Method for operating an adaptive speed controller
Patent Information
- Application Number
- EP2024702495
- Authority / Receiving Office
- EP · EP
- Patent Type
- Applications
- Current Assignee / Owner
- Priority Date
- 2023-02-02
- Filing Date
- 2024-01-25
- Publication Date
- 2025-12-10
AI Technical Summary
Adaptive cruise control systems face challenges in accurately determining when a lead vehicle is overtaking, leading to incorrect acceleration and deceleration of the ego vehicle, which can compromise safety and comfort.
The method involves selecting a target vehicle, detecting a second vehicle ahead, determining speed and distance differences, and limiting the ego vehicle's acceleration based on these comparisons to prevent unnecessary acceleration when the lead vehicle is likely to overtake, using sensor data and predefined limits to assess the probability of lane change.
This approach enhances safety and comfort by preventing incorrect acceleration and deceleration, ensuring the ego vehicle maintains a safe distance and avoids abrupt braking during overtaking maneuvers.
Smart Images
Figure EP2024051695_08082024_PF_FP
Abstract
Description
[0001] METHOD FOR OPERATING AN ADAPTIVE CRUISE CONTROL SYSTEM
[0002] The present invention relates to a method for operating an adaptive cruise control system, a computer program product, a control device for a vehicle and a vehicle.
[0003] When using adaptive cruise control, situations arise in which a vehicle in front (hereinafter also referred to as the "first" vehicle), from which the ego vehicle maintains a distance and / or adjusts its speed accordingly, accelerates. The first vehicle in front may accelerate for several reasons. Firstly, because a second vehicle traveling in front of the first vehicle in front is accelerating, and secondly, because the first vehicle in front wants to overtake the vehicle in front and therefore increases its speed. In the first case, it is desirable for the ego vehicle to continue to maintain a distance to the first vehicle in front. In the second case, however, it is disadvantageous for the ego vehicle to accelerate, because as soon as the first vehicle in front performs the overtaking maneuver, the vehicle in front is in front of it and must first decelerate.
[0004] US 2019 / 0315355 A1 discloses an adaptive cruise control system for a vehicle configured to detect a transition state of a small vehicle. An upper limit storage unit is configured to store an upper limit of a target acceleration set by the determination unit before the transition state of the small vehicle is detected. A target acceleration setting unit is configured to set the target acceleration to a value equal to or lower than the upper limit as long as the small vehicle is selected as a following object.
[0005] Against this background, one object of the present invention is to provide an improved method for adaptive cruise control. According to a first aspect, a method for operating an adaptive cruise control system of an ego vehicle is provided.The method comprises the steps of: a) selecting a first preceding vehicle as a target vehicle; b) controlling a distance between the target vehicle and the ego vehicle; c) detecting a second preceding vehicle on a road section in front of the target vehicle; d) determining a speed difference between the second preceding vehicle and the target vehicle; e) comparing the speed difference with a speed limit; f) determining a distance between the second preceding vehicle and the target vehicle; g) comparing the distance with a distance limit; and h) limiting an acceleration of the ego vehicle depending on the comparisons in steps e) and g).
[0006] This method has the advantage that the acceleration of a preceding vehicle is only adopted by the ego vehicle if there is a high probability that it will remain in the ego vehicle's lane. This is signaled by the distance between the first and second preceding vehicles, as well as their relative speeds. This prevents incorrect acceleration and deceleration by the ego vehicle's adaptive cruise control. This leads to greater application reliability of the adaptive cruise control and, on the other hand, to increased ride comfort for passengers in the ego vehicle.
[0007] The vehicle is, for example, a motor vehicle, such as a passenger car or a truck. A first vehicle ahead is selected as the target vehicle if it meets predetermined criteria of the adaptive cruise control. These include, for example, that the target vehicle is a vehicle and not another road user, such as a pedestrian.
[0008] "Selecting" the target vehicle means using the corresponding vehicle as the target to which the adaptive cruise control will steer. This is done, in particular, by selecting or setting a value in the adaptive cruise control software.
