Method for operating a longitudinal guidance assistance system, longitudinal guidance assistance system and vehicle with longitudinal guidance assistance system

Abstract

The invention relates to a method (100) for operating a longitudinal guidance assistance system (50) for a vehicle (300), the longitudinal guidance assistance system (50) comprising a detection unit (51) for detecting a deviation (D) of the vehicle (300) from a predetermined longitudinal guidance state and a control unit (52) for controlling the longitudinal guidance of the vehicle (300), the method (100) comprising: - Detection (110) of a deviation (D) of the vehicle (300) from a predetermined longitudinal control state, in particular by the detection unit (51), wherein the predetermined longitudinal control state is characteristic of a target speed of the vehicle (300) and / or a target distance of the vehicle (300) to a preceding vehicle (300), wherein in particular the target distance is given higher priority than the target speed, - Determining (120) a rate of change (A) of the vehicle speed as a function of the deviation (D) according to at least one given change characteristic curve (K) and - Adjusting (130) the longitudinal guidance of the vehicle (300) according to the determined rate of change (A), in particular by the control unit (52).

Description

[0001] The invention relates to a method, a longitudinal guidance assistance system, a computer program product, a computer-readable storage medium, an input device and a vehicle.

[0002] Modern vehicles employ longitudinal guidance assistance systems for automated longitudinal control of the vehicle, thereby reducing the driver's required actions during driving. Such a longitudinal guidance assistance system can be, in particular, cruise control or adaptive cruise control. Longitudinal guidance systems are known, for example, from DE 102 10 572 A1, DE 103 11 191 A1, and DE 100 23 067 A1.

[0003] In this regard, a disadvantage has emerged: the accelerations and / or decelerations performed by such longitudinal guidance assistance systems are often perceived as inappropriate or disruptive by the driver and / or vehicle occupants. This can impair the acceptance of such longitudinal guidance assistance systems.

[0004] It is therefore an object of the present invention to overcome at least one of the disadvantages described above, at least partially. In particular, it is an object of the invention to provide a method, a longitudinal guidance assistance system, a computer program product, a computer-readable storage medium, a data carrier signal, an input device, and a vehicle that enable improved operation of a longitudinal guidance assistance system, especially with regard to behavior adapted to the respective driving situation and / or the driver's wishes.

[0005] The foregoing problem is solved by a method according to a first aspect of the present invention, by a longitudinal guidance assistance system according to a second aspect of the present invention, by a computer program product according to a third aspect of the present invention, by a computer-readable storage medium according to a fourth aspect of the present invention, by an input device according to a fifth aspect of the present invention, and by a vehicle according to a sixth aspect of the present invention. Further features and details of the invention will become apparent from the dependent claims, the description, and the drawings.Features and details described in connection with the method according to the invention naturally also apply in connection with the longitudinal guidance assistance system according to the invention and / or in connection with the computer program product according to the invention and / or in connection with the computer-readable storage medium according to the invention and / or in connection with the input device according to the invention and / or in connection with the vehicle according to the invention, and vice versa, so that with regard to the disclosure of the individual aspects of the invention, mutual reference is always made or can be made.

[0006] According to a first aspect, the present invention relates to a method for operating a longitudinal guidance assistance system for a vehicle, the longitudinal guidance assistance system comprising a detection unit for detecting a deviation of the vehicle from a predetermined longitudinal guidance state and a control unit for controlling the longitudinal guidance of the vehicle, the method comprising: - Detecting a deviation of the vehicle from a predetermined longitudinal control state, in particular by the detection unit, wherein the predetermined longitudinal control state is characteristic of a target speed of the vehicle and / or a target distance of the vehicle to a vehicle driving ahead, wherein in particular the target distance is given higher priority than the target speed. - Determining the rate of change of vehicle speed as a function of the deviation according to at least one predefined change characteristic curve and - Adjusting the longitudinal guidance of the vehicle according to the determined rate of change, in particular by the control unit.

[0007] In other words, a method for operating a longitudinal guidance assistance system for a vehicle is proposed. The longitudinal guidance assistance system comprises a detection unit for detecting a deviation of the vehicle from a predefined, in particular, controllable, longitudinal guidance state, and furthermore a control unit for controlling the longitudinal guidance of the vehicle. In particular, the control unit can be configured to perform or initiate a deceleration and / or acceleration of the vehicle.

