Method and device for operating a distance controller of a single-track vehicle

Abstract

A device (101) for operating a distance control system of a single-track vehicle (100, 203) is described, wherein the device (101) is configured to determine lateral information regarding the lateral distance (212) of the vehicle (100, 203) to a single-track vehicle (202) traveling, in particular, directly in front of the vehicle (100, 203). The device (101) is further configured to determine the target longitudinal distance (211) for the distance control system of the vehicle (100, 203) based on the lateral information.

Description

[0001] The invention relates to a method and a corresponding device designed to enable comfortable and safe distance control of a single-track vehicle, in particular when driving in a convoy with several single-track vehicles.

[0002] Motorcyclists often form a convoy to ride together in a single lane on a country road or motorway. This document addresses the technical challenge of enabling particularly safe and comfortable convoy travel for single-track vehicles, especially motorcycles.

[0003] The problem is solved by each of the independent claims. Advantageous embodiments are described, among other things, in the dependent claims. It should be noted that additional features of a patent claim dependent on an independent patent claim can form a separate invention, independent of the combination of all features of the independent patent claim, without the features of the independent patent claim or only in combination with a subset of the features of the independent patent claim, which invention can be made the subject of an independent claim, a divisional application or a subsequent application. This applies equally to technical teachings described in the description, which can form an invention independent of the features of the independent patent claims.

[0004] According to one aspect, a device for operating a distance controller of a single-track (motor) vehicle, in particular a motorcycle, is described. The distance controller can be part of a combined distance and speed controller, in particular an Adaptive Cruise Control (ACC) function, of the vehicle.

[0005] The distance controller can be designed (when following a vehicle) to adjust, in particular to regulate, the longitudinal distance of the vehicle (along the direction of travel and / or along the longitudinal axis of the vehicle) depending on a specific target longitudinal distance. The actual longitudinal distance to a vehicle in front can be determined based on sensor data from one or more of the vehicle's surrounding sensors (in particular based on sensor data from a radar sensor). The distance controller can then be operated depending on the determined actual longitudinal distance in order to adjust, in particular to regulate, the actual longitudinal distance to the target longitudinal distance.

[0006] When driving freely (without a vehicle in front being detected), the vehicle's cruise control can be used to set, and in particular to regulate, the actual driving speed of the vehicle to a specific target driving speed.

[0007] By using a distance and / or speed controller, comfortable and safe automated longitudinal guidance of the vehicle can be achieved.

[0008] The device is configured to determine lateral information regarding the lateral distance of the vehicle from a single-lane vehicle traveling directly in front of the vehicle. The lateral information can be determined based on the sensor data from one or more environmental sensors (e.g., based on the sensor data from a camera and / or the radar sensor and / or a lidar sensor).

[0009] The device is further configured to determine the target longitudinal distance for the vehicle's distance controller on the basis of the lateral information.

[0010] The target longitudinal distance can be reduced as the lateral distance increases and / or the target longitudinal distance can be increased as the lateral distance decreases. In other words, a relatively small target longitudinal distance can be selected when the vehicle and the vehicle in front are separated by a relatively large lateral distance, and / or a relatively large target longitudinal distance can be selected when the vehicle and the vehicle in front are separated by a relatively small lateral distance.

[0011] The distance controller can then automatically adjust the actual longitudinal distance of the vehicle to the vehicle in front based on the determined target longitudinal distance, in particular, it can be controlled to the determined target longitudinal distance. For this purpose, the vehicle's drive motor and / or braking system can be controlled.

[0012] By automatically adjusting the target longitudinal distance depending on the lateral information, particularly comfortable and safe automated longitudinal guidance of the vehicle can be achieved, especially when driving in convoy.

[0013] For example, the user, in particular the driver, of the vehicle can be enabled to specify a base-to-target longitudinal distance via the vehicle's user interface. The base-to-target longitudinal distance can then be adjusted (in particular, reduced and / or increased) depending on the lateral information in order to determine the target longitudinal distance for the operation of the adaptive cruise control. This can further increase the comfort of the vehicle's automated longitudinal guidance.

[0014] The device can be configured to determine, based on the lateral information, that the lateral distance to the vehicle in front exceeds a maximum permissible lateral distance (where the maximum permissible lateral distance has been determined in advance). The maximum permissible lateral distance can depend on the width of the detection range of the one or more environmental sensors used for the operation of the distance control system.