[0009] The adaptive cruise control of the ego vehicle is configured to control a distance between the target vehicle and the ego vehicle. The distance is controlled, in particular, by adjusting the speed of the ego vehicle. The adaptive cruise control receives sensor data from one or more sensors of the ego vehicle, which are used, for example, to determine the speed of the target vehicle and a distance between the target vehicle and the ego vehicle. The adaptive cruise control is further configured to control an engine control device, a braking device, and / or a steering device of the ego vehicle.
[0010] By controlling the engine control unit, the steering unit and / or the braking unit of the ego vehicle and thereby inducing acceleration or deceleration, the adaptive cruise control regulates the distance between the target vehicle and the ego vehicle.
[0011] In step c), a second vehicle driving ahead is detected, in particular, by one or more sensors of the ego vehicle. The sensors described here are, in particular, one or more cameras (e.g., a front camera) of the ego vehicle. For detection, object recognition (e.g., by means of software-based image recognition) can be performed in the image data captured by the one or more cameras.
[0012] The second vehicle ahead is detected if the second vehicle ahead is located on a section of road in front of the target vehicle. In particular, the second vehicle ahead is detected if it is not obscured by the target vehicle.
[0013] Using the sensor data from one or more sensors of the ego vehicle, a speed of the second preceding vehicle and a speed of the target vehicle are determined. A speed difference between the speeds of the two vehicles is then determined.
[0014] In step e), the speed is compared with a speed limit, where the speed limit can be either a lower or an upper limit.
[0015] Furthermore, the sensor data is used to determine a distance between the second vehicle in front and the target vehicle.
[0016] In step g), the determined distance is compared with a distance threshold, where the distance threshold can be either a lower or an upper threshold.
[0017] Depending on the comparisons made in steps e) and g), the acceleration of the ego vehicle is limited. The comparisons are used to estimate whether the target vehicle should remain in the ego vehicle's lane or whether the target vehicle intends to overtake the second vehicle in front. If the speed difference is greater than the speed threshold and the distance between the target vehicle and the second vehicle in front is less than the distance threshold, it is assumed that the target vehicle intends to overtake the second vehicle in front with a high probability.
[0018] "Limiting" the acceleration of the host vehicle means that the adaptive cruise control still follows the corresponding vehicle (or, in certain embodiments, no longer follows), but that the host vehicle does not accelerate when the target vehicle accelerates. This can also mean that no distance is controlled between the host vehicle and the target vehicle. For example, the host vehicle's acceleration can be limited to zero, a positive value, or a negative value.
[0019] According to one embodiment, the speed limit value is set before step e), in particular before step a).
[0020] The speed limit may therefore be, for example, a fixed limit set in adaptive cruise control software.
[0021] The speed limit can also be set before step e), for example, by the adaptive cruise control system, which uses sensor data to estimate traffic volume around the ego vehicle and derives a speed limit from it. Preferably, a limit is set by a driver of the ego vehicle.
[0022] According to one embodiment, the speed limit has a value between 3 km / h and 10 km / h.
[0023] According to one embodiment, the distance limit value is set before step g), in particular before step a).
[0024] The distance limit can therefore, for example, be a fixed limit defined in the adaptive cruise control software. The distance limit can also be set before step e), for example, by the adaptive cruise control, which uses sensor data to estimate traffic volume around the ego vehicle and derives a distance limit from it. Preferably, a distance limit is set by a driver of the ego vehicle.
[0025] According to one embodiment, the distance limit has a value between 0 m and 25 m.
[0026] The distance limit is particularly advantageous at 10 m.
[0027] According to one embodiment, in step h) the acceleration of the ego vehicle is limited if the speed difference is greater than the speed limit and the distance is less than the distance limit.
[0028] According to one embodiment, the target vehicle is a motorcycle.
[0029] According to one embodiment, the distance between the target vehicle and the ego vehicle is selected depending on the speed of the target vehicle and / or depending on the road conditions.
[0030] Accordingly, the distance controlled by the adaptive cruise control in step b) can be determined dynamically depending on the speed of the target vehicle. For example, the adaptive cruise control is set to never fall below a safe distance that is, for example, half the speed.
