Device and method for controlling a vehicle

Abstract

Method for controlling a vehicle, characterized in that a braking and / or evasive distance (107) of a first vehicle (100) is determined (200) and a braking distance (108) of a second vehicle (102) is determined (204), a reference distance (118) is determined (202) as a function of a sum (109) of the braking and / or evasive distance (107) of the first vehicle (100) and a supplement (120), it is determined (206) whether a sensor range (110) is greater than the reference distance (118) or not, wherein if the sensor range (110) is greater than the reference distance, a target distance (114) is determined (208) as a function of a difference (109) between the braking and / or evasive distance (107) and the braking distance (108) of the second vehicle (102), wherein otherwise the target distance (114) is determined depending on the sum (109) of the braking and / or evasive distance (107) and the surcharge (120) (210),and wherein a control variable for the first vehicle is determined (212) depending on the target distance (114).,

Description

[0001] The invention relates to a device and a method for controlling a vehicle.

[0002] US 2014 / 0324329 A1 discloses a method for determining a minimum distance to be maintained in front of a vehicle in the direction of travel. DE 11 2019 001 421 T5 discloses further aspects in this regard.

[0003] By means of the method and the device according to the independent claims, a shortened or extended target distance is determined depending on the situation or the characteristics of a situation.

[0004] The method provides that a braking and / or evasive distance of a first vehicle is determined and a braking distance of a second vehicle is determined, a reference distance is determined depending on a sum of the braking and / or evasive distance of the first vehicle and a surcharge, it is determined whether a sensor range is greater than the reference distance or not, wherein if the sensor range is greater than the reference distance, a target distance is determined depending on a difference between the braking and / or evasive distance and the braking distance of the second vehicle, wherein otherwise the target distance is determined depending on the sum of the braking and / or evasive distance and the surcharge, and wherein a control variable for the first vehicle is determined depending on the target distance. If the sensor range is large enough, the target distance can be reduced. Otherwise, the surcharge takes into account an unknown situation outside the sensor range, e.g.Another vehicle that is outside the sensor range, possibly in the same lane as the first vehicle, or another object outside the sensor range that could collide with the first vehicle or from which a distance should be maintained. The distance adjusted to the situation improves control of the first vehicle.

[0005] Preferably, the reference distance is determined based on the sum of the braking and / or evasive distance and the additional distance. This means that the target distance is only shortened if the sensor range is sufficiently large.

[0006] In one aspect, the target distance is determined when it is detected that the second vehicle is moving into a lane in which the first vehicle is located, or that the second vehicle is moving into a lane in which another vehicle is located, or that the second vehicle is leaving a lane in which the first vehicle is located, or that the second vehicle is leaving a lane in which another vehicle is located. The target distance, i.e., the distance adapted to the situation, is determined for the first time or repeatedly in these situations. As a result, the target distance is adapted to the situation.

[0007] It can be provided that the control variable enables a function for decelerating the first vehicle or for evasive maneuvering if the distance between the first vehicle and another vehicle is less than the target distance, and that the control variable does not enable the function or evasive maneuver otherwise. This avoids unnecessary braking interventions or evasive maneuvers.

[0008] The device for controlling a vehicle has a control device which is designed to determine a braking and / or evasive distance of a first vehicle and to determine a braking distance of a second vehicle, to determine a reference distance depending on a sum of the braking and / or evasive distance of the first vehicle and a surcharge, to determine whether a sensor range is greater than the reference distance or not, wherein the control device is designed to determine a target distance depending on a difference between the braking and / or evasive distance and the braking distance of the second vehicle if the sensor range is greater than the reference distance, and otherwise to determine the target distance depending on the sum of the braking and / or evasive distance and the surcharge, and wherein the control device is designed to determine a control variable for the first vehicle depending on the target distance.This device can better adapt the target distance to the respective situation.

[0009] It can be provided that the control device is designed to determine the reference distance depending on the sum of the braking and / or evasive distance and the additional distance.

[0010] It can be provided that the control device is designed to determine the target distance when it is detected that the second vehicle is moving into a lane in which the first vehicle is located or that the second vehicle is moving into a lane in which another vehicle is located or that the second vehicle is leaving a lane in which the first vehicle is located or that the second vehicle is leaving a lane in which another vehicle is located.

[0011] It can be provided that the control device is designed to enable a function for decelerating the first vehicle or an evasive maneuver by means of the control variable if a distance of the first vehicle to another vehicle is smaller than the target distance and otherwise not to enable the function or the evasive maneuver by means of the control variable.