[0015] In response to the determination, the distance control for automatically adjusting the longitudinal distance to the vehicle in front can be (automatically) canceled. Alternatively, the vehicle's speed control can be continued, so that the automated longitudinal guidance of the vehicle is dependent on a specific target speed (possibly set by the vehicle user). This allows transition from following to free travel. If necessary, the convoy mode (described below) can also be canceled (since it is assumed that the vehicle is no longer traveling in a convoy).

[0016] In this way, the comfort and safety of the automated longitudinal guidance of a single-track vehicle can be further increased.

[0017] The device can be configured to determine that the vehicle is part of a convoy. For this purpose, it can be checked whether one or more (in particular whether all) conditions for the presence of a convoy are met or not. The one or more conditions can include: • a condition that the vehicle is traveling directly behind a single-track vehicle in front; and / or • a condition that the speeds of the vehicle and the vehicle in front do not differ from each other by more than a maximum permissible delta; and / or • a condition that the lateral distance between the vehicle and the vehicle in front does not exceed the maximum permissible lateral distance.

[0018] It may then be determined that the vehicle is part of a convoy in response to detecting that one or more (in particular, all) of the conditions for the presence of a convoy are met.

[0019] In response to determining that the vehicle is part of a convoy, the vehicle's convoy mode can be activated. For example, the vehicle's user interface can prompt the user to activate convoy mode. Alternatively, the convoy mode can be activated automatically (without prior user prompting).

[0020] This allows for a convoy mode for particularly comfortable and safe travel of single-track vehicles in a convoy. Convoy mode can be activated or deactivated via the vehicle's user interface.

[0021] The device can be configured to determine whether the vehicle is operating in convoy mode or not. It can be arranged (possibly only) that the target longitudinal distance for the vehicle's distance controller is determined based on the lateral information when the vehicle is operating in convoy mode. On the other hand, it can be arranged that the target longitudinal distance for the vehicle's distance controller is not determined based on the lateral information, in particular independently of the lateral information (e.g., that the target longitudinal distance corresponds to the base target longitudinal distance) when the vehicle is not operating in convoy mode.

[0022] The adjustment of the target longitudinal distance for the adaptive cruise control can therefore be limited to convoy driving, if necessary. This enables particularly comfortable and safe convoy driving.

[0023] The device can be configured to determine the course of the roadway traveled by the vehicle, particularly (possibly only) when the vehicle is operating in convoy mode. The course can be determined, in particular predicted, based on sensor data from one or more environmental sensors (e.g., a camera) of the vehicle and / or based on a digital map for the road network traveled by the vehicle.

[0024] The focus area for the sensor data from the one or more environmental sensors can then be adjusted depending on the determined course of the road. In particular, the detection range, in particular the orientation and / or the width of the detection range, of the one or more environmental sensors of the vehicle (which are used for the operation of the distance control) can be adjusted depending on the determined course of the road. Alternatively or additionally, the local area on which the processing of the sensor data from the one or more environmental sensors is focused (e.g., the so-called area of ​​interest) can be adjusted depending on the determined course of the road. The focus area can thus relate to, • the detection range of the one or more environmental sensors in which sensor data is (possibly exclusively) recorded; and / or • the processing area for which the sensor data from one or more environmental sensors are evaluated and / or processed (amplified or exclusively).

[0025] For example, the width of the focus area (especially the detection area and / or the processing area) can be selectively increased for cornering. This enables particularly reliable, comfortable, and safe convoy driving of single-track vehicles.

[0026] The device can be configured, in particular (possibly only) when the vehicle is operating in convoy mode, to determine distance information relating to the longitudinal distance of the vehicle to (at least or exactly) a preceding vehicle, in particular a single-track vehicle, traveling in front of the preceding vehicle. In this case, it can be checked, if necessary, whether the preceding vehicle is part of the convoy of the vehicle.

[0027] The distance controller can then be operated depending on the distance information, in particular to ensure that a predefined minimum longitudinal distance between the vehicle and the vehicle in front is not undercut.

[0028] The distance controller can therefore take into account not only the actual longitudinal distance to the vehicle directly in front, but also the actual longitudinal distance to one or more other vehicles in front of it. The actual longitudinal distance to the vehicle directly in front can be used to set the target longitudinal distance to the vehicle directly in front. The actual longitudinal distance to the one or more other vehicles in front of it can be used to ensure that a predefined minimum longitudinal distance is not undercut. This allows for particularly comfortable and safe convoy travel for single-track vehicles.