[0031] Furthermore, the distance between the target vehicle and the ego vehicle can be selected depending on the road conditions. For example, if a sensor on the ego vehicle detects a wet road, the adaptive cruise control is configured to maintain a greater distance than on a dry road.
[0032] According to one embodiment, a driver of the ego vehicle sets the distance between the target vehicle and the ego vehicle via an input interface before step b).
[0033] A driver of the ego vehicle can adjust the distance controlled by the adaptive cruise control before step b). For example, the adaptive cruise control is configured to only allow distances greater than a safe distance.
[0034] The safety distance is determined by the adaptive cruise control system based on the speed of the ego vehicle. The safety distance is selected so that, in the event of the target vehicle applying emergency braking, the ego vehicle can stop in time, preventing a rear-end collision.
[0035] According to one embodiment, steps d) to h) are repeated until the second preceding vehicle is no longer detected.
[0036] Accordingly, as long as a second vehicle is detected ahead of the target vehicle, a speed difference and a distance are determined, and then the speed difference is compared with the speed threshold and the distance is compared with the distance threshold. This ensures that the acceleration of the ego vehicle is limited as soon as the speed difference is greater than the speed threshold and the distance is less than the distance threshold. This improves a safety aspect of adaptive cruise control.
[0037] According to one embodiment, alternatively or in addition to step h), the target vehicle is retained or deselected depending on the comparisons according to steps e) and g). "Deselecting" the target vehicle means that the adaptive cruise control no longer controls the corresponding vehicle or that the following is terminated. For this purpose, a value is set in the adaptive cruise control software. Subsequently, the adaptive cruise control can select a new target vehicle to follow or be inactive, for example, if there is no vehicle ahead.
[0038] For example, the second vehicle ahead can also be selected as the new target vehicle. This has the advantage that the adaptive cruise control remains active and maintains a distance between the second vehicle ahead and the ego vehicle. This prevents the ego vehicle from braking abruptly if the deselected target vehicle leaves the lane to overtake.
[0039] According to a second aspect, a method for operating an adaptive cruise control system of an ego vehicle is provided, comprising the following steps: a) selecting a first preceding vehicle as a target vehicle; b) regulating a distance between the target vehicle and the ego vehicle; c) detecting a second preceding vehicle on a road section in front of the target vehicle; d) determining a speed difference between the second preceding vehicle and the target vehicle; f) determining a distance between the second preceding vehicle and the target vehicle; and h) limiting an acceleration of the ego vehicle depending on the determined speed difference and the determined distance.
[0040] According to a third aspect, a computer program product is provided which comprises instructions which, when executed by a computer, cause the computer to carry out the method according to the first or second aspect. A computer program product according to the third aspect can, for example, be provided on a computer-readable storage medium, such as a memory card, USB stick, CD-ROM, or DVD. Furthermore, the computer program product can also be provided as a downloadable file from a server in a network. The transmission of the computer program product can, for example, take place in a wireless communications network by transmitting a corresponding file containing the computer program product.
[0041] According to a fourth aspect, a control unit for a vehicle for operating an adaptive cruise control system is provided. The control unit comprises a processor unit and a memory unit on which means for executing the method according to the first aspect are stored.
[0042] The control unit (for example in the form of the central vehicle control unit or electronic control unit - "ECU") is particularly designed to process the computer program product described above for operating an adaptive cruise control system, for example on the processor unit of the control unit.
[0043] The respective unit, for example, the memory unit, can be implemented in hardware and / or software. In a hardware implementation, the respective unit can be embodied, for example, as a computer or a microprocessor. In a software implementation, the respective unit can be embodied as a computer program product, as a function, as a routine, as an algorithm, as part of a program code, or as an executable object.
[0044] According to a fifth aspect, a vehicle is provided. The vehicle comprises one or more sensors and a control unit according to the fourth aspect. The sensors of the ego vehicle can be, for example, radar sensors, LiDAR sensors, ultrasonic sensors, and / or cameras (as already described above). The ego vehicle can have one sensor of one type, multiple sensors of one type, and / or multiple sensors of multiple types. Advantageously, the ego vehicle has multiple sensors of multiple types. In particular, the ego vehicle has a radar sensor, which is advantageously arranged in the center of the front of the ego vehicle.
