DRIVER-INTERACTIVE SYSTEM AND METHOD FOR AUTOMATIC RE-ENACTION OF ADAPTIVE CRUISE CONTROL

Abstract

An adaptive cruise control (ACC) system and method for a vehicle equipped with ACC comprises providing a controller in communication with the vehicle equipped with ACC, wherein the controller is configured to receive inputs from a driver and a plurality of vehicle sensors; activating the ACC at a desired target speed, wherein the ACC is activated via the controller in response to an initial driver input and / or an initial sensor input from the plurality of vehicle sensors; receiving a second driver input via the controller; deactivating the ACC via the controller in response to receiving the second driver input and / or a second sensor input from the plurality of vehicle sensors; and reactivating the ACC at the desired target speed, wherein the ACC is automatically reactivated via the controller.

Description

[0001] The present description relates to an Adaptive Cruise Control (ACC) method and in particular to an ACC method that includes a driver-interactive automatic reactivation strategy and a driver-interactive target speed learning strategy.

[0002] ACC is a driver assistance system for a vehicle that automatically adjusts the vehicle's target speed to maintain a specific following distance between the ACC-equipped vehicle and a vehicle traveling in front of it. The target vehicle speed and the target following distance are initially set by the driver. ACC systems use a combination of sensors and radar, lidar, laser, camera(s), and the like to determine an actual distance between the ACC-equipped vehicle and the vehicle in front of the ACC-equipped vehicle and maintain the actual distance at the target following distance by activating a braking system when the actual distance decreases below the target following distance and activating a vehicle acceleration system when the actual distance increases above the target following distance.

[0003] The target speed is intelligently adjusted manually by the driver and / or based on input from another vehicle system, such as a speed limit received from a navigation system.

[0004] DE 698 15 767 T2 describes a cruise control system for a vehicle.

[0005] DE 10 2021 110 482 A1 describes an adaptive cruise control system for the entire speed range for a host vehicle.

[0006] DE 10 2018 207 301 A1 describes a driver assistance system for a vehicle for automated driving with automated longitudinal guidance.

[0007] DE 102017 105 646 A1 describes a vehicle comprising adaptive cruise control.

[0008] DE 10 2007 031 544 A1 describes a method for controlling the speed of a motor vehicle by means of a distance-related cruise control system.

[0009] It can be considered a task to provide an improved Adaptive Cruise Control (ACC) procedure.

[0010] The object is achieved by the Adaptive Cruise Control (ACC) method according to claim 1. Furthermore, an Adaptive Cruise Control (ACC) system and a vehicle are described, each being a system and a vehicle with which the method can be carried out.

[0011] The Adaptive Cruise Control (ACC) system described here as an application and the ACC method according to the invention includes a driver-interactive automatic re-engagement strategy that can enable the ACC system to learn the driver's desired set speed by continuously monitoring driver inputs, systematically disabling the ACC, learning the driver's new desired input by monitoring a speed profile via the use of a driver-interactive set speed learning function, and automatically adjusting the set speed to meet the driver's intent.

[0012] The inventive Adaptive Cruise Control (ACC) method for a vehicle comprises: providing a controller in communicative connection with the ACC-equipped vehicle, wherein the controller is configured to receive driver inputs from a driver and sensor inputs from a plurality of vehicle sensors; turning on the ACC at a desired target speed such that the ACC is turned on via the controller in response to a first driver input and / or a first sensor input from the plurality of vehicle sensors; receiving, via the controller, a second driver input and / or a second sensor input from the plurality of vehicle sensors; turning off the ACC via the controller in response to receiving the second driver input and / or the second sensor input from the plurality of vehicle sensors;and reactivating the ACC at the desired target speed, whereby the ACC is automatically reactivated via the control system.;

[0013] In one embodiment, the ACC method comprises: determining whether a leading vehicle is within a predefined area of ​​view (AoV) of the ACC-equipped vehicle; decelerating the ACC-equipped vehicle if the leading vehicle is within the predefined AoV, wherein the ACC-equipped vehicle is decelerated via the controller in response to the second driver input, the second driver input comprising a brake pedal application; determining an actual following distance between the ACC-equipped vehicle and the leading vehicle; flashing an ACC indicator to encourage the driver to release the brake pedal application when the actual following distance reaches a predefined following distance; waiting for the driver to release the brake pedal application before re-engaging ACC at the desired target speed;and automatic reactivation of the ACC via the control when the brake pedal is released.;