[0029] The device can be configured, particularly (possibly only) when the vehicle is operating in convoy mode, to receive speed information relating to the target speed for the vehicle's cruise control from another vehicle, particularly from a lead vehicle in the convoy (e.g., via a communications link). The vehicle's cruise control can then be operated depending on the received target speed. This further increases the comfort and safety of convoy travel by single-track vehicles.

[0030] According to a further aspect, a (further) device for operating a distance controller of a single-track (motor) vehicle is described. The features described in this document can also be applied to this device individually or in combination.

[0031] The device is configured, particularly when the vehicle is operating in convoy mode, to determine distance information relating to the (actual) longitudinal distance of the vehicle from the single-lane vehicle traveling directly in front of the vehicle, and to determine distance information relating to the (actual) longitudinal distance of the vehicle from a vehicle in front of the vehicle traveling in front of the vehicle. The distance information can be determined based on the sensor data from one or more environmental sensors (e.g., a radar sensor).

[0032] The device is further configured to operate the distance controller in dependence on the distance information. The operation can be effected with the aim of • to set the (actual) longitudinal distance of the vehicle to the vehicle in front to a specific target longitudinal distance, and • to ensure that a predefined minimum longitudinal distance between the vehicle and the vehicle in front is not undercut.

[0033] This allows the vehicle to travel in convoy in a particularly safe and comfortable manner.

[0034] According to a further aspect, a (further) device for operating a distance controller of a single-track (motor) vehicle is described. The features described in this document can also be applied to this device individually or in combination.

[0035] The device is configured, particularly when the vehicle is operated in convoy mode, to determine the actual longitudinal distance to the single-lane vehicle driving directly in front of the vehicle on the basis of sensor data from one or more environmental sensors of the vehicle, and to operate the distance controller as a function of the determined actual longitudinal distance.

[0036] The device is further configured to determine (in particular predict) the (forward) course of a roadway traveled by the vehicle. Furthermore, the device is configured to adapt the focus area, such as the detection area and / or the evaluation area, in particular the orientation and / or the width of the focus area, of one or more environmental sensors depending on the determined course of the roadway.

[0037] For example, when driving straight ahead, a standard width of the focus area (in particular the detection area and / or the evaluation area) can be used. When cornering, a curve width of the focus area that is larger than the standard width can be used. To increase the width of the detection area, the detection quality (e.g. the spatial resolution) of one or more environment sensors can be reduced if necessary. On the other hand, by increasing the width, it can still be ensured that the vehicle in front can be detected even when cornering. This can enable particularly safe and comfortable convoy driving of single-track vehicles.

[0038] As already explained above, the focus area can correspond to the detection range of the one or more environmental sensors. The detection range can define the local area in which sensor data is collected by the one or more environmental sensors. Outside the detection range, sensor data cannot typically be collected by the one or more environmental sensors.

[0039] Alternatively or additionally, the focus area can correspond to the evaluation area of ​​one or more environmental sensors. The evaluation area can define the local area in which the sensor data from one or more environmental sensors are evaluated (possibly with increased or exclusive focus). Outside the evaluation area, the sensor data from one or more environmental sensors are not evaluated at all or only with a certain degree of accuracy (reduced compared to the evaluation area).

[0040] According to a further aspect, a (road) motor vehicle (in particular a motorcycle) is described which comprises one or more of the devices described in this document.

[0041] According to a further aspect, a method for operating a distance controller of a single-track (motor) vehicle is described. The method comprises determining lateral information regarding the lateral distance of the vehicle from a single-track vehicle traveling directly in front of the vehicle, as well as determining the target longitudinal distance for the vehicle's distance controller based on the lateral information.

[0042] According to a further aspect, a (further) method for operating a distance controller of a single-track vehicle is described. The features described in this document can also be applied to this method individually or in combination.

[0043] The method includes, particularly when the vehicle is operating in convoy mode, determining distance information regarding the (actual) longitudinal distance of the vehicle from the single-lane vehicle directly in front of the vehicle, as well as determining distance information regarding the (actual) longitudinal distance of the vehicle from the vehicle in front of the vehicle in front of the vehicle. The distance information can be determined based on the sensor data from one or more of the vehicle's environmental sensors.