[0045] Steps a), b), c), etc., can also occur in a different order. The presence of steps a) and c) does not require an intermediate step b), etc. "One" does not exclude a plurality.
[0046] The features and advantages described here for the first aspect apply accordingly to the other aspects, and vice versa.
[0047] Further possible implementations of the invention also include combinations of features or embodiments described above or below with respect to the exemplary embodiments not explicitly mentioned. In this case, the person skilled in the art will also add individual aspects as improvements or additions to the respective basic form of the invention.
[0048] Further advantageous embodiments and aspects of the invention are the subject of the dependent claims and the exemplary embodiments of the invention described below. The invention will be explained in more detail below using preferred embodiments with reference to the accompanying figures.
[0049] Fig. 1 shows a schematic plan view of a vehicle with adaptive cruise control according to an embodiment;
[0050] Fig. 2 shows a schematic representation of a situation in which adaptive cruise control is used according to an embodiment; and Fig. 3 shows a flowchart of adaptive cruise control according to an embodiment.
[0051] In the figures, identical or functionally equivalent elements have been given the same reference numerals unless otherwise stated.
[0052] Fig. 1 shows a schematic plan view of a vehicle 100 with a control unit 103 and a sensor 102 according to one embodiment. In the example of Fig. 1, the vehicle 100 is a motor vehicle, in particular a passenger car. The sensor 102 is embodied, for example, as part of a driver assistance system. Adaptive cruise control is embodied, for example, as a software component of the driver assistance system. The driver assistance system serves, for example, to support a driver of the vehicle 100. Furthermore, the driver assistance system can be embodied for semi-autonomous or fully autonomous operation of the vehicle 100. The driver assistance system is configured, for example, to control components of the vehicle, such as an engine control device 104, a braking device 106, and a steering device 107, so that driver assistance, semi-autonomous, and / or fully autonomous operation can be carried out.The driver assistance system is designed for operation at higher speeds, such as those found on country roads or highways. Furthermore, the driver assistance system is designed for operation at lower speeds, such as those found on inner-city roads.
[0053] Sensor 102 is a radar sensor and, as shown in Fig. 1, is arranged in the center of the front of vehicle 100. Sensor 102 is connected wirelessly and / or by wire to control unit 103 for transmitting sensor data. Vehicle 100 preferably includes additional sensors 109 configured to detect the driving state of vehicle 100 and to detect the surroundings of vehicle 100. Examples of such sensors 109 of vehicle 100 are image recording devices, such as a camera, a radar (radio detection and ranging) or a lidar (light detection and ranging), ultrasonic sensors, location sensors, wheel angle sensors, and / or wheel speed sensors.The sensors 109 are each configured to provide sensor data, for example to the control unit 103 and / or to the driver assistance system, which supports a driver and carries out semi-autonomous and / or fully autonomous driving depending on the acquired sensor data.
[0054] Control unit 103 has a processor unit and a memory unit (not shown) configured to carry out the method described below for operating an adaptive cruise control system during operation of vehicle 100. Control unit 103 is configured to receive sensor data from sensors 109 of the vehicle, and in particular to receive sensor data from sensor 102. Data connections from control unit 103 to vehicle components are identified by reference numeral 105, with data connections representing lines, data lines, a vehicle bus, and / or wireless data transmission.
[0055] In the exemplary representation of the vehicle 100 in Fig. 1, the control unit 103 is connected to the engine control device 104 and configured to transmit data to the engine control device 104. The transmitted data contains, for example, control signals that cause the engine control device 104 to accelerate and / or decelerate the vehicle 100.
[0056] Furthermore, the control unit 103 in Fig. 1 is connected to the braking device 106. The control unit 103 transmits data wirelessly and / or wired to the braking device 106 of the vehicle 100, wherein the data contains, for example, control signals. These control signals cause the braking device 106 to brake the vehicle 100. In particular, the control signals can contain information about a possible impending emergency braking by the driver of the vehicle 100, which is detected by the sensors 109 and / or by the adaptive cruise control, and thus the braking device
[0057] 106 prepare for it.
