METHOD FOR DETERMINING A SETTING SPEED OF AN ASSISTANCE SYSTEM FOR CONTROLLING THE LONGITUDINAL MOVEMENT OF A VEHICLE

Description

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

[0002] Methods for determining a set speed for assistance systems that control the longitudinal movement of vehicles, for example for cruise control systems, are generally known from the state of the art. Such assistance systems are available on the market in various designs: as cruise control and as adaptive cruise control. In these assistance systems, the set speed is a desired target speed to which the vehicle's speed is to be regulated. With cruise control, the vehicle's speed is constantly regulated to the set speed. The traffic situation in front of the vehicle is not taken into account by the cruise control system. The driver is therefore responsible for maintaining a safe distance from vehicles ahead. An adaptive cruise control system, also known as ACC (adaptive cruise control), on the other hand, also takes the traffic situation in front of the vehicle into account.It regulates the vehicle's speed to the set speed, provided that compliance with the set speed is possible without falling below a specified target distance from a vehicle in front. If the vehicle in front does not allow compliance with the set speed, the control is implemented as distance control, in which the vehicle follows the vehicle in front at the specified target distance. The vehicle's speed is thus adjusted to the speed of the vehicle in front.

[0003] With conventional assistance systems, the set speed is usually specified by the driver. However, assistance systems are also known that, for example, use traffic sign recognition or digital map data to identify areas with limited speed limits and adjust the set speed to the maximum speed to prevent illegal speeding. One such assistance system is known, for example, from DE 10 2015 006 411 A1.

[0004] From DE 10 2017 2058 893 A1 a method for controlling the speed of a vehicle is known, in which it is determined whether and, if so, at what distance there is a situation in front of the vehicle with reduced traffic speed, for example a traffic jam, and in which a setpoint value on which the control is based is adjusted depending on the result of this determination.

[0005] A method for determining traffic conditions in a vehicle is known from the prior art, as described in DE 10 2009 059 128 A1. In this method, location information is obtained using a road map and a positioning device, traffic information is determined using a traffic information receiver, the route to a destination is determined using the location information, the road map, and the traffic information, and route forecast information is cyclically determined from this. Based on the route forecast information, the route is divided into route sections with individual traffic conditions. Each route section is assigned a piece of route section information, with each piece of route section information containing traffic condition information and location information for the route section. The route section information is output.

[0006] DE 10 2012 216 875 A1 discloses a method for determining a driving strategy for a vehicle. Determining the driving strategy involves determining a set of location-specific target speed values ​​for a route ahead. The target speed values ​​are determined such that they lie within a specified speed range, with the limits of the speed range being adjusted to the traffic density on the route.

[0007] DE 10 2008 041 174 A1 discloses a method for influencing the speed of a vehicle. This method involves determining information about the traffic situation ahead and incorporating this information into the speed control. The determined information includes, in particular, information about the distance to an upcoming traffic jam and changes in the length of the traffic jam.

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

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

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

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

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

[0013] The total length of the route ahead being checked is, for example, at least 2.5 km, in particular at least 3 km, in particular at least 3.5 km, and in particular it is greater than 3.5 km. This enables a realistic assessment of the traffic conditions ahead and, in particular, a timely response to these traffic conditions by setting the appropriate speed value for the set speed, if required according to the specified criteria.

[0014] For example, a low speed value, in particular 80 km / h, a medium speed value, in particular 100 km / h, and a high speed value, in particular 120 km / h, are specified as speed values ​​for the set speed. In other embodiments of the method, for example, further speed values ​​between the low and high speed values ​​can be provided. These different speed values ​​enable a set speed adapted to the respective traffic situation on the route ahead.

[0015] For example, the decision as to whether the set speed should be determined by the assistance system and to which of several predefined speed values ​​the set speed should be set depends particularly on the type and / or number and / or sequence and / or length of the areas along the route. This decision therefore varies for the various possible traffic situations on the route ahead, adapted to the respective traffic situation.For example, if the traffic state of free traffic is followed by the traffic state of congested traffic with vehicle standstill in less than 500 m, which can be parameterized in particular, at a distance of 2 km, for example, the set speed in free traffic is limited to the low speed value, which can be parameterized in particular, of 80 km / h, and the vehicle is braked accordingly. For example, if the traffic state of free traffic is followed by the traffic state of slow-moving and / or stop-and-go traffic with low speeds and a length of at least 500 m, which can be parameterized in particular, at a distance of 2 km, for example, the set speed in free traffic is limited to the high speed value, which can be parameterized in particular, of 120 km / h, and the vehicle is braked accordingly less, in particular hardly at all.