[0044] The method further comprises operating the distance controller as a function of the distance information, in particular to ensure that the (actual) longitudinal distance of the vehicle to the vehicle in front is set to the target longitudinal distance and that a predefined minimum longitudinal distance of the vehicle to the vehicle in front is not undercut.

[0045] According to a further aspect, a (further) method for operating a distance controller of a single-track vehicle is described. The features described in this document can also be applied to this method individually or in combination.

[0046] The method comprises, in particular when the vehicle is operated in a convoy mode, determining, on the basis of sensor data from one or more environmental sensors of the vehicle, the actual longitudinal distance to the single-lane vehicle driving directly in front of the vehicle, and operating the distance controller depending on the determined actual longitudinal distance.

[0047] The method further comprises determining the (forward) course of the roadway traveled by the vehicle. Furthermore, the method comprises adapting the detection range, in particular the orientation and / or the width of the detection range, of the one or more environmental sensors depending on the determined course of the roadway.

[0048] According to another aspect, a software (SW) program is described. The SW program can be configured to be executed on a processor (e.g., on a control unit of a vehicle) and thereby to perform one or more of the methods described in this document.

[0049] According to another aspect, a storage medium is described. The storage medium may comprise a software program configured to be executed on a processor and thereby to perform one or more of the methods described in this document.

[0050] It should be noted that the methods, devices, and systems described in this document can be used both alone and in combination with other methods, devices, and systems described in this document. Furthermore, any aspects of the methods, devices, and systems described in this document can be combined in a variety of ways. In particular, the features of the claims can be combined in a variety of ways. Furthermore, features listed in parentheses are to be understood as optional features.

[0051] The invention will be described in more detail below with reference to exemplary embodiments. Fig. 1 exemplary components of a single-track vehicle, in particular a motorcycle; Fig. 2 an exemplary vehicle convoy; and Fig. 3 a flowchart of an exemplary method for setting the target longitudinal distance of a single-track vehicle to a vehicle in front.

[0052] As stated at the beginning, this document deals with increasing the comfort and / or safety of single-track vehicles traveling in a convoy of two or more vehicles. In this context, Fig. 1 shows an exemplary single-track vehicle 100 with one or more environmental sensors 102, each configured to collect sensor data (also referred to as environmental data) relating to the surroundings of the vehicle 100. Exemplary environmental sensors 102 include a camera, a radar sensor, a lidar sensor, an ultrasonic sensor, etc.

[0053] A (control) device 101 of the vehicle 100 can be configured to evaluate the environmental data, e.g., to detect one or more objects (e.g., other vehicles) in the environment of the vehicle 100. The device 101 can further be configured to effect automated longitudinal and / or lateral guidance of the vehicle 100 based on the environmental data, in particular based on the one or more detected objects. For this purpose, one or more longitudinal and / or lateral guidance actuators 103 (e.g., a drive motor, a braking device, and / or a steering device) of the vehicle can be controlled.

[0054] The automatic longitudinal guidance of the vehicle 100 can be effected, for example, by a speed and / or distance controller. During a following journey, the actual distance between the vehicle 100 and a vehicle in front traveling directly behind the vehicle 100 can be determined based on the surroundings data. Furthermore, the actual (longitudinal) distance can be set, in particular regulated, to a predefined target (longitudinal) distance by the distance controller. The target distance can have been set by the user, for example, via a user interface 104 of the vehicle 100. Furthermore, during a clear journey (when no vehicle in front is located and / or has been detected in front of the vehicle 100), the actual driving speed of the vehicle 100 can be set, in particular regulated, to a target driving speed. The target driving speed can have been entered via the user interface 104 of the vehicle 100.

[0055] The vehicle 100 can include a communication unit 105 that enables the vehicle 100 to communicate with one or more other vehicles via a (possibly wireless) communication connection, e.g., via WLAN, 3G, 4G, 5G, etc. The communication unit 105 can, in particular, enable vehicle-to-vehicle communication. The target driving speed for the distance and / or speed controller of the vehicle 100 can, for example, be received via the communication unit 105 from another vehicle, e.g., from the lead vehicle in a convoy. The received target speed can be adopted by the distance and / or speed controller in order to form a particularly comfortable and safe convoy of vehicles.