[0058] The control unit 103 in Fig. 1 is connected to a steering device 107 of the vehicle 100. The control unit 103 transmits data wirelessly and / or wired to the steering device 106 of the vehicle 100, wherein the data includes, for example, control signals. These control signals cause the steering device 107 to change a steering angle of the vehicle 100.
[0059] Furthermore, the control unit 103 has a computer program product which has program code means stored on a computer-readable medium in order to be able to carry out the method described below for operating an adaptive cruise control.
[0060] The method for operating an adaptive cruise control is explained in more detail by means of a schematic representation of a situation from Fig. 2 in which an adaptive cruise control according to an embodiment is used, and the flow chart from Fig. 3.
[0061] Fig. 2 a) shows the vehicle 100 (hereinafter referred to as ego vehicle 100) from Fig. 1. A first preceding vehicle 200 is selected as the target vehicle (see step S1 in Fig. 3). In the example shown in Fig. 2, the first preceding vehicle 200 is a passenger car. However, the first preceding vehicle 200 can, in particular, be a motorcycle.
[0062] The adaptive cruise control of the ego vehicle 100 is configured to control a distance 201 between the target vehicle 200 and the ego vehicle 100 (see step S2 in Fig. 3). Sensor data is acquired by the sensor 102 and transmitted to the control unit 103, which is used to determine the distance 201 and the speed and / or acceleration of the preceding vehicle 200. The control unit 103 is further configured to control the distance 201 between the target vehicle 200 and the ego vehicle 100. To this end, the control unit 103 transmits data containing control signals to the engine control device 104, the braking device 106, and / or the steering device 107. These devices then control the corresponding vehicle parts, so that the distance 201 is controlled.
[0063] More specifically, controlling the distance 201 means that the ego vehicle 100 accelerates if the distance 201 is greater than a specified distance. Accordingly, the control unit 103 transmits data containing control signals to the engine control device 104, so that the engine control device 104 controls the engine of the ego vehicle 100 to accelerate the ego vehicle 100. If the distance 201 is less than a specified distance, the control unit 103 transmits data containing control signals to the engine control device 104, to the steering device 107, and / or to the braking device 106, so that the ego vehicle 100 exhibits a negative acceleration.
[0064] If the ego vehicle 100 accelerates, the control unit 103 ensures that a maximum permissible speed is not exceeded. The maximum permissible speed can be derived, for example, from GPS data from the driver assistance system, with the maximum permissible speed for a section of road indicated on a stored map. Furthermore, the maximum permissible speed can also be determined by sensors 109, which are configured to detect traffic signs.
[0065] Furthermore, for example, the driver of the ego vehicle 100 can enter a maximum speed that they do not wish to exceed via an input interface. The control unit 103 is further configured to adapt the data transmitted to the engine control device 104 such that the engine control device 104 does not accelerate the ego vehicle 100 to a speed greater than the maximum speed entered by the driver. The distance 201 between the target vehicle 200 and the ego vehicle 100 is, for example, a distance that is determined by the adaptive cruise control as a function of the speed of the target vehicle 200. Accordingly, the distance 201 is set as a function of the speed of the target vehicle 200. The distance 201 is accordingly set dynamically and is not a fixed value.The distance 201 can also be determined depending on the road conditions detected by the sensors 109. Thus, a distance 201 is selected to be greater when the road is detected to be wet than when the road is detected to be dry.
[0066] The distance 201 is, for example, a distance that is set by the driver of the ego vehicle 100 before step S2. The distance 201 is transmitted, for example, by the driver to the control unit 103 via an input interface. Accordingly, the adaptive cruise control is configured to control the distance 201 that is set by the driver of the ego vehicle 100. Furthermore, the adaptive cruise control can be configured to implement only those inputs from the driver of the ego vehicle 100 that are greater than a safety distance. The safety distance is determined by the adaptive cruise control depending on the speed of the ego vehicle 100. The safety distance can be selected such that the ego vehicle 100 does not cause a rear-end collision in the event of an emergency braking by a vehicle 200, 300 traveling ahead, but rather the ego vehicle 100 comes to a stop in time.