[0016] According to the invention, it is decided that the set speed should be determined by the assistance system if, at the beginning of the checked route ahead, there is an area with the traffic condition of free traffic, the length of which is smaller than a predetermined route limit value for the area with the traffic condition of free traffic, and immediately after this there is an area with the traffic condition of congested traffic, the length of which is greater than a predefined route limit for the area with the traffic condition of congested traffic, or immediately after this there is an area with the traffic condition of slow-moving and / or stop-going traffic, the length of which is greater than a predefined small route limit for the area with the traffic condition of slow-moving and / or stop-going traffic, or immediately after this there is an area with the traffic condition of slow-moving and / or stop-going traffic, the length of which is less than the predefined small route limit for the area with the traffic condition of slow-moving and / or stop-going traffic, and immediately after this there is an area with the traffic condition of congested traffic, the length of which is greater than the predefined route limit for the area with the traffic condition of congested traffic,or directly after this there is an area with the traffic condition of slow-moving and / or congested traffic, the route length of which is shorter than the predefined small route limit for the area with the traffic condition of slow-moving and / or congested traffic, directly after this there is an area with the traffic condition of congested traffic, the route length of which is shorter than the predefined small route limit for the area with the traffic condition of congested traffic, and directly after this there is an area with the traffic condition of slow-moving and / or congested traffic, the route length of which is shorter than the predefined small route limit for the area with the traffic condition of slow-moving and / or congested traffic, or directly after this there is an area with the traffic condition of congested traffic, the route length of which is shorter than the predefined small route limit for the area with the traffic condition of congested traffic,directly after this there is an area with the traffic condition of slow-moving and / or congested traffic, the route length of which is shorter than the predefined small route limit for the area with the traffic condition of slow-moving and / or congested traffic, and directly after this there is an area with the traffic condition of congested traffic, the route length of which is shorter than the predefined route limit for the area with the traffic condition of congested traffic, or directly after this there is an area with the traffic condition of congested traffic, the route length of which is shorter than the predefined route limit for the area with the traffic condition of congested traffic, and directly after this there is an area with the traffic condition of slow-moving and / or congested traffic, the route length of which is longer than the predefined small route limit for the area with the traffic condition of slow-moving and / or congested traffic.

[0017] For these traffic situations, it is advisable for the vehicle to approach the respective traffic situation at a specified set speed in order to avoid a collision with other vehicles driving ahead or at the end of a traffic jam. The specification of the respective set speed and thus the reduction of the vehicle's speed to this set speed should then be carried out in the area with the traffic condition of free traffic, particularly at the beginning of the route being examined and / or at the earliest possible time after the decision has been made.

[0018] For example, it is decided that the set speed should be set to the low speed value, in particular 80 km / h, if at the beginning of the examined route ahead there is an area with the traffic condition of free traffic, the length of which is smaller than the specified route limit value for the area with the traffic condition of free traffic, and immediately after this there is an area with the traffic condition of congested traffic, the length of which is greater than the predefined route limit for the area with the traffic condition of congested traffic, or immediately after this there is an area with the traffic condition of slow-moving and / or stop-and-go traffic, the length of which is less than the predefined small route limit for the area with the traffic condition of slow-moving and / or stop-and-go traffic, and immediately after this there is an area with the traffic condition of congested traffic, the length of which is greater than the predefined route limit for the area with the traffic condition of congested traffic. These traffic situations ahead require particularly careful approach and therefore reducing to a low speed in order to avoid a collision with other vehicles ahead or at the end of a traffic jam ahead.