[0012] Further advantageous embodiments will become apparent from the following description and the drawing. The drawing shows: Fig. 1a - c schematic representations of a vehicle in different driving situations, Fig. 2 steps in a procedure for controlling the vehicle.

[0013] Autonomously driving vehicles or vehicles with functions for at least partially autonomous driving can have a safety function that controls the vehicle in such a way as to avoid a collision with another vehicle. For example, an area in front of the vehicle that must be kept clear is monitored using environmental sensors, and a countermeasure to avoid the collision is initiated if a vehicle is detected entering the area that must be kept clear. The countermeasure can include decelerating the first vehicle and / or evasive maneuvers.

[0014] The minimum area to be kept clear is initially specified, for example, based on a predicted braking distance of the vehicle. If clear adjacent lanes are available, the countermeasure can perform the evasive maneuver. The area to be kept clear can be shortened accordingly. If another vehicle is detected in the vicinity of the first vehicle, the braking distance of this other vehicle, preferably its shortest possible braking distance, can also be used to shorten the area to be kept clear. A change in the minimum area to be kept clear can also take into account the sensor visibility of a sensor on the vehicle and / or other vehicles in the lanes adjacent to the vehicle's lane. Depending on the situation or the nature of the situation, the minimum area that must be kept clear is shortened or lengthened compared to the area specified based on the predicted braking distance of the vehicle.

[0015] In the following, this will be discussed with reference to the Fig. 1a to 1c describe a braking and / or evasive distance for various exemplary driving situations.

[0016] In Fig. 1a shows a first vehicle 100 in a first driving situation.

[0017] The first vehicle 100 is located in one of three lanes. In a direction of travel 101 of the first vehicle 100, in front of the first vehicle 100 is a second vehicle 102. In the example, the second vehicle 102 is moving in the same direction of travel 101 as the first vehicle 100. In the example, the second vehicle 102 is moving from an immediately adjacent lane into the same lane in which the first vehicle 100 is located. In the first driving situation, the second vehicle 102 is moving to a position 103 in front of the first vehicle 100. In the example, the distance 104 defines a space around the first vehicle 100. The space is, for example, club-shaped and / or limited to a width of the lane in which the first vehicle 100 is located. In the example, the distance 104 is defined starting from a front end of the first vehicle 100 in the direction of travel 101.In the example, the space defined by the distance 104 is to be kept clear in front of the first vehicle 100 in an at least partially autonomous driving mode according to a driving function.

[0018] In the example, in the direction of travel 101 in front of the first vehicle 100 there are several other vehicles 105 further away from the first vehicle 100 than the distance 104. In the example there is one of the other vehicles 105 in each of the three lanes. In front of them in the first driving situation there are other vehicles 105 in rows of three in a traffic jam which was triggered by an accident involving two vehicles 106.

[0019] In the example, the distance 104 is determined depending on a braking and / or evasive distance, in particular a shortest possible braking and / or evasive distance of the first vehicle 100. In the example, the possibility of a braking and / or evasive maneuver exists. If, for example, an adjacent lane is clear, the first vehicle 100 can brake and / or evasive maneuver. This makes it possible to achieve a particularly short, collision-avoiding minimum distance. This is described below for a first braking distance 107. If an evasive maneuver is performed, the evasive distance is also taken into account. Depending on the situation, the distance 104 can be as long as the first braking distance 107, or shorter or longer.

[0020] A particularly shortest possible braking distance 108 of the second vehicle 102 is in Fig. 1a. This is referred to below as the second braking distance 108.

[0021] These braking distances can include a minimum distance that the respective vehicle travels during deceleration to a standstill. The braking distances can also include distances for a respective reaction time of the driver and / or actuators. A difference 109 between the first braking distance 107 and the second braking distance 108 is Fig. 1a. For the first braking distance 107 of 36.9 m and the second braking distance 108 of 28.2 m, the difference 109 is, for example, 8.7 m.

[0022] On vehicle 100 there is a Fig. 1a, a sensor (not shown) is arranged, which has a sensor range 110. The sensor is designed to detect environmental information from which the presence or absence of vehicles, their position, number, and / or distance from the first vehicle 100 can be determined. The sensor can comprise a radar, LiDAR, or a camera.