[0056] Fig. 2 shows an exemplary convoy of single-track vehicles 201, 202, 203 traveling one behind the other on a roadway 200. Vehicles 201, 202 arranged directly behind one another typically have a transverse offset from one another. For example, a first vehicle 201 may be arranged relatively far to the right on the roadway 200, while the directly following second vehicle 202 may be arranged relatively far to the left on the roadway 200. The following third vehicle 203 may again be arranged relatively far to the right on the roadway 200, etc.

[0057] The transverse offset between directly consecutive, single-lane vehicles 201, 202, 203 can reduce the risk of a rear-end collision involving vehicles 201, 202, 203 in the convoy. Furthermore, it can be possible to reduce the distance between directly consecutive vehicles 201, 202, 203 without increasing the risk of a potential rear-end collision. As a result of the reduced distance, the risk of another vehicle, in particular a passenger car (car), cutting in between two vehicles 201, 202, 203 in the convoy, thereby impairing the comfort of the convoy, can be reduced.

[0058] The (control) device 101 of a vehicle 100, 202 in the convoy of vehicles can be configured, e.g., based on the sensor data of an environment sensor 102, to determine lateral information relating to the lateral distance 212 between the vehicle 100, 202 and the vehicle 201 driving directly in front of it. The lateral distance 212 can correspond to the distance between the vehicle 100, 202 and the vehicle 201 driving directly in front of it along the transverse axis of the vehicle 100, 202, wherein the transverse axis runs transversely to the direction of travel of the vehicle 100, 202 and / or transversely to the roadway 200.

[0059] The device 101 of the vehicle 100, 202 can further be configured to set the target distance 211 (along the longitudinal axis of the vehicle 100, 202) for the distance and / or speed controller of the vehicle 100, 202 as a function of the lateral information, in particular as a function of the lateral distance 212. In this case, the target distance 211 can be reduced with increasing lateral distance 212 and / or increased with decreasing lateral distance 212 (as shown by way of example in Fig. 2). This allows for safe, comfortable convoy travel.

[0060] As already explained above, the lead vehicle 201 of a convoy can be enabled to transmit speed information regarding the target speed for convoy travel to the other one or more vehicles 202, 203 of the convoy via vehicle-to-vehicle communication. The target speed can be automatically adopted by the one or more other vehicles 202, 203 of the convoy as the target speed for the respective distance and / or speed controller. This enables particularly safe and comfortable convoy travel.

[0061] Due to the lateral offset between the successive vehicles 201, 202, 203 of a convoy, it may happen, particularly when cornering, that the leading vehicle 201 traveling directly in front of a vehicle 100, 202 is no longer within the detection range of the environment sensor 102 (in particular the radar sensor), which is used to determine the actual distance to the leading vehicle 201. The (control) device 101 of the vehicle 100, 202 can be configured to adapt the detection range of the environment sensor 102 to the course of the roadway 200 traveled by the vehicle 100, 202. The course of the roadway 200 can be determined • based on the sensor data from one or more environmental sensors 102 of the vehicle 100, 202; and / or • based on a digital map for the road network used by the vehicle 100, 202.

[0062] For example, the orientation and / or width of the focal area (e.g., the detection range and / or the evaluation range) of the environment sensor 102 can be adapted to the course of the roadway 200. In particular, the width of the focal area (e.g., the detection range and / or the evaluation range) of the environment sensor 102 can be increased for driving within a curve. By adapting the focal area of ​​the environment sensor 102, particularly safe and comfortable convoy driving with transverse offset can be enabled.

[0063] The user of a vehicle 100, 201, 202, 203 may be enabled to activate a convoy mode via the user interface 104 of the vehicle 100, 201, 202, 203. The fact that the convoy mode has been activated may be displayed, e.g., as an icon, on a screen of the user interface 104. The activated convoy mode may enable • to send and / or receive speed information relating to the target speed of the vehicle convoys (and to use it for the cruise control); and / or • to determine the target distance 211 for the distance and / or speed controller as a function of the lateral information, in particular as a function of the lateral distance 212; and / or • to adapt the focus area (in particular the detection area and / or the processing area) of the environment sensor 102 to determine the actual distance to the front vehicle 201 of the vehicle column depending on the course of the roadway 200.