[0008] According to the invention, a deviation of the vehicle from a predetermined longitudinal control state is detected, particularly by the detection unit. The predetermined longitudinal control state is characteristic of a target speed of the vehicle and / or a target distance of the vehicle to a vehicle ahead. In particular, the vehicle and the vehicle ahead may be in the same lane.

[0009] It may be preferable to provide that, with regard to the specified longitudinal control state, a target distance to be maintained is given higher priority than a specified target speed. This means that if the specified longitudinal control state includes both a target speed and a target distance, the target speed is only set if this is possible while taking the specified target distance into account.

[0010] According to the invention, it is further provided that the rate of change of the vehicle speed, i.e., the acceleration or deceleration of the vehicle, is determined as a function of the detected deviation of the vehicle from the predetermined longitudinal control state. This is done using at least one predetermined change characteristic curve. In other words, the change characteristic curve represents a functional relationship between the deviation of the vehicle from the predetermined longitudinal control state as an input parameter on the one hand, and a rate of change of the vehicle speed as an output parameter on the other.

[0011] In particular, a change characteristic curve can be specified as a mathematical function, a table or the like, and / or stored in a data memory of the control unit.

[0012] Furthermore, the vehicle's longitudinal guidance or speed is adjusted according to the determined rate of change. Consequently, the vehicle accelerates or decelerates according to the determined rate of change. If the determined rate of change is zero, the vehicle speed is preferably maintained.

[0013] The method according to the invention offers the advantage that the behavior of the longitudinal guidance assistance system can be adapted to the needs of the vehicle driver and / or specific driving situations by means of the change characteristic curve. In particular, the change characteristic curve enables the longitudinal guidance assistance system to react in a way that is adapted to the respective deviation from the specified longitudinal guidance state. In other words, the intensity of the reactions of the longitudinal guidance assistance system depends on the current deviation from the specified or to-be-regulated longitudinal guidance state, which makes the vehicle behavior more intuitive for the driver and increases the acceptance of the longitudinal guidance assistance system.

[0014] With regard to the present invention, in particular a speed or an acceleration of the vehicle shall be understood as a speed or acceleration along or substantially along the longitudinal axis of the vehicle.

[0015] Within the scope of the invention, it can be advantageous that the rate of change is characteristic of an acceleration of the vehicle when - the vehicle's speed is lower than the target speed, - no vehicle ahead is detected, in particular by the detection unit and / or - the distance between the vehicle and a vehicle in front reaches or exceeds a predetermined distance limit.

[0016] In other words, it may be preferentially provided that the rate of change is determined as an acceleration from the change characteristic curve if the vehicle has not yet reached the specified target speed and / or no vehicle ahead has been detected and / or the vehicle has a distance to a vehicle ahead that is greater than the target distance. In particular, it may be provided that the rate of change is characteristic of an acceleration only if several, in particular at least two, or all of these criteria are met, in particular simultaneously.

[0017] Within the scope of the invention, it is conceivable that the rate of change is characteristic of a deceleration of the vehicle when - the vehicle's speed is greater than the target speed, - a vehicle ahead is detected, in particular by the detection unit and / or - the distance between the vehicle and a vehicle in front reaches or falls below a predetermined distance limit.

[0018] In other words, it may be preferentially provided that the rate of change is determined as a deceleration from the change characteristic curve when the vehicle has exceeded the specified target speed and / or a vehicle ahead has been detected and / or the vehicle has a distance to a vehicle ahead that is less than the target distance. In particular, it may be provided that the rate of change is characteristic of a deceleration only if several, in particular at least two, or all of these criteria are met, in particular simultaneously.

[0019] Additionally or alternatively, it may be provided that the rate of change is characteristic of maintaining the current vehicle speed, in particular zero, if the vehicle's speed corresponds to or substantially corresponds to the target speed and / or the distance of the vehicle to a vehicle ahead corresponds to or substantially corresponds to the target distance.