[0014] In one embodiment, the ACC method comprises: determining whether a leading vehicle is within a predefined area of ​​view (AoV) of the ACC-equipped vehicle; stopping the ACC-equipped vehicle behind the leading vehicle when the leading vehicle is within the predefined AoV, wherein the ACC-equipped vehicle is stopped via the controller in response to the second driver input, the second driver input comprising a brake pedal application; and automatically re-engaging ACC via the controller when the ACC-equipped vehicle is at a stop.

[0015] In one embodiment, the method comprises: determining whether the ACC-equipped vehicle is approaching an intersection; determining whether the ACC-equipped vehicle is stopped at the intersection; and automatically re-engaging the ACC via the controller when the vehicle is stopped.

[0016] In one embodiment, the ACC method further comprises determining whether a turn signal is active, wherein the controller inhibits automatic reactivation of the ACC if it is determined that the turn signal is active.

[0017] In one embodiment, the ACC method further comprises determining whether a turn signal is active, wherein automatically re-enabling the ACC via the controller may comprise automatically re-enabling the ACC when the turn signal is determined to be inactive and the vehicle is stationary.

[0018] In one embodiment, the ACC method further comprises evaluating alternative ACC re-engagement options when it is determined that the ACC-equipped vehicle is not approaching the intersection.

[0019] According to the invention, the second driver input comprises a pedal input that is classified as a soft pedal input indicating driver intervention and / or as a hard pedal input indicating driver override.

[0020] According to the invention, engaging the ACC at the desired target speed further comprises: setting the desired target speed to a new desired target speed when the pedal input is classified as the soft pedal input, wherein setting the desired target speed to the new desired target speed may comprise learning a new desired target speed, and learning the new desired target speed may comprise sensing a constant speed when the constant speed is sensed via at least one of the plurality of vehicle sensors; determining, via the controller, a steady-state vehicle dynamic intent at the constant speed; sensing a driver intervention level at the constant speed, wherein the driver intervention level is sensed via at least one further one of the plurality of vehicle sensors;Checking, via the controller, at least one environmental condition at the constant speed; linking the constant speed to the steady-state vehicle dynamic intent, the driver intervention level, and the at least one environmental condition such that the constant speed matches the steady-state vehicle dynamic intent, the driver intervention level, and the at least one environmental condition at the constant speed; storing the constant speed as the new desired target speed; storing the associated steady-state vehicle dynamic intent, the associated driver intervention level, and the at least one associated environmental condition corresponding to the new desired target speed in the controller;and adjusting the desired setpoint speed to the new desired setpoint speed once the vehicle has maintained the new desired setpoint speed for a predetermined period of time and when the sensed steady-state vehicle dynamic intent, the sensed driver intervention level, and the at least one verified environmental condition are each equal to the steady-state vehicle dynamic intent, the associated driver intervention level, and the at least one associated environmental condition corresponding to the new desired setpoint speed, wherein re-engaging the ACC to the desired setpoint speed comprises automatically re-engaging the ACC at the new desired setpoint speed via the controller;

[0021] In one embodiment, the pedal input comprises an accelerator pedal actuation and / or a brake pedal actuation.

[0022] In one embodiment, automatically re-engaging the ACC via the controller to the desired setpoint speed comprises automatically re-engaging the ACC via the controller to a new desired setpoint speed when a constant speed is detected for a predetermined period of time, wherein the new desired setpoint speed comprises the constant speed.

[0023] An Adaptive Cruise Control (ACC) system for a vehicle equipped with ACC may include a controller that communicates with the ACC-equipped vehicle and a plurality of vehicle sensors. The ACC system represents one application of the ACC method according to the invention.

