for each of which a set speed with an average predetermined speed value is provided, and Fig. 4 schematically shows various combinations of traffic conditions on a route ahead of a vehicle, for each of which a set speed with a high predetermined speed value is provided.

[0035] Corresponding parts are provided with the same reference numerals in all figures.

[0036] Based on the Fig. 1 to 4, a method for determining a set speed VS of an assistance system for controlling the longitudinal movement of a vehicle is explained below. In this method, a route FS ahead of the vehicle with a specified total route length is checked to determine whether there are areas with a traffic condition of free traffic FV, areas with a traffic condition of slow-moving and / or stop-and-go traffic ZSV and / or areas with a traffic condition of congested traffic GV on this total route length, and a route length LFV, LGV, LZSV of the respective area is determined. Depending on this, a decision is made as to whether the set speed VS should be set by the assistance system and, if so, to which of several specified speed values ​​VSN, VSM, VSH the set speed VS should be set.

[0037] The Fig. 1 to 4 each show the route FS ahead of the vehicle with the specified total route length, whereby on the routes FS shown there are various combinations of the above-mentioned areas with the respective traffic conditions FV, ​​ZSV, GV.

[0038] This shows Fig. 1 Combinations of the above-mentioned areas with the respective traffic conditions FV, ​​ZSV, GV, for which no intervention KE is provided for determining the set speed VS. This means that in each case, the decision is made that the set speed VS should not be determined by the assistance system.

[0039] The Fig. Figures 2 to 4 show combinations of the above-mentioned areas with the respective traffic conditions FV, ​​ZSV, GV, for each of which a set speed VS is provided. This means that the set speed VS is to be determined by the assistance system, and it is also decided to which of several predefined speed values ​​VSN, VSM, VSH the set speed VS is to be set. Fig. 2 shown respective combinations of the above-mentioned areas with the respective traffic condition FV, ZSV, GV, it was decided that the set speed VS should be set to a low specified speed value VSN of 80 km / h in this example, with the Fig. 3 shown respective combinations of the above-mentioned areas with the respective traffic condition FV, ZSV, GV, it is decided that the set speed VS should be set to an average specified speed value VSM of 100 km / h in this example, and in the Fig. 4 shown respective combinations of the above-mentioned areas with the respective traffic condition FV, ZSV, GV, it is decided that the set speed VS should be set to a high specified speed value VSH of 120 km / h in this example.

[0040] In the example shown according to the Fig. 2 to 4, it is decided that the set speed VS should be determined by the assistance system if, at the beginning of the checked route ahead FS, there is an area with the traffic condition free traffic FV, the route length LFV of which is less than a specified route limit value of, in this example, 2 km for the area with the traffic condition free traffic FV, and - immediately after this there is an area with the traffic condition congested traffic GV, whose route length LGV is greater than a specified route limit value of 500 m in this example for the area with the traffic condition congested traffic GV, as in Fig. 2 shown above, or - immediately after this there is an area with the traffic condition of slow-moving and / or congested traffic ZSV, whose route length LZSV is greater than a predefined small route limit value of 500 m in this example for the area with the traffic condition of slow-moving and / or congested traffic ZSV, as in Fig. 3 above and in Fig. 4 shown above and below, or - immediately after this there is an area with the traffic condition of slow-moving and / or congested traffic ZSV, the length of which is less than the specified small route limit of 500 m in this example for the area with the traffic condition of slow-moving and / or congested traffic ZSV, and immediately after this there is an area with the traffic condition of congested traffic GV, the length of which is greater than the specified route limit of 500 m in this example for the area with the traffic condition of congested traffic GV, as in Fig. 2 shown below, or - directly after this there is an area with the traffic condition of slow-moving and / or congested traffic ZSV, the route length LZSV of which is less than the predefined small route limit of 500 m in this example for the area with the traffic condition of slow-moving and / or congested traffic ZSV, directly after this there is an area with the traffic condition of congested traffic GV, the route length LGV of which is less than the predefined small route limit of 500 m in this example for the area with the traffic condition of congested traffic GV, and directly after this there is an area with the traffic condition of slow-moving and / or congested traffic ZSV, the route length LZSV of which is less than the predefined small route limit of 500 m in this example for the area with the traffic condition of slow-moving and / or congested traffic ZSV, as in Fig. 3 middle shown, or - immediately after this there is an area with the traffic condition of congested traffic GV, the length of which is less than the specified route limit of 500 m in this example for the area with the traffic condition of congested traffic GV, immediately after this there is an area with the traffic condition of slow-moving and / or stop-going traffic ZSV, the length of which is less than the specified small route limit of 500 m in this example for the area with the traffic condition of slow-moving and / or stop-going traffic ZSV, and immediately after this there is an area with the traffic condition of congested traffic GV, the length of which is less than the specified route limit of 500 m in this example for the area with the traffic condition of congested traffic GV, as in Fig. 3 shown below, or - immediately after this there is an area with the traffic condition of congested traffic GV, the length of which is smaller than the specified route limit of 500 m in this example for the area with the traffic condition of congested traffic GV, and immediately after this there is an area with the traffic condition of slow-moving and / or congested traffic ZSV, the length of which is larger than the specified small route limit of 500 m in this example for the area with the traffic condition of slow-moving and / or congested traffic ZSV, as in Fig. 4 shown in the middle.