[0019] For example, it is decided that the set speed should be set to the average speed value, in particular 100 km / h, if at the beginning of the examined route ahead there is an area with the traffic condition of free traffic, the length of which is smaller than the specified route limit value for the area with the traffic condition of free traffic, and immediately after this there is an area with the traffic condition of slow-moving and / or congested traffic, the length of which is greater than the specified small route limit for the area with the traffic condition of slow-moving and / or congested traffic and less than a specified large route limit for the area with the traffic condition of slow-moving and / or congested traffic, and immediately after this there is an area with the traffic condition of congested traffic, the length of which is greater than the specified route limit for the area with the traffic condition of congested traffic, or immediately after this there is an area with the traffic condition of slow-moving and / or congested traffic, the length of which is less than the specified small route limit for the area with the traffic condition of slow-moving and / or congested traffic, immediately after this there is an area with the traffic condition of congested traffic,whose route length is shorter than the specified route limit for the area with the traffic condition of congested traffic, and immediately after that there is an area with the traffic condition of slow-moving and / or stop-going traffic, whose route length is shorter than the specified small route limit for the area with the traffic condition of slow-moving and / or stop-going traffic, or immediately after that there is an area with the traffic condition of congested traffic, whose route length is shorter than the specified route limit for the area with the traffic condition of congested traffic, immediately after that there is an area with the traffic condition of slow-moving and / or stop-going traffic, whose route length is shorter than the specified small route limit for the area with the traffic condition of slow-moving and / or stop-going traffic, and immediately after that there is an area with the traffic condition of congested traffic,whose route length is shorter than the specified route limit for the area with the traffic jam condition. Although these upcoming traffic situations require a cautious approach, a somewhat higher speed is possible, so the speed is reduced to an average value to avoid a collision with other vehicles traveling ahead or at the end of a traffic jam.

[0020] For example, it is decided that the set speed should be set to the high speed value, in particular 120 km / h, if at the beginning of the examined route ahead there is an area with the traffic condition of free traffic, the length of which is smaller than the specified route limit value for the area with the traffic condition of free traffic, and immediately after this there is an area with the traffic condition of slow-moving and / or congested traffic, the length of which is greater than the specified small route limit for the area with the traffic condition of slow-moving and / or congested traffic, and in particular immediately after this there is an area with the traffic condition of free traffic, or immediately after this there is an area with the traffic condition of congested traffic, the length of which is less than the specified route limit for the area with the traffic condition of congested traffic, immediately after this there is an area with the traffic condition of slow-moving and / or congested traffic, the length of which is greater than the specified small route limit for the area with the traffic condition of slow-moving and / or congested traffic, and in particular immediately after this there is an area with the traffic condition of free traffic,or immediately after this there is an area with the traffic condition of slow-moving and / or congested traffic, the length of which is greater than the specified small route limit for the area with the traffic condition of slow-moving and / or congested traffic, immediately after this there is an area with the traffic condition of congested traffic, the length of which is less than the specified route limit for the area with the traffic condition of congested traffic, and in particular immediately after this there is an area with the traffic condition of free traffic. Although these traffic situations ahead require a relatively cautious approach, a relatively high speed is still possible here, so the speed is reduced to a higher value in order to avoid a collision with other vehicles ahead or those at the end of a traffic jam ahead.

[0021] The specified distance limit for the area with the traffic condition "free" is, for example, 2 km. This prevents the set speed from being determined and set to the respective specified speed value too early, thus preventing the vehicle from braking too early. Such very early braking of the vehicle could, for example, lead to a lack of acceptance by a driver, as they cannot recognize why the vehicle is braking. For example, it could also lead to an unnecessarily increased travel time and, for example, to unnecessary braking of the vehicle if the traffic situation ahead has already changed again while the vehicle is approaching at an unnecessarily slow pace. These problems are avoided in the manner described above.

[0022] The specified small distance limit for the area with the traffic condition of slow-moving and / or congested traffic is, for example, 500 m. This makes it possible to distinguish between relatively short areas of slow-moving and / or congested traffic, which may have already cleared up again, for example, as the vehicle continues to approach, and longer areas of this type, and the set speed can be specified accordingly.