[0067] In step S3, a check is carried out to determine whether the ego vehicle 100 detects a second preceding vehicle 300 (in this example, a truck) on a road section in front of the target vehicle 200 (step S3 in Fig. 3). If no second preceding vehicle 300 is detected in step S3, the distance 201 to the target vehicle 200 continues to be controlled (step S2 in Fig. 3).
[0068] If a second preceding vehicle 300 is detected in step S3, as schematically illustrated in Fig. 2 b), step S4 in Fig. 3 is carried out. The ego vehicle 100 detects the second preceding vehicle 300, for example, using the sensor 102 and / or the sensors 109. The second preceding vehicle 300 is detected in particular as soon as a distance between the target vehicle 200 and the second preceding vehicle 300 becomes small, or the second preceding vehicle 300 is a larger vehicle than the target vehicle 200. Furthermore, the second preceding vehicle 300 can be detected when the target vehicle 200 and the second preceding vehicle 300 are driving one behind the other with a slight offset, as is often the case on highways.
[0069] In step S4, the adaptive cruise control determines the speed of the target vehicle 200 and the speed of the second preceding vehicle 300 from the sensor data of the sensor 102. A speed difference between the two determined speeds is then calculated.
[0070] In step S5 in Fig. 3, the calculated speed difference is compared with a speed limit. The speed limit can be set before step S5, for example by the driver of the ego vehicle 100 via an input interface or in particular before step S1, wherein the speed limit is stored in the adaptive cruise control. For example, the speed limit can also be determined dynamically by the adaptive cruise control using the sensor data from sensors 109 and / or sensor 102, taking traffic flow or the like into account. Accordingly, the speed limit can be determined dynamically. The speed limit has a value between 3 km / h and 10 km / h. In particular, the speed limit particularly advantageously has a value of 5 km / h.
[0071] If the speed difference is smaller than the speed limit during the comparison in step S5, the method is executed starting in step S2. The adaptive cruise control system accordingly continues to control the distance 201 between the target vehicle 200 and the ego vehicle 100 (step S2 in Fig. 3). The adaptive cruise control system is configured to execute the method starting in step S2 and accordingly check whether a second preceding vehicle 300 is detected (step S3 in Fig. 3).
[0072] If the speed difference in the comparison in step S5 is greater than or equal to the limit value, step S6 in Fig. 3 is carried out.
[0073] In step S6, the adaptive cruise control determines the distance 301 between the target vehicle 200 and the second preceding vehicle 300 from the sensor data of the sensor 102, as shown in Fig. 2 b).
[0074] In step S7 in Fig. 3, the determined distance 301 is compared with a distance limit value. The distance limit value can be set before step S7, for example by the driver of the ego vehicle 100 via an input interface or in particular before step S1, wherein the distance limit value is stored in the adaptive cruise control. For example, the distance limit value can also be determined dynamically by the adaptive cruise control using the sensor data from the sensors 109 and / or the sensor 102, taking traffic flow or the like into account. Accordingly, the distance limit value can be determined dynamically. The distance limit value has a value between 0 m and 25 m. In particular, the limit value particularly advantageously has a value of 10 m.
[0075] If the determined distance in step S7 is greater than the distance threshold, the adaptive cruise control system executes the method from step S2. Accordingly, the distance 201 between the target vehicle 200 and the ego vehicle 100 is controlled. The adaptive cruise control system is configured to execute the method from step S2 and accordingly check whether the second preceding vehicle 300 is detected (step S3 in Fig. 3). In this situation, the driver assistance system or the adaptive cruise control system assumes that the target vehicle 200 has increased its speed, since the second preceding vehicle 300 has also increased its speed. The adaptive cruise control system continues to use the target vehicle 200 as a reference for the speed or distance control.
[0076] If the determined distance 301 in step S7 is smaller than the limit value, as shown in Fig. 2 b), the acceleration of the ego vehicle is limited. Additionally or alternatively, the target vehicle 200 can be deselected.
[0077] In this state, the driver assistance system or adaptive cruise control assumes that the target vehicle 200 will soon overtake the second vehicle 300 in front. For example, the driver assistance system can issue a warning to the driver of the ego vehicle 100 that the adaptive cruise control is not active and / or that the acceleration of the ego vehicle 100 is limited. Furthermore, the adaptive cruise control can select the second vehicle 300 in front as the new target vehicle.