[0041] Advantageously, in all other cases, it is decided that the setting speed VS should not be determined by the assistance system, ie, that no intervention KE should be carried out for the determination of the setting speed VS. This applies in particular to the Fig. 1 exemplary combinations of the mentioned areas with the respective traffic conditions FV, ​​GV, ZSV.

[0042] In Fig. 1 above, there is only one area with the traffic condition "free traffic" (FV), whose route length (LFV) is greater than the specified route limit of 2 km in this example for the area with the traffic condition "free traffic" (FV). Here, it is decided that the set speed (VS) should not be determined by the assistance system.

[0043] In Fig. 1, second example from the top, at the beginning of the checked route ahead FS there is an area with the traffic condition of free traffic FV, the route length LFV of which is shorter than the specified route limit of 2 km in this example for the area with the traffic condition of free traffic FV, directly after this there is an area with the traffic condition of slow-moving and / or congested traffic ZSV, the route length LZSV of which is shorter than the specified small route limit of 500 m in this example for the area with the traffic condition of slow-moving and / or congested traffic ZSV, and directly after this there is another area with the traffic condition of free traffic FV. Here it is decided that the set speed VS should not be determined by the assistance system.

[0044] In Fig. 1 In the middle, at the beginning of the checked route ahead FS, there is an area with the traffic condition "free traffic" FV, whose route length LFV is shorter than the specified route limit of, in this example, 2 km for the area with the traffic condition "free traffic" FV. Directly after this, there is an area with the traffic condition "congested traffic" GV, whose route length LGV is shorter than the specified route limit of, in this example, 500 m for the area with the traffic condition "congested traffic" GV. Directly after this, there is another area with the traffic condition "free traffic" FV. Here, it is decided that the set speed VS should not be determined by the assistance system.

[0045] In Fig. 1, second example from the bottom, at the start of the checked route ahead FS there is an area with the traffic condition of free traffic FV, the route length LFV of which is shorter than the specified route limit of 2 km in this example for the area with the traffic condition of free traffic FV, directly after that there is an area with the traffic condition of slow-moving and / or congested traffic ZSV, the route length LZSV of which is shorter than the specified small route limit of 500 m in this example for the area with the traffic condition of slow-moving and / or congested traffic ZSV, directly after that there is an area with the traffic condition of congested traffic GV, the route length LGV of which is shorter than the specified route limit of 500 m in this example for the area with the traffic condition of congested traffic GV, and directly after that there is another area with the traffic condition of free traffic FV.Here it is decided that the setting speed VS should not be determined by the assistance system.

[0046] In Fig. 1 below, at the start of the checked route ahead FS there is an area with the traffic condition free traffic FV, the route length LFV of which is shorter than the specified route limit of 2 km in this example for the area with the traffic condition free traffic FV, directly after this there is an area with the traffic condition congested traffic GV, the route length LGV of which is shorter than the specified route limit of 500 m in this example for the area with the traffic condition congested traffic GV, directly after this there is an area with the traffic condition slow-moving and / or congested traffic ZSV, the route length LZSV of which is shorter than the specified small route limit of 500 m in this example for the area with the traffic condition slow-moving and / or congested traffic ZSV, and directly after this there is another area with the traffic condition free traffic FV.Here it is decided that the setting speed VS should not be determined by the assistance system.