[0023] The specified long distance limit for the area with slow-moving and / or congested traffic is, for example, 1 km. This allows the set speed to be adjusted accordingly, especially for such a relatively long area with slow-moving and / or congested traffic, which is then followed, for example, by an area with congested traffic.

[0024] The specified distance limit for the area with the traffic condition of congested traffic is, for example, 500 m. This makes it possible to distinguish between relatively short areas of congested traffic, which may have already cleared again as the vehicle continues to approach, and longer areas of this type, and the set speed can be specified accordingly.

[0025] In one possible embodiment of the method, it can be provided that the total route length and / or the speed values ​​for the set speed and / or the route limit value for the area with the traffic condition of free traffic and / or the small route limit value for the area with the traffic condition of slow-moving and / or congested traffic and / or the large route limit value for the area with the traffic condition of slow-moving and / or congested traffic and / or the route limit value for the area with the traffic condition of congested traffic can be specified by a vehicle owner and / or vehicle owner and / or vehicle user and / or by a technical device external to the vehicle, in particular by a server external to the vehicle, in particular by a technical device external to the vehicle of a manufacturer of the vehicle.When specified by the technical device external to the vehicle, this is done in particular wirelessly, in particular via a radio connection, in particular via an internet connection. This makes it possible, for example, to adapt one or more of the above-mentioned parameters to individual requirements. Alternatively or additionally, it can be provided, for example, that the speed values ​​for the set speed, to which braking should in particular occur, are transmitted temporally and spatially via such a technical device external to the vehicle, for example via the vehicle-external server, in particular via a cloud-based service. This makes it possible, for example, to take into account specific country characteristics, in particular specific specifications of a respective country in which the vehicle is currently located, for example speed limits, and / or route-specific speed limits.Alternatively or additionally, such a vehicle-external technical device, for example, via the vehicle-external server, in particular via the cloud-based service, can also incorporate test results from fleet data and / or feedback from other vehicle users into the specification of the speed values ​​for the set speed, i.e., take them into account for this purpose. This allows, for example, more speed values ​​to be specified, in particular additional speed values ​​between the low and high speed values, thereby enabling a more differentiated specification of the respective set speed. For example, speed values ​​for the set speed in 5 km / h intervals are possible.

[0026] In one possible embodiment of the method, for example, it can be provided that, depending on sensor data from the vehicle's surroundings detection sensor system, a decision is additionally made as to whether the set speed should be determined by the assistance system and to which of several predefined speed values ​​the set speed should be set. This can prevent incorrect setting of the set speed and thus, for example, unnecessary deceleration of the vehicle when there is little traffic in the vicinity of the vehicle or insufficient deceleration of the vehicle when there is already heavy traffic in the vicinity of the vehicle.The determination of the set speed of the assistance system is then compared, for example, with a list of objects in the surroundings of the vehicle known from sensors, for example camera and radar, of the vehicle's environment detection sensor system in order to avoid incorrect and excessive braking interventions, for example when the traffic is so light that there are no other vehicles in the area, or when, in contrast, it is determined, for example based on several overtaking objects, that there is already heavy traffic in the vehicle's surroundings.

[0027] For implementation, the vehicle advantageously has a navigation system with dynamic route calculation and route forecast. The route forecast is, for example, a traffic-condition-dependent route forecast, for example, as described in DE 10 2009 059 128 A1. Advantageously, the vehicle has a communication device for the vehicle-external technical device, in particular for an internet backend. The vehicle can advantageously process control suggestions, i.e., specifications or instructions, in particular control instructions, for the assistance system, for example, for the brake assistance system and / or the distance and / or cruise control system, in particular the decision regarding the set speed made by means of the method.

[0028] In addition to the criteria described above for deciding whether the set speed should be determined by the assistance system and to which of several predefined speed values ​​the set speed should be set, it can be provided, for example, that an active end-of-traffic jam warning ("Dangerous end of traffic jam ahead"), in particular with an acoustic warning, is also taken into account. If such an end-of-traffic jam warning is issued, it can be provided, for example, that the decision is then made that the set speed should be determined by the assistance system and that it should be set to a predefined very low speed value of, for example, 60 km / h. For example, it can be provided that this very low speed value is parameterizable, i.e.for example, by the vehicle owner and / or vehicle user and / or by the vehicle-external technical device, in particular by the vehicle-external server, in particular by the vehicle-external technical device of the vehicle manufacturer.