[0024] The controller may be configured to receive a driver input from a driver and a sensor input from the plurality of vehicle sensors; engage the ACC at a desired set speed, wherein the ACC is engaged in response to a first driver input and / or a first sensor input from the plurality of vehicle sensors; receive a second driver input and / or a second sensor input from the plurality of vehicle sensors; disengage the ACC in response to receiving the second driver input and / or the second sensor input from the plurality of vehicle sensors; and reengage the ACC at the desired set speed, wherein the ACC is automatically reengaged via the controller.

[0025] The controller may be further configured to: determine whether a leading vehicle is within a predefined field of view of the ACC-equipped vehicle; decelerate the ACC-equipped vehicle, wherein the ACC-equipped vehicle is decelerated via the controller in response to the second driver input, the second driver input comprising a brake pedal application; determine an actual following distance between the ACC-equipped vehicle and the leading vehicle; flash an ACC indicator to encourage the driver to release the brake pedal application when the actual following distance reaches a predefined following distance; wait for the driver to release the brake pedal application before re-engaging ACC at the desired target speed, wherein the ACC is automatically re-engaged via the controller when the brake pedal application is released.

[0026] The controller may be further configured to: determine whether a leading vehicle is within a predefined field of view of the ACC-equipped vehicle; stop the ACC-equipped vehicle behind the leading vehicle, wherein the ACC-equipped vehicle is stopped via the controller in response to the second driver input, the second driver input comprising a brake pedal application; and wherein the ACC is automatically re-engaged via the controller when the ACC-equipped vehicle is at a stop.

[0027] The controller may be further configured to set the desired target speed to a new desired target speed, wherein setting the desired target speed to the new desired target speed may comprise learning the new desired target speed, and learning the new desired target speed may comprise sensing a constant speed, wherein the constant speed is sensed via at least one of the plurality of vehicle sensors; determining, via the controller, a steady-state vehicle dynamic intent at the constant speed; sensing a driver intervention level at the constant speed, wherein the driver intervention level is sensed via at least one further one of the plurality of vehicle sensors; checking, via the controller, at least one environmental condition at the constant speed;Assigning the constant speed to the steady-state vehicle dynamic intent, the driver intervention level, and the at least one environmental condition such that the constant speed matches the steady-state vehicle dynamic intent, the driver intervention level, and the at least one environmental condition at the constant speed; storing the constant speed as the new desired target speed; storing the associated steady-state vehicle dynamic intent, the associated driver intervention level, and the at least one associated environmental condition corresponding to the new desired target speed in the controller;and adjusting the desired setpoint speed to the new desired setpoint speed once the ACC-equipped vehicle has maintained the new desired setpoint speed for a predetermined period of time and when the sensed steady-state vehicle dynamic intent, the sensed driver intervention level, and the at least one verified environmental condition are each equal to the associated steady-state vehicle dynamic intent, the associated driver intervention level, and the at least one associated environmental condition corresponding to the new desired setpoint speed; and wherein re-engaging the ACC at the desired setpoint speed may further comprise re-engaging the ACC at the new desired setpoint speed, wherein the ACC is automatically re-engaged to the new desired setpoint speed via the controller.

[0028] Automatically re-engaging the ACC via the control to the desired set speed may include automatically re-engaging the ACC via the control to a new desired set speed when a constant speed is detected for a predetermined period of time, wherein the new desired set speed includes the constant speed.

[0029] A vehicle with an Adaptive Cruise Control (ACC) system may include a plurality of vehicle sensors and a controller in communicative communication with the ACC-equipped vehicle and the plurality of vehicle sensors.

[0030] The controller may be configured to receive a driver input from a driver and a sensor input from the plurality of vehicle sensors; engage the ACC at a desired set speed, wherein the ACC is engaged in response to a first driver input and / or a first sensor input from the plurality of vehicle sensors; receive a second driver input and / or a second sensor input from the plurality of vehicle sensors; disengage the ACC in response to receiving the second driver input and / or the second sensor input from the plurality of vehicle sensors; and reengage the ACC at the desired set speed, wherein the ACC is automatically reengaged via the controller.