[0023] A sensor range of 110 of the sensor is in Fig. 1a, starting from the front end of the first vehicle 100. In the first driving situation, the sensor range 110 is sufficient to detect at least one of the other vehicles 105.

[0024] In Fig. 1a shows a club-shaped space 112 that must be kept clear in front of the first vehicle 100 in the direction of travel. The space 112 that must be kept clear can have a different shape. The space 112 that must be kept clear is defined by a target distance 114 that must be kept clear in front of the first vehicle 100. Determining the target distance 114 is described below using various driving situations.

[0025] In the first driving situation, the target distance 114 is the difference 109. The target distance 114 may deviate from the difference 109. For example, it may be provided that the target distance 114 is longer than the difference 109 by a distance that the first vehicle travels due to a deceleration in its actuators during deceleration in addition to the shortest possible braking distance 107.

[0026] In the Fig. In the example shown in Figure 1a, the sensor range 110 is greater than a reference distance 118. In this example, the reference distance 118 is determined depending on the sum of the first braking distance 107 and a supplement 120. In the example, the supplement 120 takes into account an additional distance 122 for certain vehicles.

[0027] For example, with a sensor range of 50 meters, another vehicle or object that is 51 meters away from the first vehicle is taken into account by the surcharge. This surcharge takes into account, for example, the respective vehicle length. It can be an average vehicle length or a vehicle length provided by the respective vehicle to be considered or otherwise recorded.

[0028] For an event, e.g., an accident scene or a collapsed wall, that occurred at a location 30 m from the first vehicle 105, the allowance is determined, for example, for vehicles that are in the same lane between the first vehicle and the location of the event. For example, for a vehicle with a measured length of 4 meters and a vehicle with a measured length of 5 meters, located between the first vehicle 105 and the location, only 30 m - 4 m - 5 m = 21 m should be used as the braking distance instead of 30 m. In this case, the allowance takes into account an additional distance 122 of 4 m and an additional distance of 5 m.

[0029] In the example of Fig. 1a, one of the other vehicles 105 is within sensor range 110 in front of the first vehicle 100 in the same lane as the first vehicle 100. In this situation, the surcharge 120 is defined for two vehicles.

[0030] In Fig. 1b shows the first vehicle 100 in a second driving situation in which, in contrast to the first driving situation, the distance between the other vehicles 105 and the first vehicle 100 is so large that the sensor range 110 does not detect any of the other vehicles 105. In this driving situation, the second vehicle 102 is within the sensor range 110. In this situation, the surcharge 120 for a vehicle is defined.

[0031] The reference distance 118 defined in this driving situation is a sum of the first braking distance 107 and the distance 122. The reference distance 118 is in this example greater than the sensor range 110. The distance 104 is in this aspect shorter than the sensor range 110. The target distance 114 in this case is a sum of the first braking distance 107 and the distance 122. The target distance 114 is in the Fig. 1b shown example is longer than the distance 104.

[0032] In Fig. 1c shows the first vehicle 100 in a third driving situation in which the second vehicle 102, in contrast to the second driving situation, is on a roadway next to the first vehicle 100 within the sensor range 110. In this situation, the surcharge 120 is defined for a vehicle.

[0033] The reference distance 118 defined in this driving situation is a sum 109 of the first braking distance 107 and the distance 122. The reference distance 118 is greater than the sensor range 110. The target distance 114 in this case is a sum 109 of the first braking distance 107 and the distance 122. The distance 104 is limited in this aspect to the sensor range 110. The target distance 114 is in the Fig. 1c shown example is longer than the distance 104.

[0034] A method for controlling the first vehicle 100 is described below with reference to Fig. 2 described.

[0035] In a step 200, the first braking distance 107, ie in the example the shortest possible braking distance 107 of the first vehicle 100, is determined.

[0036] A step 202 is then executed.

[0037] In step 202, the reference distance 118 is determined depending on the sum 109 of the first braking distance 107 and the additional braking distance 120. In the example, the additional braking distance 120 is determined situationally, for example, as for one of the three driving situations described above.

[0038] In step 204, the second braking distance 108, ie in the example the shortest possible braking distance 108 of the second vehicle 100, is determined.

[0039] Then a step 206 is executed.

[0040] In step 206, it is determined whether the sensor range 110 is greater than the reference distance 118. If the sensor range 110 is greater than the reference distance 118, a step 208 is executed. Otherwise, a step 210 is executed.

[0041] In step 208, the target distance 114 is determined depending on the difference 109 between the first braking distance 107 and the second braking distance 108.