[0029] For example, a position of a detected dangerous traffic jam front can be integrated into a predictive traffic condition message according to DE 10 2009 059 128 A1.

[0030] Alternatively or in addition to the above-described decision as to whether the set speed should be determined by the assistance system and to which of several predefined speed values ​​the set speed should be set, and in particular the transmission of this decision to the assistance system, an active braking recommendation can be issued, for example, instead of the decision to set the set speed or in addition to it, for example by means of a visual, in particular graphic, and / or acoustic and / or haptic message. This is advantageous, for example, for vehicles that do not have a corresponding assistance system, in particular a brake assistance system and / or a distance and / or cruise control system.

[0031] The method described above can, for example, be provided for manual driving, i.e. driving carried out entirely by a vehicle driver, for driving supported by one or more assistance systems, for partially automated, for fully automated and / or for autonomous driving, i.e. advantageously for all variants of driving operation.

[0032] For example, it is provided that the predictive braking function implemented or achievable by means of the method—i.e., the automatic setting of a set speed that, for example, deviates from a set speed specified by the vehicle user and / or driver—is displayed to the vehicle user and / or driver, for example, in the vehicle's instrument cluster. This informs the vehicle user and / or driver and prevents them from being irritated by, for example, the vehicle braking even though a heavier traffic volume is not yet in sight for the vehicle user and / or driver.

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

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

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

[0036] Based on the Figures 1 to 4The following describes a method for determining a set speed (VS) of an assistance system for controlling the longitudinal movement of a vehicle. The set speed (VS) is a predeterminable target speed to which the vehicle's speed is controlled, provided the control system prevents the vehicle from traveling too close to a vehicle in front. The vehicle will not travel too close to the vehicle in front, especially if a predeterminable distance to the vehicle in front is not undercut.In this procedure, a route FS ahead of the vehicle with a specified total length is checked to determine whether this total length includes areas with a traffic condition of free traffic FV, areas with a traffic condition of slow-moving and / or congested traffic ZSV, and / or areas with a traffic condition of congested traffic GV. A route length LFV, LGV, LZSV for the respective area is determined. Depending on this, a decision is made as to whether the set speed VS should be determined by the assistance system, and if so, to which of several specified speed values ​​VSN, VSM, VSH the set speed VS should be set.

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

Claims

1. Method for determining a set speed (VS) of an assistance system for controlling a longitudinal movement of a vehicle, wherein a route (FS) ahead of the vehicle with a specified total route length is checked to see whether on this total route length there are - regions with a traffic condition of free-flowing traffic (FV), - regions with a traffic condition of slow-moving and / or heavy traffic (ZSV), - regions with a traffic condition of congested traffic (GV), a route length (LFV, LZSV, LGV) of the relevant region is determined, and depending thereon a decision is made as to whether the set speed (VS) is to be determined by the assistance system and to which of a plurality of specified speed values (VSN, VSM, VSH) the set speed (VS) is to be set, characterized in that it is decided that the set speed (VS) is to be determined by the assistance system, if, at the beginning of the checked route (FS) ahead, there is a region with the traffic condition of free-flowing traffic (FV), the route length (LFV) of which is less than a specified route limit value for the region with the traffic condition of free-flowing traffic (FV), and if - immediately after this there is a region with the traffic condition of congested traffic (GV), the route length (LGV) of which is greater than a specified route limit value for the region with the traffic condition of congested traffic (GV), or - immediately after this there is a region with the traffic condition of slow-moving and / or heavy traffic (ZSV), the route length (LZSV) of which is greater than a specified low route limit value for the region with the traffic condition of slow-moving and / or heavy traffic (ZSV), or - immediately after this there is a region with the traffic condition of slow-moving and / or heavy traffic (ZSV), the route length (LZSV) of which is less than the specified low route limit value for the region with the traffic condition of slow-moving and / or heavy traffic (ZSV), and immediately after this there is a region with the traffic condition of congested traffic (GV), the route length (LGV) of which is greater than the specified route limit value for the region with the traffic condition of congested traffic (GV), or - immediately after this there is a region with the traffic condition of slow-moving and / or heavy traffic (ZSV), the route length (LZSV) of which is less than the specified low route limit value for the region with the traffic condition of slow-moving and / or heavy traffic (ZSV), immediately after this there is a region with the traffic condition of congested traffic (GV), the route length (LGV) of which is less than the specified low route limit value for the region with the traffic condition of congested traffic (GV), and immediately after this there is a region with the traffic condition of slow-moving and / or heavy traffic (ZSV), the route length (LZSV) of which is less than the specified low route limit value for the region with the traffic condition of slow-moving and / or heavy traffic (ZSV), or - immediately after this there is a region with the traffic condition of congested traffic (GV), the route length (LGV) of which is less than the specified route limit value for the region with the traffic condition of congested traffic (GV), immediately after this there is a region with the traffic condition of slow-moving and / or heavy traffic (ZSV), the route length (LZSV) of which is less than the specified low route limit value for the region with the traffic condition of slow-moving and / or heavy traffic (ZSV), and immediately after this there is a region with the traffic condition of congested traffic (GV), the route length (LGV) of which is less than the specified route limit value for the region with the traffic condition of congested traffic (GV), or - immediately after this there is a region with the traffic condition of congested traffic (GV), the route length (LGV) of which is less than the specified route limit value for the region with the traffic condition of congested traffic (GV), and immediately after this there is a region with the traffic condition of slow-moving and / or heavy traffic (ZSV), the route length (LZSV) of which is greater than the specified low route limit value for the region with the traffic condition of slow-moving and / or heavy traffic (ZSV).