[0064] This allows the leading motorcycle 201 of a convoy to specify the driving speed, which is automatically adopted by all other motorcycles 202, 203 in the convoy (for the distance and / or speed control). The motorcycles 201, 202, 203 can autonomously catch up with each other, taking the specified distances into account, and position themselves accordingly in the convoy.

[0065] The activation of a convoy function of the ACC (i.e., the distance and / or speed controller) can be enabled. The driver can switch the convoy mode on or off via the user interface 104 (e.g., using a button) (possibly without automatic detection of a convoy situation). The ACC control system can then take the convoy of motorcycles into account in the control strategy.

[0066] Alternatively or additionally, a convoy situation may be detected (e.g., based on the sensor data from one or more environmental sensors 102). If a convoy is detected, the driver may then be prompted to switch to convoy driving mode or exit the mode (e.g., if there is no longer a motorcycle 201 in the front area, or if the driver deselects the mode himself) as soon as the convoy has dispersed. The driver can acknowledge the suggestion to activate or deactivate convoy driving mode via the user interface 104 (e.g., with a button).

[0067] Alternatively or additionally, automatic entry into convoy mode can be effected, e.g. if one or more (in particular all) conditions for convoy mode are met: • another motorcycle 201 is driving ahead; • the speed of the leading vehicle (motorcycle) 201 and the own speed differ from each other by at most a predefined delta (ie both vehicles 201, 202 have approximately the same driving speed); and / or • the vehicle 202 has a maximum permissible lateral distance from the vehicle 201 in front (whereby the maximum permissible distance may depend on the width of the lane or lane 200).

[0068] The (longitudinal) distance 211 to be maintained between convoy participants 201, 202 can be set. The longitudinal distance 211 to the vehicle in front 201 can be determined depending on the laterally offset distance, i.e. the lateral distance 212. If the vehicle 202 is not traveling laterally offset behind the vehicle in front 201, a specific (longitudinal) distance (e.g. the base target longitudinal distance) can be regulated by the ACC control. If the vehicle 202 is traveling laterally offset from the vehicle in front 201, this (longitudinal) distance can be shortened, possibly more the further or the greater the lateral offset 212 is. If the vehicle 202 exceeds the maximum permissible lateral offset, the distance control can be terminated if necessary. This may cause the vehicle 202 (using the cruise control) to pass the vehicle 201 in front.

[0069] Due to the relatively small width of a single-track vehicle 201, 202, 203 and due to the lateral offset when traveling in a convoy, a vehicle 100, 203 of the convoy can be enabled to take into account distance information relating to the (longitudinal) distance to one or more other leading vehicles 201 traveling in front of the leading vehicle 202. These one or more other leading vehicles 201 can be referred to as front-to-front vehicles 201. If necessary, when operating the distance and / or speed controller, it can be taken into account that • the vehicle 203 has a certain target distance to a vehicle 201 in front; and / or • the vehicle 203 does not fall below a certain minimum distance from the vehicle 201 in front.

[0070] Thus, when operating the distance and / or speed controller, the (longitudinal) distance to the vehicle in front 202 and to a vehicle in front of it 201 can be taken into account.

[0071] The behavior of the distance and / or speed control can be adjusted when cornering. In particular, the driving path, in which one or more leading vehicles 201, 202 are detected by an environment sensor 102 of a vehicle 100, 203, and the distance of the vehicle 203 from the one or more leading vehicles 201, 202 is maintained based on the sensor data of the environment sensor 102, can be widened when cornering. This makes it possible to avoid breaks in the detection of the one or more leading vehicles 201, 202 and in the detection of the convoy, so that the convoy is maintained.

[0072] The activated convoy mode can be displayed on the instrument cluster (i.e., via the user interface 104) of the vehicle 100, 201, 202, 203. For example, a convoy mode symbol, such as two or more motorcycles (instead of a car symbol), can be displayed. This allows the driver to recognize whether ACC is operating in normal mode or convoy mode.

[0073] Fig.3 shows a flowchart of an exemplary (possibly computer-implemented) method 300 for operating a distance controller of a single-track vehicle 100, 203. The distance controller can be configured to adjust, in particular to regulate, the longitudinal distance of the vehicle 100, 203 to a leading vehicle 202 traveling directly in front of the vehicle 100, 203 to a specific target longitudinal distance. The method 300 can be executed (possibly only) when the vehicle 100, 203 is operating in a convoy mode. The convoy mode can be activated manually by the driver of the vehicle 100, 203 or automatically.