[0020] Within the scope of the invention, it can be provided that at least one change characteristic curve, starting from the longitudinal control state to be regulated, exhibits a degressive increase in acceleration with, in particular, an increasing absolute value of, the vehicle's deviation from the predetermined longitudinal control state. A degressive increase in this context means that a change in the rate of change triggered by a change in the vehicle's deviation from the predetermined longitudinal control state decreases with, in particular, an increasing absolute value of, the vehicle's deviation from the predetermined longitudinal control state. Thus, starting from the predetermined longitudinal control state, the acceleration initially exhibits a steep slope, which decreases with, in particular, an increasing absolute value of, the vehicle's deviation from the predetermined longitudinal control state.This allows for sporty acceleration behavior of the vehicle, since strong accelerations are achieved particularly with comparatively small deviations of the vehicle from the longitudinal control state, which are particularly noticeable to the driver or the occupants as a longitudinal jerk.

[0021] Additionally or alternatively, it can be provided that at least one change characteristic curve, starting from the longitudinal control state to be regulated, exhibits a progressive increase in deceleration with a progressive increase, particularly in magnitude, in the deviation of the vehicle from the specified longitudinal control state. In this context, a progressive increase means that a change in the rate of change triggered by a change in the vehicle's deviation from the specified longitudinal control state increases with a progressive increase, particularly in magnitude, in the deviation of the vehicle from the specified longitudinal control state. Thus, starting from the specified longitudinal control state, the deceleration initially exhibits a low slope, which increases with a progressive increase, particularly in magnitude, in the deviation of the vehicle from the specified longitudinal control state.This allows for sporty deceleration behavior of the vehicle, as initially only weak deceleration occurs, especially with relatively small deviations of the vehicle from the longitudinal control state. Thus, braking into the predetermined or controlled longitudinal control state occurs only late.

[0022] Additionally or alternatively, it can be provided that at least one characteristic curve, starting from the longitudinal control state to be regulated, exhibits a progressive increase in acceleration with a deviation of the vehicle from the specified longitudinal control state that increases, particularly in magnitude. Thus, starting from the specified longitudinal control state, the acceleration initially has a low slope, which increases with a deviation of the vehicle from the specified longitudinal control state that increases, particularly in magnitude. This allows for a more conservative acceleration behavior of the vehicle, since, especially with comparatively small deviations of the vehicle from the longitudinal control state, only weak acceleration of the vehicle occurs initially.

[0023] Additionally or alternatively, the invention may provide that at least one characteristic curve, starting from the longitudinal control state to be regulated, exhibits a degressive increase in deceleration with increasing deviation of the vehicle from the predetermined longitudinal control state, particularly in magnitude. Thus, starting from the predetermined longitudinal control state, the deceleration initially exhibits a steep slope, which decreases with increasing deviation of the vehicle from the predetermined longitudinal control state, particularly in magnitude. This allows for a more defensive and safer deceleration behavior of the vehicle, since strong deceleration is achieved even with comparatively small deviations of the vehicle from the longitudinal control state.

[0024] According to the invention, a change characteristic curve starting from the longitudinal control state to be regulated exhibits a degressive increase in acceleration and a progressive increase in deceleration with, in particular, an increasing absolute deviation of the vehicle from the predetermined longitudinal control state (sporty change characteristic curve), and / or a change characteristic curve starting from the longitudinal control state to be regulated exhibits a progressive increase in acceleration and a degressive increase in deceleration with, in particular, an increasing absolute deviation of the vehicle from the predetermined longitudinal control state (defensive change characteristic curve). This allows the longitudinal control assistance system to provide an overall sporty driving behavior with regard to both deceleration and acceleration of the vehicle, and / or an overall more defensive or...Safer driving behavior, both in terms of deceleration and acceleration of the vehicle, is provided by the longitudinal guidance assistance system.

[0025] It may be provided that a plurality of change characteristics are available, in particular at least one sporty and one defensive change characteristic, wherein preferably one change characteristic from the plurality of change characteristics can be selected by a user of the vehicle and / or automatically, in particular by the control unit. In this way, switching between different change characteristics is possible as needed in order to provide the most optimal behavior of the longitudinal guidance assistance system.

[0026] In particular, it can be provided that the automated selection of a change characteristic curve depends on the vehicle's speed, whereby a first change characteristic curve, especially a defensive one, is selected when the speed reaches or exceeds a lower speed limit, and a second change characteristic curve, different from the first, especially a sporty one, is selected when the speed reaches or exceeds an upper speed limit. This allows for speed-dependent adaptive behavior of the longitudinal control assistance system.