2. Method according to claim 1, characterized in that the total route length is at least 2.5 km, in particular at least 3 km, in particular at least 3.5 km, in particular greater than 3.5 km.

3. Method according to any of the preceding claims, characterized in that a low speed value (VSN), in particular 80 km / h, a medium speed value (VSM), in particular 100 km / h, and a high speed value (VSH), in particular 120 km / h, are specified as speed values (VSN, VSM, VSH) for the set speed (VS).

4. Method according to claim 3, characterized in that it is decided that the set speed (VS) is to be set to the low speed value (VSN), in particular 80 km / h, if at the beginning of the checked route (FS) ahead there is a region with the traffic condition of free-flowing traffic (FV), the route length (LFV) of which is less than the specified route limit value for the region with the traffic condition of free-flowing traffic (FV), and if - immediately after this there is a region with the traffic condition of congested traffic (GV), the route length (LGV) of which is greater than the specified route limit value for the region with the traffic condition of congested traffic (GV), or - immediately after this there is a region with the traffic condition of slow-moving and / or heavy traffic (ZSV), the route length (LZSV) of which is less than the specified low route limit value for the region with the traffic condition of slow-moving and / or heavy traffic (ZSV), and immediately after this there is a region with the traffic condition of congested traffic (GV), the route length (LGV) of which is greater than the specified route limit value for the region with the traffic condition of congested traffic (GV).

5. Method according to any of claims 3 to 4, characterized in that it is decided that the set speed (VS) is to be set to the average speed value (VSM), in particular 100 km / h, if at the beginning of the checked route (FS) ahead there is a region with the traffic condition of free-flowing traffic (FV), the route length (LFV) of which is less than the specified route limit value for the region with the traffic condition of free-flowing traffic (FV), and if - immediately after this there is a region with the traffic condition of slow-moving and / or heavy traffic (ZSV), the route length (LZSV) of which is greater than the specified low route limit value for the region with the traffic condition of slow-moving and / or heavy traffic (ZSV) and is less than a specified large route limit value for the region with the traffic condition of slow-moving and / or heavy traffic (ZSV), and immediately after this there is a region with the traffic condition of congested traffic (GV), the route length (LGV) of which is greater than the specified route limit value for the region with the traffic condition of congested traffic (GV), or - immediately after this there is a region with the traffic condition of slow-moving and / or heavy traffic (ZSV), the route length (LZSV) of which is less than the specified low route limit value for the region with the traffic condition of slow-moving and / or heavy traffic (ZSV), immediately after this there is a region with the traffic condition of congested traffic (GV), the route length (LGV) of which is less than the specified low route limit value for the region with the traffic condition of congested traffic (GV), and immediately after this there is a region with the traffic condition of slow-moving and / or heavy traffic (ZSV), the route length (LZSV) of which is less than the specified low route limit value for the region with the traffic condition of slow-moving and / or heavy traffic (ZSV), or - immediately after this there is a region with the traffic condition of congested traffic (GV), the route length (LGV) of which is less than the specified route limit value for the region with the traffic condition of congested traffic (GV), immediately after this there is a region with the traffic condition of slow-moving and / or heavy traffic (ZSV), the route length (LZSV) of which is less than the specified low route limit value for the region with the traffic condition of slow-moving and / or heavy traffic (ZSV), and immediately after this there is a region with the traffic condition of congested traffic (GV),the route length (LGV) of which is less than the specified route limit value for the region with the traffic condition of congested traffic (GV).