[0047] As mentioned above, the Fig. 2 to 4 are combinations of the above-mentioned areas with the respective traffic conditions FV, ​​GV, ZSV, for each of which a set speed VS is provided. This means that the set speed VS is to be determined by the assistance system, and a decision is also made as to which of several predefined speed values ​​VSN, VSM, VSH the set speed VS should be set to.

[0048] In Fig. 2 above, at the beginning of the checked route ahead FS, there is an area with the traffic condition of free traffic FV, the route length LFV of which is shorter than the specified route limit of, in this example, 2 km for the area with the traffic condition of free traffic FV, and directly after that there is an area with the traffic condition of congested traffic GV, the route length LGV of which is longer than the specified route limit of, in this example, 500 m for the area with the traffic condition of congested traffic GV. Here, it is decided that the set speed VS should be set to the low specified speed value VSN of, in this example, 80 km / h.

[0049] In Fig. 2 below, at the start of the checked route ahead FS there is an area with the traffic condition free traffic FV, the route length LFV of which is shorter than the specified route limit of 2 km in this example for the area with the traffic condition free traffic FV, directly after this there is an area with the traffic condition slow-moving and / or congested traffic ZSV, the route length LZSV of which is shorter than the specified small route limit of 500 m in this example for the area with the traffic condition slow-moving and / or congested traffic ZSV, and directly after this there is an area with the traffic condition congested traffic GV, the route length LGV of which is longer than the specified route limit of 500 m in this example for the area with the traffic condition congested traffic GV.Here it is decided that the set speed VS should be set to the low specified speed value VSN of 80 km / h in this example.

[0050] In Fig. 3 above, at the beginning of the examined route ahead FS there is an area with the traffic condition of free traffic FV, the route length LFV of which is less than the specified route limit of, in this example, 2 km for the area with the traffic condition of free traffic FV, directly after this there is an area with the traffic condition of slow-moving and / or congested traffic ZSV, the route length LZSV of which is greater than the specified small route limit of, in this example, 500 m for the area with the traffic condition of slow-moving and / or congested traffic ZSV and less than a specified large route limit of, in this example, 1 km for the area with the traffic condition of slow-moving and / or congested traffic ZSV, and directly after this there is an area with the traffic condition of congested traffic GV,whose route length LGV is greater than the specified route limit of, in this example, 500 m for the area with the traffic condition GV, congested traffic. Here, it is decided that the set speed VS should be set to the average specified speed value VSM of, in this example, 100 km / h.

[0051] In Fig. 3 Middle: At the beginning of the tested route ahead FS, there is an area with the traffic condition of free traffic FV, the length of which is less than the specified route limit of, in this example, 2 km for the area with the traffic condition of free traffic FV, directly after this there is an area with the traffic condition of slow-moving and / or congested traffic ZSV, the length of which is less than the specified small route limit of, in this example, 500 m for the area with the traffic condition of slow-moving and / or congested traffic ZSV, directly after this there is an area with the traffic condition of congested traffic GV, the length of which is less than the specified route limit of, in this example, 500 m for the area with the traffic condition of congested traffic GV, and directly after this there is another area with the traffic condition of slow-moving and / or congested traffic ZSV,whose route length LZSV is less than the specified small route limit of, in this example, 500 m for the area with the traffic condition of slow-moving and / or stop-and-go traffic ZSV. Here, it is decided that the set speed VS should be set to the average specified speed value VSM, in this example, 100 km / h.

[0052] In Fig. 3 below, at the beginning of the examined route ahead FS, there is an area with the traffic condition of free traffic FV, the route length LFV of which is less than the specified route limit of, in this example, 2 km for the area with the traffic condition of free traffic FV, directly after this there is an area with the traffic condition of congested traffic GV, the route length LGV of which is less than the specified route limit of, in this example, 500 m for the area with the traffic condition of congested traffic GV, directly after this there is an area with the traffic condition of slow-moving and / or stop-going traffic ZSV, the route length LZSV of which is less than the specified small route limit of, in this example, 500 m for the area with the traffic condition of slow-moving and / or stop-going traffic ZSV, and directly after this there is another area with the traffic condition of congested traffic GV,whose route length LGV is less than the specified route limit of 500 m in this example for the area with the traffic condition GV of congested traffic. Here, it is decided that the set speed VS should be set to the average specified speed value VSM of 100 km / h in this example.