[0027] The lower speed limit can be equal to the upper speed limit. Preferably, however, the upper speed limit can be higher than the lower speed limit. In particular, the lower speed limit can be a maximum of or exactly 50 km / h and / or the upper speed limit can be a minimum of or exactly 100 km / h, in particular a minimum of or exactly 120 km / h, preferably a minimum of or exactly 130 km / h.

[0028] Preferably, it can be provided that if the speed is greater than or equal to the lower speed limit and less than or equal to the upper speed limit, a speed-dependent interpolation between the first and second change characteristic curves is performed to determine the rate of change. This allows for a comparatively smooth transition between two change characteristic curves for the driver of the vehicle.

[0029] With regard to the present invention, it is preferably provided that the automated selection of a change characteristic curve is carried out depending on a geographical position of the vehicle and / or a road category. To detect the geographical position of the vehicle, the detection unit can comprise a position sensor, in particular a GPS sensor. Alternatively, the geographical position can be detected by other sensors of the vehicle, in particular by at least one position sensor installed in the vehicle, and transmitted to the control unit of the longitudinal guidance assistance system. In particular, the geographical position can be evaluated in conjunction with map information to determine a road category. The road category is to be understood as a category of the road on which the vehicle is currently moving. Such a category could, for example, be...This could include highways, country roads, traffic-calmed zones, 30 km / h zones, 50 km / h zones, or similar. Such map information can be stored, for example, in a data memory of the control unit. The evaluation can also be performed by other vehicle components, and a road category can be transmitted directly to the control unit of the longitudinal guidance assistance system.

[0030] In particular, when the vehicle is traveling outside of built-up areas, especially on a motorway or rural road, a different, preferably sportier, acceleration response curve can be selected than when the vehicle is traveling within built-up areas, especially in a traffic-calmed zone, a 30 km / h zone, or a 50 km / h zone. Specifically, a more conservative acceleration response curve can be selected when driving within built-up areas.

[0031] According to a second aspect, the present invention further relates to a longitudinal guidance assistance system for a vehicle, comprising a detection unit for detecting a deviation of the vehicle from a longitudinal guidance state to be regulated, and a control unit for controlling the longitudinal guidance of the vehicle, wherein the longitudinal guidance assistance system is configured to be operated according to the first aspect of the present invention. Thus, with regard to a longitudinal guidance assistance system according to the invention, the same advantages arise as have already been described with regard to a method according to the invention.

[0032] In particular, the longitudinal guidance assistance system can be designed as a cruise control or an adaptive cruise control system.

[0033] The detection unit can, in particular, comprise at least one sensor, especially a distance sensor, for detecting the distance between the vehicle and a vehicle ahead. The sensor can preferably be a LiDAR or radar sensor. Additionally or alternatively, the detection unit can comprise at least one sensor, especially a speed sensor, for detecting the vehicle's speed. The detection unit and / or the control unit can preferably operate or include a software application for evaluating the data from at least one sensor.

[0034] The control unit and / or the acquisition unit may preferably include data processing means. The data processing means preferably include at least one processor and / or at least one main memory and / or at least one, in particular non-volatile, data storage device.

[0035] It may be provided that the control unit and / or the acquisition unit includes at least one communication interface, or that the aforementioned units can be brought into a communication link, at least temporarily. In this way, data and signals (e.g., control signals) can be communicated between the respective units. A communication or signal link to other vehicle components, e.g., for querying sensor data acquired independently of the longitudinal guidance system, is also conceivable.

[0036] According to a third aspect, the present invention further relates to a computer program product comprising instructions that cause a longitudinal guidance assistance system according to the second aspect of the present invention to execute a method according to the first aspect of the present invention. This results in the same advantages with respect to a computer program product according to the invention as have already been described with respect to a method and / or a longitudinal guidance assistance system according to the invention.

[0037] According to a fourth aspect, the present invention further relates to a computer-readable storage medium on which a computer program product according to the third aspect of the present invention is stored. This results in the same advantages with respect to a computer-readable storage medium according to the invention as have already been described with respect to a method and / or a longitudinal guidance assistance system and / or a computer program product according to the invention.

[0038] According to a fifth aspect, the present invention further relates to a data carrier signal that transmits a computer program product according to the third aspect of the present invention. This results in the same advantages with respect to a data carrier signal according to the invention as have already been described with respect to a method according to the invention and / or a longitudinal guidance assistance system according to the invention and / or a computer program product according to the invention and / or a computer-readable storage medium according to the invention.