[0031] The controller may be further configured to determine whether a leading vehicle is within a predefined field of view of the ACC-equipped vehicle; decelerate the ACC-equipped vehicle, wherein the ACC-equipped vehicle is decelerated via the controller in response to the second driver input, the second driver input comprising a brake pedal application; determine an actual following distance between the ACC-equipped vehicle and the leading vehicle; flash an ACC indicator to encourage the driver to release the brake pedal application when the actual following distance reaches a predefined following distance; wait for the driver to release the brake pedal application before re-engaging ACC at the desired target speed, wherein the ACC is automatically re-engaged via the controller when the brake pedal application is released.

[0032] The controller may be further configured to determine whether a leading vehicle is within a predefined field of view of the ACC-equipped vehicle; the ACC-equipped vehicle stops behind the leading vehicle, wherein the ACC-equipped vehicle is stopped via the controller in response to the second driver input, and the second driver input comprises a brake pedal application, wherein the ACC is automatically re-engaged via the controller when the ACC-equipped vehicle is stationary.

[0033] The controller may be further configured to set the desired target speed to a new desired target speed, wherein setting the desired target speed to the new desired target speed may comprise learning the new desired target speed, and learning the new desired target speed may comprise: detecting a constant speed; determining a steady-state vehicle dynamic intent at the constant speed; detecting a driver intervention level at the constant speed; checking at least one environmental condition at the constant speed;Assigning the constant speed to the steady-state vehicle dynamic intent, the driver intervention level, and the at least one environmental condition such that the constant speed matches the steady-state vehicle dynamic intent, the driver intervention level, and the at least one environmental condition at the constant speed; storing the constant speed as the new desired target speed; storing the associated stationary vehicle dynamic intent, the associated driver intervention level, and the at least one associated environmental condition corresponding to the new desired target speed in the controller;and setting the desired target speed to the new desired target speed once the vehicle has maintained the new desired target speed for a predetermined period of time and when the detected steady-state vehicle dynamic intent, the detected driver intervention level, and the at least one verified environmental condition are each equal to the steady-state vehicle dynamic intent, the associated driver intervention level, and the at least one associated environmental condition corresponding to the new desired target speed.;

[0034] The driver-interactive Adaptive Cruise Control (ACC) automatic re-engagement system and method includes a driver-interactive automatic re-engagement strategy that may enable the ACC system to adjust a desired target speed based on a driver's interaction with the vehicle and the driver's manual driving style by learning the driver's desired target speed by continuously monitoring driver inputs, systematically disabling the ACC, learning the new desired driver input by monitoring a speed profile using a driver-interactive target speed learning function, and adjusting the target speed to the driver's intent. Fig. Figure 1 is a schematic diagram of a vehicle with an Adaptive Cruise Control (ACC) system. Fig. 2 is a flowchart illustrating an automatic reclosing strategy of the Fig. 1 illustrated ACC system. Fig. 3 is a flowchart illustrating a driver-interactive learning strategy for the target speed of the Fig. 1 shown ACC system.

[0035] With reference to the drawings, in which like reference numerals refer to like components, Fig. 1 schematically shows a vehicle 10 with an Adaptive Cruise Control (ACC) system 12.

[0036] As in Fig. 1, an ACC-equipped vehicle 10 includes an ACC system 12, a powertrain 14, and various driver input devices 16, for example, but not limited to, an accelerator pedal 16A, a brake pedal 16B, and a steering wheel 16C.

[0037] Vehicle 10 may include, but is not limited to, a commercial vehicle, an industrial vehicle, a passenger vehicle, an aircraft, a watercraft, a train, or the like. It is also contemplated that vehicle 10 may include a mobile platform such as an aircraft, an all-terrain vehicle (ATV), a boat, a personal mobility device, a robot, and the like to fulfill the purposes of this disclosure.

[0038] The powertrain 14 includes a power source 18 configured to generate a power source torque T (not shown) for propelling the vehicle 10 via driven wheels 20 relative to a road surface 22. The power source 18 is illustrated as an internal combustion engine, but may also be, for example, an electric motor / generator.

[0039] As in Fig. As further illustrated in Figure 1, the powertrain 14 may also include two energy sources 18 and 24, e.g., an internal combustion engine and an electric motor / generator. In this case, the energy sources 18 and 24 may cooperate to propel the vehicle 10.