[0053] In Fig. 4 above, at the start of the checked route ahead FS there is an area with the traffic condition of free traffic FV, the route length LFV of which is shorter than the specified route limit of 2 km in this example for the area with the traffic condition of free traffic FV, directly after this there is an area with the traffic condition of slow-moving and / or congested traffic ZSV, the route length LZSV of which is longer than the specified small route limit of 500 m in this example for the area with the traffic condition of slow-moving and / or congested traffic ZSV, and in the example shown there is directly after this another area with the traffic condition of free traffic FV, the route length LFV of which is longer than 0 m. Here it is decided that the set speed VS should be set to the high specified speed value VSH of 120 km / h in this example.

[0054] In Fig. 4 Middle: At the beginning of the tested route ahead FS, there is an area with the traffic condition of free traffic FV, the route length LFV of which is shorter than the specified route limit of, in this example, 2 km for the area with the traffic condition of free traffic FV, directly after this there is an area with the traffic condition of congested traffic GV, the route length LGV of which is shorter than the specified route limit of, in this example, 500 m for the area with the traffic condition of congested traffic GV, directly after this there is an area with the traffic condition of slow-moving and / or congested traffic ZSV, the route length LZSV of which is longer than the specified small route limit of, in this example, 500 m for the area with the traffic condition of slow-moving and / or congested traffic ZSV, and in the example shown, directly after this there is another area with the traffic condition of free traffic FV,whose track length LFV is greater than 0 m. Here, it is decided that the set speed VS should be set to the high specified speed value VSH, in this example 120 km / h.

[0055] In Fig.4 below, at the start of the checked route ahead FS there is an area with the traffic condition of free traffic FV, the route length LFV of which is shorter than the specified route limit of 2 km in this example for the area with the traffic condition of free traffic FV, directly after this there is an area with the traffic condition of slow-moving and / or congested traffic ZSV, the route length LZSV of which is longer than the specified small route limit of 500 m in this example for the area with the traffic condition of slow-moving and / or congested traffic ZSV, directly after this there is an area with the traffic condition of congested traffic GV, the route length LGV of which is shorter than the specified route limit of 500 m in this example for the area with the traffic condition of congested traffic GV, and in the example shown directly after this there is an area with the traffic condition of free traffic FV, the route length LFV of which is longer than 0 m.Here it is decided that the set speed VS should be set to the high specified speed value VSH of 120 km / h in this example.

[0056] As already mentioned above, in the example described here, the specified route limit value for the area with the traffic condition of free traffic FV is 2 km, the specified small route limit value for the area with the traffic condition of slow-moving and / or congested traffic ZSV is 500 m, the specified large route limit value for the area with the traffic condition of slow-moving and / or congested traffic ZSV is 1 km and the specified route limit value for the area with the traffic condition of congested traffic GV is 500 m. In other embodiments, other values ​​are also possible for the respective route limit value.

[0057] As already mentioned above, in the example described here, a low speed value VSN, a medium speed value VSM and a high speed value VSH are provided as speed values ​​VSN, VSM, VSH for the set speed VS. In other exemplary embodiments, for example, further speed values ​​between the low speed value VSN and the high speed value VSH can be provided. In the example described here, the low speed value VSN is 80 km / h, the medium speed value VSM is 100 km / h and the high speed value VSH is 120 km / h. In other exemplary embodiments, other values ​​are also possible for the respective speed value VSN, VSM, VSH.

[0058] In a possible embodiment of the method, it can be provided that the total route length and / or the speed values ​​VSN, VSM, VSH for the set speed VS and / or the route limit value for the area with the traffic condition of free traffic FV and / or the small route limit value for the area with the traffic condition of slow-moving and / or congested traffic ZSV and / or the large route limit value for the area with the traffic condition of slow-moving and / or congested traffic ZSV and / or the route limit value for the area with the traffic condition of congested traffic GV can be specified by a vehicle owner and / or vehicle owner and / or vehicle user and / or by a technical device external to the vehicle, in particular by a server external to the vehicle, in particular by a technical device external to the vehicle of a manufacturer of the vehicle.