[0042] In step 210, the target distance 114 is determined depending on the sum 109 of the first braking distance 107 and the additional distance 120.

[0043] A step 212 is then executed.

[0044] In step 212, the control variable for the first vehicle 100 is determined depending on the target distance 114. It can be provided that the control variable enables a function for decelerating the first vehicle 102 if a distance between the first vehicle 102 and another vehicle is smaller than the target distance 114, and that the control variable does not enable the function otherwise.

[0045] It can be provided that the target distance 114 is determined when it is detected that the second vehicle 102 is moving into a lane in which the first vehicle 100 is located.

[0046] It can be provided that the target distance 114 is determined when it is detected that the second vehicle 102 is moving into a lane in which another vehicle is located.

[0047] It can be provided that the target distance 114 is determined when it is detected that the second vehicle 102 is leaving a lane in which the first vehicle 100 is located or that the second vehicle 102 is leaving a lane in which another vehicle is located.

Claims

[1] Method for controlling a vehicle, characterized bythat a braking and / or evasive distance (107) of a first vehicle (100) is determined (200) and a braking distance (108) of a second vehicle (102) is determined (204), a reference distance (118) is determined (202) as a function of a sum (109) of the braking and / or evasive distance (107) of the first vehicle (100) and a supplement (120), it is determined (206) whether a sensor range (110) is greater than the reference distance (118) or not, wherein if the sensor range (110) is greater than the reference distance, a target distance (114) is determined (208) as a function of a difference (109) between the braking and / or evasive distance (107) and the braking distance (108) of the second vehicle (102), wherein otherwise the target distance (114) is determined as a function of the sum (109) of braking and / or evasive distance (107) and the surcharge (120) is determined (210), and wherein a control variable for the first vehicle is determined (212) depending on the desired distance (114). [2] Method according to claim 1, characterized bythat the reference distance is determined depending on the sum (109) of the braking and / or evasive distance (107) and the surcharge (120). [3] Method according to claim 1 or 2, characterized by that the target distance (114) is determined (208, 210) when it is detected that the second vehicle (102) is moving into a lane in which the first vehicle (100) is located or that the second vehicle (102) is moving into a lane in which another vehicle is located or that the second vehicle (102) is leaving a lane in which the first vehicle (100) is located or that the second vehicle (102) is leaving a lane in which another vehicle is located. [4] Method according to one of the preceding claims, characterized bythat the control variable enables a function for decelerating the first vehicle (102) or an evasive maneuver if a distance of the first vehicle (102) to another vehicle is smaller than the target distance (114) and that the control variable does not otherwise enable the function or the evasive maneuver. [5] Device (124) for controlling a vehicle, characterized bythat the device has a control device (126), wherein the control device (126) is designed to determine a braking and / or evasive distance (107) of a first vehicle (100) and to determine a braking distance (108) of a second vehicle (102), to determine a reference distance (118) depending on a sum (109) of the braking and / or evasive distance (107) of the first vehicle (100) and a supplement (120), to determine whether a sensor range (110) is greater than the reference distance (118) or not, wherein the control device (126) is designed, if the sensor range (110) is greater than the reference distance, to determine a target distance depending on a difference (109) between the braking and / or evasive distance (107) and the braking distance (108) of the second vehicle (102), and otherwise to determine the target distance (114) depending on the sum (109) of the braking and / or evasive distance (107) and the surcharge (120),and wherein the control device (126) is designed to determine a control variable for the first vehicle (100) depending on the target distance (114). [6] Device (124) according to claim 5, characterized by that the control device (126) is designed to determine the reference distance depending on the sum (109) of the braking and / or evasive distance (107) and the additional distance (120). [7] Device (124) according to claim 5 or 6, characterized bythat the control device (126) is designed to determine the target distance (114) when it is detected that the second vehicle (102) is moving into a lane in which the first vehicle (100) is located or that the second vehicle (102) is moving into a lane in which another vehicle is located or that the second vehicle (102) is leaving a lane in which the first vehicle (100) is located or that the second vehicle (102) is leaving a lane in which another vehicle is located. [8] Device (124) according to one of claims 5 to 7, characterized bythat the control device (126) is designed to enable a function for decelerating the first vehicle (100) or an evasive maneuver by means of the control variable if a distance of the first vehicle (100) to another vehicle is smaller than the target distance (114) and otherwise not to enable the function or the evasive maneuver by means of the control variable.

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