[0040] The vehicle 10 also includes a controller 26 and, if equipped with an electric motor / generator, a rechargeable energy storage system (RESS) 28 configured to generate and store electrical energy through heat-generating electrochemical reactions to supply the electrical energy to the energy sources 18 and 24. The electronic controller 26 may include a central processing unit (CPU) that controls various functions of the vehicle 10.

[0041] In any of the above configurations, the electronic controller 26 includes a processor and a tangible, non-volatile memory containing programmed instructions for operating the ACC system 12. The memory may be a suitable writable medium involved in providing computer-readable data or process instructions. Such writable medium may take many forms, including, but not limited to, non-volatile media and volatile media.

[0042] Non-volatile media for the electronic controller 26 may include, for example, optical or magnetic disks and other permanent storage. Volatile media may include, for example, dynamic random access memory (DRAM), which may constitute main memory. Such instructions may be transmitted over one or more transmission media, including coaxial cable, copper wire, and fiber optics, including the lines comprising a system bus connected to a processor of a computer, or over a wireless connection.

[0043] The memory of the electronic controller 26 may also include a floppy disk, a hard disk, magnetic tape, other magnetic media, a CD-ROM, a DVD, other optical media, etc. The electronic controller 26 may be configured or equipped with other necessary computer hardware, such as a high-speed clock, the necessary analog-to-digital (A / D) and / or digital-to-analog (D / A) circuits, input / output (I / O) circuits and devices, and suitable signal conditioning and / or buffering circuits. Algorithms required or accessible by the electronic controller 26 may be stored in memory and executed automatically to provide the required functionality of the ACC system 12 and various other vehicle systems, which may include, but are not limited to, the powertrain 14 and the RESS 28, if so equipped.

[0044] The controller 26 is in communication with the vehicle 10 equipped with ACC, a plurality of vehicle sensors schematically illustrated at 30, and various other vehicle systems, which may include, but are not limited to, a driver monitoring system (DMS).

[0045] The ACC system 12 includes a Fig. 2, which may enable the ACC system 12 to adjust a desired set speed (DSS) based on a driver's interaction with the ACC-equipped vehicle 10 and the driver's manual driving style by learning the driver's DSS through continuous monitoring of driver inputs (DIs), and systematically disabling the ACC using a Fig. 3, which learns the driver's new desired set speed (NDSS) by monitoring a speed profile and adapts the DSS to the NDSS based on the learned driver intention.

[0046] With reference to Fig. 2 and with continued reference to Fig. 1, a flowchart illustrating an automatic reclosing strategy 100 in accordance with the present disclosure is shown.

[0047] The ACC system 12 includes a controller 26 connected to a vehicle 10 equipped with ACC and a plurality of vehicle sensors 30 ( Fig. 1). The automatic re-engagement strategy 100 is stored in and executed by the controller 26, which is configured to receive 110 driver inputs DI from a driver (not shown), for example, via an accelerator pedal 16A, a brake pedal 16B, and / or a steering wheel 16C, and / or sensor inputs SI from the plurality of vehicle sensors 30, 120 engage the ACC at a desired target speed DSS in response to a first driver input DI1 and / or a first sensor input SI1 from at least one of the plurality of vehicle sensors 30, 130 receive a second driver input DI2 and / or a second sensor input SI2 from the plurality of vehicle sensors 30, 140 disable the ACC in response to receiving the second driver input DI2 and / or the second sensor input SI2 from the plurality of vehicle sensors 30, and 150 automatically re-engage the ACC at the DSS.

[0048] The plurality of vehicle sensors 30 may include, for example, but not limited to, vehicle speed sensors, vehicle distance sensors, steering wheel angle sensors, lateral acceleration sensors, longitudinal acceleration sensors, and the like.

[0049] The controller 26 is further configured to determine 160 whether a leading vehicle 10A is within a predefined field of view (AoV) of the ACC-equipped vehicle 10, and to decelerate and / or stop 170A / 170B the ACC-equipped vehicle 10 in response to the second driver input DI2 when the leading vehicle 10A is within the predefined AoV, wherein the second driver input DI2 includes, for example, a brake pedal 16B application.