[0039] According to a sixth aspect, the present invention further relates to an input device for configuring a longitudinal guidance assistance system according to the second aspect of the present invention, the input device comprising at least one display unit for the visual representation of at least one change characteristic curve and / or at least one selection menu. Furthermore, the input device comprises at least one input element, wherein at least one change characteristic curve can be selected and / or, at least partially, modified by a user action on the input element. Thus, with respect to an input device according to the invention, the same advantages arise as those already described with respect to a method according to the invention and / or a longitudinal guidance assistance system according to the invention and / or a computer program product according to the invention and / or a computer-readable storage medium according to the invention and / or a data carrier signal according to the invention.

[0040] In particular, the selection menu is used to select a change characteristic curve from a plurality of change characteristic curves.

[0041] In particular, it may be provided that the display unit is designed as a touch-sensitive display, so that the display unit also forms the input element or at least one input element.

[0042] According to a seventh aspect, the present invention further relates to a vehicle comprising a longitudinal guidance assistance system according to the second aspect of the present invention and / or an input device according to the sixth aspect of the present invention. This provides the same advantages with respect to a vehicle according to the invention as have already been described with respect to a method according to the invention and / or a longitudinal guidance assistance system according to the invention and / or a computer program product according to the invention and / or a computer-readable storage medium according to the invention and / or a data carrier signal according to the invention and / or an input device according to the invention.

[0043] Further advantages, features, and details of the invention will become apparent from the following description, in which several embodiments of the invention are described in detail with reference to the drawings. The features mentioned in the claims and in the description can each be essential to the invention individually or in any combination. The following is shown: Fig. 1 a schematic view of a procedure, Fig. 2 a schematic view of a traffic scene, Fig. 3 a schematic view of a change characteristic curve, Fig. 4 a schematic view of a change characteristic curve, Fig. 5 a schematic view of a change characteristic curve, Fig. 6 a schematic view of a longitudinal guidance assistance system, Fig. 7 a schematic view of an input device and Fig. 8 A schematic view of a vehicle.

[0044] The figures use identical reference numerals for the same technical features, even for different embodiments.

[0045] Fig. Figure 1 shows a schematic view of a method 100 for operating a longitudinal guidance assistance system 50 for a vehicle 300, the longitudinal guidance assistance system 50 comprising a detection unit 51 for detecting a deviation of the vehicle 300 from a predetermined longitudinal guidance state and a control unit 52 for controlling the longitudinal guidance of the vehicle 300, the method 100 comprising: - Detecting 110 a deviation D of the vehicle 300 from a predetermined longitudinal control state, in particular by the detection unit 51, wherein the predetermined longitudinal control state is characteristic of a target speed of the vehicle 300 and / or a target distance of the vehicle 300 to a preceding vehicle 300, wherein in particular the target distance is given higher priority than the target speed, - Determine 120 a rate of change A of the vehicle speed as a function of the deviation D according to at least one given change characteristic curve K and - Adjusting 130 the longitudinal guidance of the vehicle 300 according to the determined rate of change A, in particular by the control unit 52.

[0046] Fig. Figure 2 shows a schematic view of a traffic scene, with several vehicles moving along a multi-lane road in the direction indicated by the arrows. For the vehicle in the left lane of the Fig. For vehicle 300 shown, there is no restriction due to a preceding vehicle 300. Therefore, the specified longitudinal control state for this vehicle 300 can be particularly characteristic of a target speed at which the vehicle 300 is to move along the roadway. The same can apply, in particular, to the preceding vehicle 300 in the right lane. Any specification for a target distance to a preceding vehicle 300 would thus not apply. For the rear vehicle 300 in the right lane, there is the additional boundary condition of a preceding vehicle 300, which may be traveling slower than a specified target speed. The longitudinal control state specified for this vehicle 300 can therefore be particularly characteristic of a target speed on the one hand and a target distance to the preceding vehicle 300 on the other, whereby the target distance is given higher priority than the target speed.

[0047] Fig. Figure 3 shows a schematic view of a change characteristic curve K. The change characteristic curve K represents a functional relationship between the deviation D of vehicle 300 from the specified longitudinal control state as an input parameter on the one hand, and a rate of change A of the vehicle speed as an output parameter on the other. Here, the specified longitudinal control state is characterized by a deviation D from zero.