[0059] For example, it can be provided that the speed values ​​VSN, VSM, VSH for the set speed VS, to which braking should be applied, are transmitted temporally and spatially via such a vehicle-external technical device, for example via the vehicle-external server, in particular via a cloud-based service. This allows, for example, specific country characteristics, in particular specific requirements of a particular country in which the vehicle is currently located, such as speed limits, and / or route-specific speed limits, to be taken into account.Alternatively or additionally, such a vehicle-external technical device, for example via the vehicle-external server, in particular via the cloud-based service, can also incorporate, i.e., take into account, test results from fleet data and / or feedback from other vehicle users when specifying the speed values ​​VSN, VSM, VSH for the set speed VS. This allows, for example, more speed values ​​to be specified, in particular additional speed values ​​between the low speed value VSN and the high speed value VSH, in order to enable a more differentiated specification of the respective set speed VS. For example, speed values ​​for the set speed VS in 5 km / h intervals are possible.

[0060] In one possible embodiment of the method, for example, it can be provided that, additionally depending on sensor data from an environment detection sensor system of the vehicle, a decision is made as to whether the set speed VS should be determined by the assistance system and to which of several predetermined speed values ​​VSN, VSM, VSH the set speed VS should be set. This can prevent incorrect setting of the set speed VS and thus, for example, unnecessary braking of the vehicle when there is little traffic in the vicinity of the vehicle or insufficient braking of the vehicle when there is already a high traffic volume in the vicinity of the vehicle.The determination of the set speed VS of the assistance system is then compared, for example, with a list of objects in the surroundings of the vehicle known from sensors, for example camera and radar, of the vehicle's environment detection sensor system in order to avoid incorrect and excessive braking interventions, for example when the traffic is so light that there are no other vehicles in the area, or if, in contrast, it is determined, for example based on several overtaking objects, that there is already heavy traffic in the vehicle's surroundings.

[0061] In addition to the criteria described above for deciding whether the set speed VS should be set by the assistance system and to which of several predefined speed values ​​VSN, VSM, VSH the set speed VS should be set, it can be provided, for example, that an active end-of-traffic jam warning ("Dangerous end of traffic jam ahead."), in particular with an acoustic warning, is also taken into account. If such an end-of-traffic jam warning occurs, it can be provided, for example, that a decision is then made that the set speed VS should be set by the assistance system and that it should be set to a predefined very low speed value of, for example, 60 km / h. For example, it can be provided that this very low speed value is parameterizable, i.e.for example, by the vehicle owner and / or vehicle user and / or by the vehicle-external technical device, in particular by the vehicle-external server, in particular by the vehicle-external technical device of the vehicle manufacturer.

[0062] Alternatively or in addition to the decision described above as to whether the set speed VS should be determined by the assistance system and to which of several predefined speed values ​​VSN, VSM, VSH the set speed VS should be set, and in particular the transmission of this decision to the assistance system, an active braking recommendation can be issued, for example, instead of the decision to set the set speed VS or in addition to it, for example by means of a visual, in particular graphic, and / or acoustic and / or haptic message. This is advantageous, for example, for vehicles that do not have a corresponding assistance system, in particular a brake assistance system and / or a distance and / or cruise control system.

[0063] The method described above can, for example, be provided for manual driving, i.e. driving carried out entirely by a vehicle driver, for driving supported by one or more assistance systems, for partially automated, for fully automated and / or for autonomous driving, i.e. advantageously for all variants of driving.

[0064] For example, it is provided that the predictive braking function implemented or achievable by means of the method, i.e., the automatic setting of a set speed VS, which, for example, deviates from a set speed specified by the vehicle user and / or driver, is displayed to the vehicle user and / or driver, for example in a vehicle instrument cluster. This informs the vehicle user and / or driver and does not irritate them, for example, about the vehicle braking even though a larger traffic volume is not yet in sight for the vehicle user and / or driver.