[0050] When the ACC-equipped vehicle 10 slows down 170A behind the leading vehicle 10A in response to the second driver input DI2, the controller 26 is further configured to: 180 determine an actual following distance (AFD) between the ACC-equipped vehicle 10 and the leading vehicle 10A; 190 flash an ACC indicator to encourage the driver to release the brake pedal 16B application when the AFD reaches a predefined following distance (PFD); 200 wait until the driver releases the brake pedal 16B application before re-engaging ACC on the DSS; and 150 automatically re-engage ACC when the brake pedal 16B application is released.

[0051] If the ACC-equipped vehicle 10 stops 170B behind the leading vehicle 10A in response to the second driver input DI2, where the second driver input DI2 includes, for example, a brake pedal 16B application, the controller 26 is further configured to automatically re-engage the ACC when the ACC-equipped vehicle 10 is stationary.

[0052] The controller 26 is further configured to determine 210 whether the ACC-equipped vehicle 10 is approaching an intersection, determine 220 whether the ACC-equipped vehicle is stopped at the intersection, and automatically re-enable 150 the ACC when the vehicle is stationary.

[0053] If the ACC-equipped vehicle 10 is determined to be approaching the intersection and the ACC-equipped vehicle 10 is stopped at the intersection, the controller may be further configured to 230 determine whether a turn signal is active and 150 automatically re-engage the ACC if the turn signal is determined to be inactive, or 240 prevent the ACC from being automatically re-engaged if the turn signal is active.

[0054] If it is determined that the ACC-equipped vehicle 10 is not approaching an intersection, the controller 26 is further configured to evaluate 250 alternative re-engagement possibilities, such as, but not limited to, when a disturbance is cleared, such as when one or more of the plurality of vehicle sensors blocked by ice and / or snow are cleared, when it is detected that the ACC-equipped vehicle 10 is slowing for an exit ramp and / or merging onto a new road or highway, and the like, and automatically re-engage the ACC when the vehicle is stationary.

[0055] Now with reference to Fig. 3 and with further reference to Fig. 1 and Fig. Figure 2 shows a flowchart illustrating a driver-interactive learning strategy for the target speed 300.

[0056] An ACC system 12 includes a controller 26 connected to a vehicle 10 and a plurality of vehicle sensors 30 ( Fig. 1). The learning strategy 300 for the driver-interactive desired speed is stored in and executed by the controller 26, which is configured to receive 110 driver inputs DI from a driver (not shown), for example, via an accelerator pedal 16A, a brake pedal 16B and / or a steering wheel 16C, and / or sensor inputs SI from the plurality of vehicle sensors 30 ( Fig. 1) receives.

[0057] The second driver input DI2 includes a pedal input PI from, for example, the accelerator pedal 16A and / or the brake pedal 16B, and the controller 26 is configured to classify 310 the PI as a soft pedal input SPI indicating driver intervention or as a hard pedal input HPI indicating driver override. The pedal input PI may include, for example, an accelerator pedal 16A application and / or a brake pedal 16B application.

[0058] The learning strategy 300 for the driver-interactive set speed includes the setting 320 of the desired set speed (DSS) to which the ACC is triggered at 120 ( Fig. 2) to a new desired set speed (NDSS) when the pedal input PI is classified as a soft pedal input SPI, indicating driver intervention.

[0059] Setting 320 the DSS includes learning 340 the NDSS, which includes sensing 350 a constant speed CS of the ACC-equipped vehicle 10, wherein the SS is sensed via at least one of the plurality of vehicle sensors 30; determining 360 a steady vehicle dynamic intent (SVDI) at the SS; sensing 370 a driver engagement level (DEL) at the SS, wherein the DEL is sensed via, for example, at least one other of the plurality of vehicle sensors 30 or another vehicle system, including, but not limited to, a driver monitoring system (DMS); checking 380 at least one environmental condition (EC), for example, but not limited to, a speed SPD of the ACC-equipped vehicle 10;Associating 390 the SS with the SVDI, the DEL, the at least one EC such that the SS corresponds to the SVDI, the DEL, and the at least one EC at the SS; storing 400 the SS detected at 350 as the NDSS; storing 410 the associated SVDI, the associated DEL, and the at least one associated EC corresponding to the NDSS in the controller 26; and setting 320 the DSS to the NDSS once the ACC-equipped vehicle 10 has not engaged the NDSS for a predetermined period of time T; PD and when the detected SVDI, the detected DEL, and the at least one verified EC are each equal to the SVDI, the associated DEL, and the at least one associated EC corresponding to the NDSS, wherein re-enabling 150 the ACC at the DSS further comprises automatically re-enabling the ACC at the NDSS.