[0074] The method 300 includes determining 301 lateral information relating to the lateral distance 212 of the vehicle 100, 203 to the single-track leading vehicle 202 traveling, in particular directly in front of the vehicle 100, 203. The lateral information can be determined based on the sensor data from one or more environmental sensors 102 of the vehicle 100, 203. The lateral distance 212 can correspond to the distance along the transverse axis of the vehicle 100, 203 (transverse to the longitudinal axis and / or the direction of travel of the vehicle 100, 203).

[0075] The method 300 further includes determining 302 the target longitudinal distance 211 for the distance controller of the vehicle 100, 203 based on the lateral information. The target longitudinal distance 211 can be reduced as the lateral distance 212 increases. The distance controller can be operated (particularly while the convoy mode is active) depending on the determined target longitudinal distance 211.

[0076] The measures described in this document enable relaxed driving with ACC in a convoy. Furthermore, relatively compact driving in a convoy of motorcycles is enabled. Furthermore, a comfortable transition into or out of convoy driving mode is enabled. Furthermore, a convoy can be reliably detected and maintained even when cornering. Furthermore, the driver of a vehicle 201, 202, 203 can feel more secure while driving in a convoy.

[0077] The present invention is not limited to the embodiments shown. In particular, it should be noted that the description and the figures are intended only to illustrate the principle of the proposed methods, devices, and systems by way of example.