[0048] One in relation to Fig. 3. Increasing deviation D, i.e., an increase of D to the right, characterizes a region in which the speed of vehicle 300 is lower than a specified target speed and / or the distance of vehicle 300 to a preceding vehicle 300 is greater than a specified target distance, or, if no preceding vehicle 300 is present, in which case there is no preceding vehicle 300. Accordingly, a positive rate of change A is present for this region of the change characteristic K, which corresponds to an acceleration of vehicle 300.

[0049] One in relation to Fig. 3. A decreasing deviation D, i.e., a decrease of D to the left, characterizes a range in which the speed of vehicle 300 is greater than a specified target speed and / or the distance of vehicle 300 to a preceding vehicle 300 is less than a specified target distance. Accordingly, a negative rate of change A exists for this range of the change characteristic K, which corresponds to a deceleration of vehicle 300.

[0050] In Fig. 3 The change characteristic K, starting from the specified longitudinal control state, exhibits a progressive increase in acceleration as well as a progressive increase in deceleration with, in particular, an increase in the magnitude of the deviation D of the vehicle 300 from the specified longitudinal control state.

[0051] Fig. Figure 4 shows an alternative embodiment of a change characteristic curve K, which corresponds to a change characteristic curve K referred to as a sporty change characteristic curve K within the meaning of the present invention. The sporty change characteristic curve K is characterized by a degressive increase in acceleration and a progressive increase in deceleration, starting from the predetermined longitudinal control state, with a deviation D of the vehicle 300 from the predetermined longitudinal control state increasing, particularly in magnitude.

[0052] Fig. Figure 5 shows an alternative embodiment of a change characteristic K, which corresponds to a change characteristic K referred to as a defensive change characteristic K within the meaning of the present invention. The defensive change characteristic K is characterized by a progressive increase in acceleration and a degressive increase in deceleration, starting from the predetermined longitudinal control state, with a deviation D of the vehicle 300 from the predetermined longitudinal control state increasing, particularly in magnitude.

[0053] Fig. Figure 6 further shows a schematic view of a longitudinal guidance assistance system 50 for a vehicle 300, comprising a detection unit 51 for detecting a deviation of the vehicle 300 from a predetermined longitudinal guidance state and a control unit 52 for controlling the longitudinal guidance of the vehicle 300, wherein the longitudinal guidance assistance system 50 is configured to be operated according to a method 100 according to the first aspect of the present invention.

[0054] Fig. Figure 7 shows a schematic view of an input device 200 for configuring a longitudinal guidance assistance system 50 according to the second aspect of the present invention. The input device 200 comprises at least one display unit 201 for the visual representation of at least one change characteristic K and / or at least one selection menu 203, as well as at least one input element 202, wherein at least one change characteristic K can be selected and / or, at least partially, modified by a user action on the input element 202. The selection menu 203 serves, in this case, to select a change characteristic K from a plurality of change characteristic K, which in this case comprises a first change characteristic K1 and a second change characteristic K2.

[0055] In this case, the display unit 201 is designed as a touch-sensitive display and thus also functions as an input element 202. The change characteristic curve K has several control points P, which a user can move by means of a corresponding user action, thereby adjusting the change characteristic curve K. In particular, a spline can be defined by the control points P, which in turn characterizes the rate of change A of the vehicle speed as a function of the deviation D.

[0056] Additional input elements 202 may be provided, e.g. sliders, rotary controls or the like, by which in particular a lower or upper speed limit, a target distance and / or a target speed can be set.

[0057] Fig.Figure 8 shows a schematic view of a vehicle 300, wherein the vehicle 300 comprises a longitudinal guidance assistance system 50 according to the second aspect of the present invention and an input device 200 according to the sixth aspect of the present invention.