Claims

[1] Method for determining a set speed (VS) of an assistance system for controlling a longitudinal movement of a vehicle, characterized by , that a route (FS) ahead of the vehicle with a given total route length is checked to see whether on this total route length - Areas with a traffic condition of free traffic (FV), - Areas with a traffic condition of slow-moving and / or congested traffic (ZSV), - areas with a traffic condition of congested traffic (GV) are present, and a route length (LFV, LZSV, LGV) of the respective area is determined, whereby depending on this, a decision is made as to whether the set speed (VS) should be determined by the assistance system and to which of several specified speed values ​​(VSN, VSM, VSH) the set speed (VS) should be set, whereby In addition, depending on sensor data from an environment detection sensor system of the vehicle, a decision is made as to whether the set speed (VS) should be determined by the assistance system and to which of several specified speed values ​​(VSN, VSM, VSH) the set speed (VS) should be set. [2] Method according to claim 1, characterized by that the total route length is at least 2.5 km, in particular at least 3 km, in particular at least 3.5 km, in particular greater than 3.5 km. [3] Method according to one of the preceding claims, characterized by that a low speed value (VSN), in particular 80 km / h, a medium speed value (VSM), in particular 100 km / h, and a high speed value (VSH), in particular 120 km / h, are specified as speed values ​​(VSN, VSM, VSH) for the set speed (VS). [4] Method according to one of the preceding claims, characterized bythat it is decided that the set speed (VS) should be determined by the assistance system if, at the beginning of the checked route ahead (FS), there is an area with the traffic condition of free traffic (FV) whose route length (LFV) is smaller than a specified route limit value for the area with the traffic condition of free traffic (FV), and - immediately after this there is an area with the traffic condition of congested traffic (GV) whose route length (LGV) is greater than a specified route limit value for the area with the traffic condition of congested traffic (GV), or - immediately after this there is an area with the traffic condition of slow-moving and / or congested traffic (ZSV), the length of which is greater than a predefined small route limit value for the area with the traffic condition of slow-moving and / or congested traffic (ZSV), or - immediately after this there is an area with the traffic condition of slow-moving and / or congested traffic (ZSV), the route length of which is less than the specified small route limit for the area with the traffic condition of slow-moving and / or congested traffic (ZSV), and immediately after this there is an area with the traffic condition of congested traffic (GV), the route length of which is greater than the specified route limit for the area with the traffic condition of congested traffic (GV), or - immediately after this there is an area with the traffic condition of slow-moving and / or congested traffic (ZSV), the route length (LZSV) of which is shorter than the predefined small route limit value for the area with the traffic condition of slow-moving and / or congested traffic (ZSV), immediately after this there is an area with the traffic condition of congested traffic (GV), the route length (LGV) of which is shorter than the predefined small route limit value for the area with the traffic condition of congested traffic (GV), and immediately after this there is an area with the traffic condition of slow-moving and / or congested traffic (ZSV), the route length (LZSV) of which is shorter than the predefined small route limit value for the area with the traffic condition of slow-moving and / or congested traffic (ZSV), or - immediately after this there is an area with the traffic condition of congested traffic (GV) whose route length (LGV) is shorter than the specified route limit for the area with the traffic condition of congested traffic (GV), immediately after this there is an area with the traffic condition of slow-moving and / or stop-going traffic (ZSV), whose route length (LZSV) is shorter than the specified small route limit for the area with the traffic condition of slow-moving and / or stop-going traffic (ZSV), and immediately after this there is an area with the traffic condition of congested traffic (GV), whose route length (LGV) is shorter than the specified route limit for the area with the traffic condition of congested traffic (GV), or - immediately after this there is an area with the traffic condition of congested traffic (GV) whose route length (LGV) is smaller than the specified route limit value for the area with the traffic condition of congested traffic (GV), and immediately after this there is an area with the traffic condition of slow-moving and / or congested traffic (ZSV) whose route length (LZSV) is larger than the specified small route limit value for the area with the traffic condition of slow-moving and / or congested traffic (ZSV). [5] Method according to claim 3 or 4, characterized by that it is decided that the set speed (VS) should be set to the low speed value (VSN), in particular 80 km / h, if at the beginning of the checked route ahead (FS) there is an area with the traffic condition of free traffic (FV) whose route length (LFV) is less than the specified route limit value for the area with the traffic condition of free traffic (FV), and - immediately after this there is an area with the traffic condition congested traffic (GV) whose route length (LGV) is greater than the specified route limit value for the area with the traffic condition congested traffic (GV), or - immediately after this there is an area with the traffic condition of slow-moving and / or congested traffic (ZSV), the route length (LZSV) of which is smaller than the specified small route limit value for the area with the traffic condition of slow-moving and / or congested traffic (ZSV), and immediately after this there is an area with the traffic condition of congested traffic (GV), the route length (LGV) of which is larger than the specified route limit value for the area with the traffic condition of congested