[0060] The SS is determined using the sensor input SI from the plurality of vehicle sensors 30 based on the following formula (1): DR>KDR AND|Ay|<KAY UND SPD> KSPD AND|Ax| <KAX fu¨r TPD.

[0061] Where DR is a distance ratio between a desired distance D D between the ACC-equipped vehicle 10 and a preceding vehicle 10A and the actual distance D A between the ACC-equipped vehicle 10 and the preceding vehicle 10A, K DR is a calibration value related to the distance ratio DR, Ay is a lateral acceleration of the ACC-equipped vehicle 10, K AY is a calibration value related to the lateral acceleration Ay, Ax is a longitudinal acceleration of the ACC-equipped vehicle 10, K AXis a calibration value related to the longitudinal acceleration Ax, SPD is a speed of the ACC-equipped vehicle 10, and K SPD is a calibration value relating to the speed of the ACC-equipped vehicle 10 over a predetermined period of time T PD refers to.

[0062] The SVDI is determined based on the following formula (2): SWA−RTA<|KSWA|.

[0063] Where SWA rate is a steering wheel angle rate that can be detected by at least one of the plurality of vehicle sensors 30, and K SWA is a calibration value related to the steering wheel angle rate SWA.

[0064] One or more of the calibration values ​​K DR , K AY , K AX , K SPD and K SWAmay include a fixed value stored in the controller 26 or a variable value related to one or more of the vehicle parameters DR, Ay, Ax, SPD and SWA and stored in one or more tables accessible by the controller 26.

[0065] According to another aspect of the present disclosure, automatically re-engaging the ACC via the controller 26 in the DSS includes automatically re-engaging the ACC via the controller 26 in the NDSS when the ACC system 12 maintains a constant speed (Sc) for a predetermined period of time (T PD ), whereby the NDSS includes the Sc.

[0066] If the pedal input PT is classified as hard pedal input HPI, indicating driver oversteer, the driver-interactive learning strategy for the target speed 300 includes automatic re-engagement 150 of the DSS.

[0067] The Adaptive Cruise Control (ACC) system and method include a driver-interactive automatic re-engagement strategy that enables the ACC system to learn the driver's desired set speed by continuously monitoring driver inputs, systematically disengaging the ACC, learning the new desired driver inputs by monitoring a speed profile using a driver-interactive set speed learning function for the set speed, and automatically adjusting the set speed to meet the driver's intent.