[0058] The preceding explanation of the embodiments describes the present invention solely by way of examples. Naturally, individual features of the embodiments can be freely combined with one another, provided this is technically feasible, without departing from the scope of the present invention. Reference symbol list 50 Longitudinal guidance assistance system 51 recording units 52 Control unit 100 procedures 110 Capture 120 Determine 130 Adjust 200 Input device 201 Display unit 202 Input element 203 Selection menu 300 vehicles D deviation A rate of change K change characteristic curve P Checkpoint K1 first change characteristic curve K2 second change characteristic curve

Claims

[1] Method (100) for operating a longitudinal guidance assistance system (50) for a vehicle (300), the longitudinal guidance assistance system (50) comprising a detection unit (51) for detecting a deviation (D) of the vehicle (300) from a predetermined longitudinal guidance state and a control unit (52) for controlling the longitudinal guidance of the vehicle (300), the method (100) comprising: - Detection (110) of a deviation (D) of the vehicle (300) from a predetermined longitudinal control state, in particular by the detection unit (51), wherein the predetermined longitudinal control state is characteristic of a target speed of the vehicle (300) and / or a target distance of the vehicle (300) to a preceding vehicle (300), wherein in particular the target distance is given higher priority than the target speed, - Determining (120) a rate of change (A) of the vehicle speed as a function of the deviation (D) according to at least one given change characteristic curve (K) and - Adjusting (130) the longitudinal guidance of the vehicle (300) according to the determined rate of change (A), in particular by the control unit (52), wherein at least one change characteristic (K) starting from the specified longitudinal control state exhibits a degressive increase in acceleration and a progressive increase in deceleration with, in particular in magnitude, increasing deviation (D) of the vehicle (300) from the specified longitudinal control state and / or wherein at least one change characteristic (K) starting from the given longitudinal control state exhibits a progressive increase in acceleration and a degressive increase in deceleration with, in particular in magnitude, increasing deviation (D) of the vehicle (300) from the given longitudinal control state. [2] Method (100) according to claim 1, characterized by , that the rate of change (A) is characteristic of an acceleration of the vehicle (300) when - the vehicle's speed (300) is lower than the target speed, - no vehicle ahead (300) is detected, in particular by the detection unit (51), and / or - the distance between the vehicle (300) and a vehicle ahead (300) reaches or exceeds a predetermined distance limit. [3] Method (100) according to any one of the preceding claims, characterized by , that the rate of change (A) is characteristic of a deceleration of the vehicle (300) when - the vehicle's speed (300) is greater than the target speed, - a vehicle ahead (300), in particular by the detection unit (51), is detected and / or - the distance between the vehicle (300) and a vehicle ahead (300) reaches or falls below a predetermined distance limit. [4] Method (100) according to any one of the preceding claims, characterized by , that a plurality of change characteristic curves (K) is provided, wherein a change characteristic curve (K) can be selected from the plurality of change characteristic curves (K) manually, in particular by a user of the vehicle (300), and / or automatically, in particular by the control unit (52). [5] Method (100) according to claim 4, characterized by, that the automated selection of a change characteristic curve (K) is carried out depending on a speed of the vehicle (300), wherein a first change characteristic curve (K) is selected when the speed reaches or exceeds a lower speed limit and a second change characteristic curve (K), different from the first, is selected when the speed reaches or exceeds an upper speed limit. [6] Method (100) according to claim 5, characterized by , that if the speed is greater than or equal to the lower speed limit and less than or equal to the upper speed limit, a speed-dependent interpolation is performed between the first and the second change characteristic curve (K) to determine (120) the rate of change (A) of the vehicle speed. [7] Method (100) according to any one of claims 4 to 6, characterized by, that the automated selection of a change characteristic curve (K) is carried out depending on a geographical position of the vehicle (300) and / or a road category. [8] Longitudinal guidance assistance system (50) for a vehicle (300), comprising a detection unit (51) for detecting a deviation (D) of the vehicle (300) from a predetermined longitudinal guidance state and a control unit (52) for controlling the longitudinal guidance of the vehicle (300), wherein the longitudinal guidance assistance system (50) is configured to be operated according to a method (100) according to one of the preceding claims. [9] Computer program product comprising commands that cause a longitudinal guidance assistance system (50) according to the preceding claim to execute a method (100) according to any one of claims 1 to 7. [10] Computer-readable storage medium on which a computer program product according to the preceding claim is stored. [11] Input device (200) for configuring a longitudinal guidance assistance system (50) according to claim 8, comprising at least one display unit (201) for the visual representation of at least one change characteristic curve (K) and / or at least one selection menu (203) and at least one input element (202), wherein at least one change characteristic curve (K) can be selected and / or, at least partially, modified by a user action on the input element (202). [12] Vehicle (300) comprising a longitudinal guidance assistance system (50) according to claim 8 and / or an input device (200) according to the preceding claim.

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