Claims

[1] Device (101) for operating a distance controller of a single-track vehicle (100, 203), wherein the device (101) is arranged - to determine lateral information relating to a lateral distance (212) of the vehicle (100, 203) to a single-track front vehicle (202) traveling, in particular directly in front of the vehicle (100, 203); and - to determine a target longitudinal distance (211) for the distance controller of the vehicle (100, 203) on the basis of the lateral information. [2] Device (101) according to claim 1, wherein the device (101) is arranged - to reduce the target longitudinal distance (211) with increasing lateral distance (212); and / or - to increase the target longitudinal distance (211) with decreasing lateral distance (212). [3] Device (101) according to one of the preceding claims, wherein the device (101) is configured to automatically adjust, by means of the distance controller, an actual longitudinal distance of the vehicle (100, 203) to the vehicle in front (202) as a function of the determined target longitudinal distance (211), in particular to regulate it to the determined target longitudinal distance (211). [4] Device (101) according to one of the preceding claims, wherein the device (101) is arranged - to determine, on the basis of the lateral information, that the lateral distance (212) to the front vehicle (202) exceeds a maximum permissible lateral distance; and - in response to the determination, to cause the distance control for automatically adjusting the longitudinal distance to the front vehicle (202) to be aborted. [5] Device (101) according to one of the preceding claims, wherein the device (101) is arranged - to determine whether the vehicle (100, 203) is operating in a convoy mode or not; and - to cause the target longitudinal distance (211) for the distance controller of the vehicle (100, 203) to be determined on the basis of the lateral information when the vehicle (100, 203) is operated in the convoy mode; and / or - to ensure that the target longitudinal distance (211) for the distance controller of the vehicle (100, 203) is not determined on the basis of the lateral information, in particular independently of the lateral information, when the vehicle (100, 203) is not operated in the convoy mode. [6] Device (101) according to one of the preceding claims, wherein the device (101) is arranged, in particular when the vehicle (100, 203) is operated in a convoy mode, - to determine an actual longitudinal distance to the vehicle in front (202) on the basis of sensor data from one or more environmental sensors (102) of the vehicle (100, 203); - to operate the distance controller depending on the determined actual longitudinal distance; - to determine a course of a roadway (200) travelled by the vehicle (100, 203); and - to adapt a focus area, in particular an orientation and / or a width of the focus area, of one or more environmental sensors depending on the determined course of the roadway (200). [7] Device (101) according to one of the preceding claims, wherein the device (101) is arranged, in particular when the vehicle (100, 203) is operated in a convoy mode, - to determine distance information relating to a longitudinal distance of the vehicle (100, 203) to a preceding vehicle (201), in particular a single-track vehicle, traveling in front of the preceding vehicle (202); and - to operate the distance controller as a function of the distance information, in particular to ensure that a predefined minimum longitudinal distance between the vehicle (100, 203) and the vehicle in front (201) is not undercut. [8] Device (101) according to one of the preceding claims, wherein the device (101) is arranged, in particular when the vehicle (100, 203) is operated in a convoy mode, - to receive speed information relating to a target driving speed for a cruise control of the vehicle (100, 203) from another vehicle (201), in particular from a lead vehicle (201) of a convoy of vehicles; and - to operate a speed controller of the vehicle (100, 203) depending on the received target driving speed. [9] Device (101) according to one of the preceding claims, wherein the device (101) is arranged - to determine that the vehicle (100, 203) is part of a convoy of vehicles; and - in response to the determining, to cause a convoy mode of the vehicle (100, 203) to be activated. [10] Device (101) according to claim 9, wherein the device (101) is arranged - to recognize that one or more conditions for the existence of a convoy of vehicles are met; the one or more conditions include, - a condition that the vehicle (100, 203) travels directly behind a single-track leading vehicle (202); and / or - a condition that the driving speeds of the vehicle (100, 203) and the front vehicle (202) differ from each other by a maximum permissible delta; and / or - a condition that the lateral distance (212) between the vehicle (100, 203) and the front vehicle (202) does not exceed a maximum permissible lateral distance; and - in response to detecting that the one or more conditions for the presence of a vehicle convoy are met, to determine that the vehicle (100, 203) is part of a vehicle convoy. [11] Device (101) for operating a distance controller of a single-track vehicle (100, 203), wherein the device (101) is configured, in particular when the vehicle (100, 203) is operated in a convoy mode, - to determine distance information relating to a longitudinal distance of the vehicle (100, 203) to a single-track front vehicle (202) traveling directly in front of the vehicle (100, 203); - to determine distance information relating to a longitudinal distance of the vehicle (100, 203) to a preceding vehicle (201) traveling in front of the preceding vehicle (202); and - to operate the distance controller depending on the distance information, in particular to ensure that - the longitudinal distance of the vehicle (100, 203) to the front vehicle (202) is set to a target longitudinal distance (211); and - a predefined minimum longitudinal distance of the vehicle (100, 203) to the vehicle in front (201) is not undercut. [12] Device (101) for operating a distance controller of a single-track vehicle (100, 203) in a convoy mode; wherein the device (101) is arranged - to determine an actual longitudinal distance to a single-track front vehicle (202) traveling directly in front of the vehicle (100, 203) on the basis of sensor data from one or more environmental sensors (102) of the vehicle (100, 203); - to operate the distance controller depending on the determined actual longitudinal distance; - to determine a course of a roadway (200) travelled by the vehicle (100, 203); and - to adapt a focus area, in particular an orientation and / or a width of the focus area, of one or more environmental sensors depending on the determined course of the roadway (200). [13] Method (300) for operating a distance controller of a single-track vehicle (100, 203), the method (300) comprising - determining (301) lateral information relating to a lateral distance (212) of the vehicle (100, 203) to a single-track front vehicle (202) traveling, in particular directly in front of the vehicle (100, 203); and - determining (302) a target longitudinal distance (211) for the distance controller of the vehicle (100, 203) on the basis of the lateral information. [14] Method for operating a distance controller of a single-track vehicle (100, 203), the method comprising, in particular when the vehicle (100, 203) is operated in a convoy mode, - determining distance information relating to a longitudinal distance of the vehicle (100, 203) to a single-track front vehicle (202) traveling directly in front of the vehicle (100, 203); - determining distance information relating to a longitudinal distance of the vehicle (100, 203) to a preceding vehicle (201) traveling in front of the preceding vehicle (202); and - Operating the distance controller depending on the distance information, in particular to ensure that - the longitudinal distance of the vehicle (100, 203) to the front vehicle (202) is set to a target longitudinal distance (211); and - a predefined minimum longitudinal distance of the vehicle (100, 203) to the vehicle in front (201) is not undercut. [15] A method for operating a distance controller of a single-track vehicle (100, 203) in a convoy mode; the method comprising - determining, on the basis of sensor data from one or more environmental sensors (102) of the vehicle (100, 203), an actual longitudinal distance to a single-track front vehicle (202) traveling directly in front of the vehicle (100, 203); - Operating the distance controller depending on the determined actual longitudinal distance; - determining a course of a roadway (200) travelled by the vehicle (100, 203); and - Adapting a focus area, in particular an orientation and / or a width of the focus area, of one or more environmental sensors depending on the determined course of the roadway (200).

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