6. Method according to any of claims 3 to 5, characterized in that it is decided that the set speed (VS) is to be set to the high speed value (VSH), in particular 120 km / h, if at the beginning of the checked route (FS) ahead there is a region with the traffic condition of free-flowing traffic (FV), the route length (LFV) of which is less than the specified route limit value for the region with the traffic condition of free-flowing traffic (FV), and if - immediately after this there is a region with the traffic condition of slow-moving and / or heavy traffic (ZSV), the route length (LZSV) of which is greater than the specified low route limit value for the region with the traffic condition of slow-moving and / or heavy traffic (ZSV), and in particular immediately after this there is a region with the traffic condition of free-flowing traffic (FV), or - immediately after this there is a region with the traffic condition of congested traffic (GV), the route length (LGV) of which is less than the specified route limit value for the region with the traffic condition of congested traffic (GV), immediately after this there is a region with the traffic condition of slow-moving and / or heavy traffic (ZSV), the route length (LZSV) of which is greater than the specified low route limit value for the region with the traffic condition of slow-moving and / or heavy traffic (ZSV), and in particular immediately after this there is a region with the traffic condition of free-flowing traffic (FV), or - immediately after this there is a region with the traffic condition of slow-moving and / or heavy traffic (ZSV), the route length (LZSV) of which is greater than the specified low route limit value for the region with the traffic condition of slow-moving and / or heavy traffic (ZSV), immediately after this there is a region with the traffic condition of congested traffic (GV), the route length (LGV) of which is less than the predefined route limit value for the region with the traffic condition of congested traffic (GV), and in particular immediately after this there is a region with the traffic condition of free-flowing traffic (FV).

7. Method according to any of the preceding claims, characterized in that - the specified distance limit for the region with the traffic condition of free-flowing traffic (FV) is 2 km, and / or - the specified low route limit value for the region with the traffic condition of slow-moving and / or congested traffic (ZSV) is 500 m, and / or - the specified high route limit value for the region with the traffic condition of slow-moving and / or congested traffic (ZSV) is 1 km, and / or - the specified route limit value for the region with the traffic condition of congested traffic (GV) is 500 m.

8. Method according to any of the preceding claims, characterized in that the total route length and / or the speed values (VSN, VSM, VSH) for the set speed (VS) and / or the route limit value for the region with the traffic condition of free-flowing traffic (FV) and / or the low route limit value for the region with the traffic condition of slow-moving and / or heavy traffic (ZSV) and / or the high route limit value for the region with the traffic condition of slow-moving and / or heavy traffic (ZSV) and / or the route limit value for the region with the traffic condition of congested traffic (GV) can be specified by a vehicle owner and / or vehicle possessor and / or vehicle user and / or by a technical device external to the vehicle, in particular by a server external to the vehicle, in particular by a technical device of a manufacturer of the vehicle that is external to the vehicle.

9. Method according to any of the preceding claims, characterized in that in addition, depending on sensor data from an environment detection sensor system of the vehicle, a decision is made as to whether the set speed (VS) is to be determined by the assistance system and to which of a plurality of specified speed values (VSN, VSM, VSH) the set speed (VS) is to be set.