Claims

[1] Adaptive Cruise Control (ACC) method for a vehicle (10) equipped with ACC, the method comprising: Providing a controller (26) in communicative connection with the ACC-equipped vehicle (10), the controller (26) configured to receive driver inputs (DI1, DI2) from a driver and sensor inputs (SI1, SI2) from a plurality of vehicle sensors (30); Switching on the ACC at a desired target speed, wherein the ACC is switched on via the controller (26) in response to a first driver input (DI1) and / or a first sensor input (SI1) from the plurality of vehicle sensors (30); Receiving, via the controller (26), a second driver input (DI2) and / or a second sensor input (SI2) from the plurality of vehicle sensors (30); Switching off the ACC via the controller (26) in response to receiving the second driver input (DI2) and / or a second sensor input (SI2) from the plurality of vehicle sensors (30); and Reactivation of the ACC at the desired target speed, whereby the ACC is automatically reactivated via the control (26); wherein the second driver input (DI2) comprises a pedal input (PI), the pedal input (PI) being classified as a soft pedal input (SPI) indicating driver intervention or as a hard pedal input (HPI) indicating driver override; and wherein engaging the ACC at the desired target speed further comprises setting the desired target speed to a new desired target speed if the pedal input (PI) is classified as the soft pedal input (SPI), the setting the desired target speed to the new desired target speed comprising: Learning a new desired target speed, where learning the new desired target speed includes: Detecting a constant speed, wherein the constant speed is detected via at least one of the plurality of vehicle sensors (30); Determining, via the controller (26), a steady-state vehicle dynamic intention at the constant speed; detecting a driver intervention level at the constant speed, wherein the driver intervention level is detected via at least one other of the plurality of vehicle sensors (30); Checking, via the controller (26), at least one environmental condition at the constant speed; Linking the constant speed to the steady-state vehicle dynamic intent, the driver intervention level, and the at least one environmental condition such that the constant speed matches the steady-state vehicle dynamic intent, the driver intervention level, and the at least one environmental condition at the constant speed; Save the constant speed as the new target speed; Storing the associated steady-state vehicle dynamic intention, the associated driver intervention level, and the at least one associated environmental condition corresponding to the new desired target speed in the controller (26); and Setting the desired target speed to the new desired target speed once the vehicle (10) has maintained the new desired target speed for a predetermined period of time and when the detected steady-state vehicle dynamic intent, the detected driver intervention level, and the at least one verified environmental condition are each equal to the steady-state vehicle dynamic intent, the associated driver intervention level, and the at least one associated environmental condition corresponding to the new desired target speed; and wherein re-enabling the ACC at the desired target speed further comprises re-enabling the ACC at the new desired target speed, wherein the ACC is automatically re-enabling to the new target speed via the controller (26). [2] The ACC method of claim 1, further comprising: Determining whether a preceding vehicle (10A) is within a predefined field of view (AoV) of the ACC-equipped vehicle (10); Decelerating the ACC-equipped vehicle (10) when the preceding vehicle (10A) is within the predefined AoV, wherein the ACC-equipped vehicle (10) is decelerated via the controller (26) in response to the second driver input (DI2), the second driver input (DI2) comprising a brake pedal application; Determining an actual following distance between the ACC-equipped vehicle (10) and the preceding vehicle (10A); Flashing an ACC indicator to encourage the driver to release the brake pedal when the actual following distance reaches a predefined following distance; and Wait until the driver releases the brake pedal before reactivating the ACC at the desired target speed; and the ACC is automatically switched on again via the control (26) when the brake pedal is released. [3] The ACC method of claim 1, further comprising: Determining whether a preceding vehicle (10A) is within a predefined field of view of the ACC-equipped vehicle (10); and Stopping the ACC-equipped vehicle (10) behind the leading vehicle (10A) when the leading vehicle (10A) is within the predefined AoV, wherein the ACC-equipped vehicle (10) is stopped via the controller (26) in response to the second driver input (DI2), the second driver input (DI2) comprising a brake pedal application; and wherein the ACC is automatically switched on again via the control (26) when the vehicle (10) equipped with ACC is stationary. [4] The ACC method of claim 1, further comprising: Determining whether the ACC-equipped vehicle (10) is approaching an intersection; and Determining whether the ACC-equipped vehicle (10) is stopped at the intersection; and wherein the ACC is automatically re-enabled via the controller (26) when the vehicle (10) is stationary. [5] The ACC method of claim 4, further comprising determining whether a turn signal is active; and wherein reactivation of the ACC is automatically inhibited via the controller (26) if it is determined that the turn signal is active. [6] The ACC method of claim 4, further comprising determining whether a turn signal is active; and wherein automatically reactivating the ACC via the controller (26) comprises reactivating the ACC when it is determined that the turn signal is not active and the vehicle (10) is stationary. [7] The ACC method of claim 4, further comprising evaluating alternative ACC re-engagement options when it is determined that the ACC-equipped vehicle (10) is not approaching the intersection. [8] The ACC method of claim 1, wherein automatically re-engaging the ACC via the controller (26) to the desired setpoint speed comprises automatically re-engaging the ACC via the controller (26) to a new desired setpoint speed when a constant speed is detected for a predetermined period of time, the new desired setpoint speed comprising the constant speed.

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