[0078] Steps S4 to S8 are performed until the second preceding vehicle 300 is no longer detected in step S3. The second preceding vehicle 300 can no longer be detected, for example, if the target vehicle 200 is at least as large as the second preceding vehicle 300. Here, for example, it may happen that the second preceding vehicle 300 is only detected because the target vehicle 200 is traveling behind it, offset to the right or left. If the target vehicle 200 travels behind the second preceding vehicle 300 again, the second preceding vehicle 300 can no longer be detected by the sensors 102, 109 of the ego vehicle 100. In other words, the second preceding vehicle 300 may be obscured by the target vehicle 200.Accordingly, neither a speed difference (step S4) between the speed of the second preceding vehicle 300 and the speed of the target vehicle 200, nor a distance (step S6) between the two vehicles can be determined. The determination of the speed difference (step S4) and the distance (step S6) can be performed in parallel or in reverse order. Furthermore, the comparisons (step S5, step S7) can also be performed in parallel or in reverse order. In a further variant, the comparisons or one of the two comparisons according to steps S5 and S7 can be omitted.
[0079] Although the present invention has been described using exemplary embodiments, it can be modified in many ways.
[0080] LIST OF REFERENCE SYMBOLS
[0081] 100 (ego) vehicles
[0082] 102 Sensor 104 Engine control unit
[0083] 105 Data connection
[0084] 106 Braking device
[0085] 107 Steering device
[0086] 109 Sensors 200 first vehicle ahead
[0087] 201 Distance (between the ego vehicle and the first vehicle ahead)
[0088] 300 second vehicle ahead
[0089] 301 Distance (between the target vehicle and the second vehicle ahead)
[0090] S1 to S8 process steps
Claims
PATENT CLAIMS 1. A method for operating an adaptive cruise control system of an ego vehicle (100), comprising the steps of: a) selecting (S1) a first preceding vehicle (200) as a target vehicle; b) controlling (S2) a distance (201) between the target vehicle (200) and the ego vehicle (100); c) detecting (S3) a second preceding vehicle (300) on a road section in front of the target vehicle (200); d) determining (S4) a speed difference between the speed of the second preceding vehicle (300) and the speed of the target vehicle (200); e) comparing (S5) the speed difference with a speed limit value; f) determining (S6) a distance (301) between the second preceding vehicle (300) and the target vehicle (200); g) comparing (S7) the distance with a distance limit value; and h) limiting an acceleration of the ego vehicle (100) depending on the comparisons in steps e) and g).
2. Method according to claim 1, wherein the speed limit value is set before step e), in particular before step a).
3. Method according to claim 1 or 2, wherein the speed limit has a value between 3 km / h and 10 km / h.
4. Method according to one of the preceding claims, wherein the distance limit value is set before step g), in particular before step a).
5. Method according to one of the preceding claims, wherein the distance limit has a value between 0 m and 25 m.
6. Method according to one of the preceding claims, wherein in step h) the acceleration of the ego vehicle (100) is limited if the speed difference is greater than the speed limit and the distance (301) is less than the distance limit.
7. Method according to one of the preceding claims, wherein the target vehicle (200) is a motorcycle.
8. Method according to one of the preceding claims, wherein the distance between the target vehicle (200) and the ego vehicle (100) is selected as a function of the speed of the target vehicle (200) and / or as a function of the road conditions.
9. Method according to one of the preceding claims, wherein a driver of the ego vehicle (100) sets the distance (201) between the target vehicle (200) and the ego vehicle (100) before step b) via an input interface.
10. Method according to one of the preceding claims, wherein steps d) to h) are repeated until the second preceding vehicle (300) is no longer detected.
11. A computer program product comprising instructions which, when executed by a computer, cause the computer to carry out the method according to any one of claims 1 to 10.
12. Control unit (103) for a vehicle (100) for operating an adaptive cruise control system, comprising: a processor unit; and a memory unit on which means for carrying out the method according to one of claims 1 to 10 are stored.
13. Vehicle (100) comprising: one or more sensors (102); and Control device (103) according to claim 12.