traffic (GV). [6] Method according to one of claims 3 to 5, characterized bythat it is decided that the set speed (VS) should be set to the average speed value (VSM), in particular 100 km / h, if at the beginning of the checked route ahead (FS) there is an area with the traffic condition of free traffic (FV) whose route length (LFV) is less than the specified route limit value for the area with the traffic condition of free traffic (FV), and - immediately after this there is an area with the traffic condition of slow-moving and / or congested traffic (ZSV), the route length of which is greater than the specified small route limit value for the area with the traffic condition of slow-moving and / or congested traffic (ZSV) and smaller than a specified large route limit value for the area with the traffic condition of slow-moving and / or congested traffic (ZSV), and immediately after this there is an area with the traffic condition of congested traffic (GV), the route length of which is greater than the specified route limit value for the area with the traffic condition of congested traffic (GV), or - immediately after this there is an area with the traffic condition of slow-moving and / or congested traffic (ZSV), the route length (LZSV) of which is shorter than the predefined small route limit value for the area with the traffic condition of slow-moving and / or congested traffic (ZSV), immediately after this there is an area with the traffic condition of congested traffic (GV), the route length (LGV) of which is shorter than the predefined small route limit value for the area with the traffic condition of congested traffic (GV), and immediately after this there is an area with the traffic condition of slow-moving and / or congested traffic (ZSV), the route length (LZSV) of which is shorter than the predefined small route limit value for the area with the traffic condition of slow-moving and / or congested traffic (ZSV), or - immediately after this there is an area with the traffic condition of congested traffic (GV) whose route length (LGV) is shorter than the predefined route limit value for the area with the traffic condition of congested traffic (GV), immediately after this there is an area with the traffic condition of slow-moving and / or stop-going traffic (ZSV) whose route length (LZSV) is shorter than the predefined small route limit value for the area with the traffic condition of slow-moving and / or stop-going traffic (ZSV), and immediately after this there is an area with the traffic condition of congested traffic (GV) whose route length (LGV) is shorter than the predefined route limit value for the area with the traffic condition of congested traffic (GV). [7] Method according to one of claims 3 to 6, characterized bythat it is decided that the set speed (VS) should be set to the high speed value (VSH), in particular 120 km / h, if at the beginning of the checked route ahead (FS) there is an area with the traffic condition of free traffic (FV) whose route length (LFV) is less than the specified route limit value for the area with the traffic condition of free traffic (FV), and - immediately after this there is an area with the traffic condition of slow-moving and / or congested traffic (ZSV), the route length of which (LZSV) is greater than the specified small route limit value for the area with the traffic condition of slow-moving and / or congested traffic (ZSV), and in particular immediately after this there is an area with the traffic condition of free traffic (FV), or - immediately after this there is an area with the traffic condition of congested traffic (GV) whose route length (LGV) is shorter than the specified route limit for the area with the traffic condition of congested traffic (GV), immediately after this there is an area with the traffic condition of slow-moving and / or congested traffic (ZSV) whose route length (LZSV) is longer than the specified small route limit for the area with the traffic condition of slow-moving and / or congested traffic (ZSV), and in particular immediately after this there is an area with the traffic condition of free traffic (FV), or - immediately after this there is an area with the traffic condition of slow-moving and / or congested traffic (ZSV), the route length (LZSV) of which is greater than the specified small route limit value for the area with the traffic condition of slow-moving and / or congested traffic (ZSV), immediately after this there is an area with the traffic condition of congested traffic (GV), the route length (LGV) of which is less than the specified route limit value for the area with the traffic condition of congested traffic (GV), and in particular immediately after this there is an area with the traffic condition of free traffic (FV). [8] Method according to one of claims 4 to 7, characterized by , that - the specified route limit for the area with the traffic condition free traffic (FV) is 2 km, and / or - the specified small route limit value for the area with the traffic condition of slow-moving and / or congested traffic (ZSV) is 500 m, and / or - the specified large route limit value for the area with the traffic condition of slow-moving and / or congested traffic (ZSV) is 1 km, and / or - the specified route limit for the area with the traffic condition congested traffic (GV) is 500 m. [9] Method according to one of the preceding claims, characterized bythat the total route length and / or the speed values ​​(VSN, VSM, VSH) for the set speed (VS) and / or the route limit value for the area with the traffic condition of free traffic (FV) and / or the small route limit value for the area with the traffic condition of slow-moving and / or congested traffic (ZSV) and / or the large route limit value for the area with the traffic condition of slow-moving and / or congested traffic (ZSV) and / or the route limit value for the area with the traffic condition of congested traffic (GV) can be specified by a vehicle owner and / or vehicle owner and / or vehicle user and / or by a technical device external to the vehicle, in particular by a server external to the vehicle, in particular by a technical device external to the vehicle of a manufacturer of the vehicle.

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