Driver Assistance Systems
Patent Information
- Application Number
- JP2023571328
- Authority / Receiving Office
- JP · JP
- Patent Type
- Applications
- Current Assignee / Owner
- Priority Date
- 2021-05-21
- Filing Date
- 2022-04-21
- Publication Date
- 2025-04-16
- Estimated Expiration
- 2042-04-21
AI Technical Summary
Conventional driving assistance systems struggle to maintain pace with motorcycles traveling closely together or overlapping in a lane, leading to involuntary or uneven braking due to their dynamic movements, as they assume a standard distance between passenger cars and fail to effectively handle multiple motorcycles.
A driving support system with multiple control determination units, including a preceding vehicle controller and a multi-object controller, adjusts vehicle acceleration based on target distances to individual motorcycles and objects in adjacent lanes, ensuring smooth following and avoiding sudden movements.
The system effectively maintains pace with motorcycles in close proximity, preventing involuntary braking and ensuring smooth following, even during dynamic movements, without requiring additional safety measures.
Smart Images
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Abstract
Description
[Technical field]
[0001] The present invention relates to a driving assistance system for a motor vehicle, the driving assistance system being configured to automatically control steering of the motor vehicle's directional travel by outputting a target acceleration to the motor vehicle. [Background technology]
[0002] 2. Description of the Related Art Generally, driving assistance systems are known from the prior art which are arranged to automatically control a vehicle, in particular the directional steering of a vehicle, by outputting a target acceleration to the vehicle.
[0003] Such driver assistance systems may be part of a so-called adaptive cruise control, which in addition to the driver's desired vehicle speed takes into account the distance to the vehicle ahead as a feedback and control parameter when determining the target acceleration.
[0004] Patent Documents 1, 2 and 3 each describe a general driving assistance system.
[0005] Patent document 1 describes a method for operating a driving assistance system of a vehicle, in particular an ACC system, in which a predetermined operation amount is used to steer the vehicle, the target value of which is determined based on a relative measurement value of the vehicle with respect to a vehicle traveling in front, which changes while traveling, and a time difference control is performed between a first vehicle traveling in front and the vehicle, and a time difference control is performed between a second vehicle traveling in front and the vehicle, a first operation amount request is derived from the first time difference control, and a second operation amount request is derived from the second time difference control, and a final operation amount request is derived by balancing the first operation amount request and the second operation amount request.
[0006] Patent Document 2 describes a driving control device for a vehicle having a target detection unit and a sequence control unit. The driving control device has a determination unit configured to determine whether a small vehicle switching state in which the target to be pursued is a small vehicle has occurred during execution of pursuit control, and has a storage unit for an upper limit value, the storage unit is configured to store a target acceleration as an upper limit value, and the target acceleration is set under a condition in which the determination unit determines that the small vehicle switching state has occurred before the determination unit determines that the small vehicle switching state has occurred, and further has a target acceleration setting unit, which is configured to set the target acceleration to one value equal to or less than the upper limit value stored in the storage unit until the pursuit control for the switched small vehicle as the pursuit target is terminated.
[0007] Patent document 3 relates to a method for selecting an object for automatic distance control of a vehicle with one driving track (one wheel track) (single driving track), in which a surrounding sensor is used to detect the presence of a second vehicle with a single driving track driving immediately ahead in the same lane and the presence of a third vehicle with a single driving track driving immediately ahead of the second vehicle with a single driving track, the lateral positional deviation of the second vehicle with a single driving track and the third vehicle with a single driving track relative to the above vehicle with a single driving track is determined, and a target for the distance control method is selected according to at least this lateral positional deviation.
[0008] In general, conventional general-purpose driving assistance systems, particularly driving assistance systems used in automobiles, are based on the configuration described below.
[0009] Conventional driver assistance systems usually have a controller with three control units with individually adjusted parameter settings: a first control unit, which can also be called a “preceding vehicle controller”, is provided for the nearest target object (i.e. the object closest to the vehicle in its travel path envelope), a second control unit, which can also be called a “second-to-next vehicle controller”, is provided for the vehicle next ahead (i.e. the object next closest to the vehicle in its travel path envelope), and a third control unit, which can also be called a “multiple object controller”, is provided for objects in adjacent lanes and / or cut-in objects (i.e. objects present in the vehicle's travel path envelope).
[0010] The disadvantage in this case is that if two objects travelling ahead (e.g. motorbikes) travel next to each other in the roadway envelope, the second control decision unit for the second object (the so-called "preceding vehicle controller" (see above)) cannot be used as intended, since it assumes a standard minimum distance between two cars.
[0011] In particular, when there are multiple motorcycles in front of a vehicle in a single lane, traveling close to each other or overlapping / adjacent to each other, the result is that with conventional configurations, it is either impossible to keep pace with the motorcycle platoon and follow them in the event of sudden or jerky acceleration behavior typical of motorcycles, or at least unintended or non-smooth braking occurs due to the often dynamic movements of the motorcycles. [Prior art documents] [Patent documents]
[0012] [Patent Document 1] DE 102019214121 [Patent Document 2] US Patent Application Publication No. 2019 / 315355 [Patent Document 3] DE 102019200209 Summary of the Invention [Problem to be solved by the invention]
[0013] Against this background of the prior art, it is an object of the present invention to provide an apparatus adapted to overcome at least the above-mentioned disadvantages of the prior art. [Means for solving the problem]
[0014] This problem is solved by the features of the independent claims. The dependent claims contain preferred developments of the invention.
[0015] Accordingly, a driving assistance system for a motor vehicle is provided, the driving assistance system being configured to automatically control directional steering of the motor vehicle by outputting a target acceleration to the motor vehicle.
[0016] This driver assistance system may be part of an adaptive cruise control or may be the adaptive cruise control itself.
[0017] The driving assistance system has a first acceleration controller configured to determine a first target acceleration of the vehicle based on a predetermined first target distance of the vehicle to a predetermined first object traveling directly in front of the vehicle in the same lane as the vehicle.
[0018] The first acceleration controller may also be referred to as a preceding vehicle controller (see above), and therefore corresponds to the above-mentioned first control determination unit.
[0019] The lanes may be actual physical lanes and / or travel tubes formed along the intended trajectory of the vehicle.
[0020] The driving assistance system includes a second acceleration controller configured to determine a second target acceleration of the vehicle based on a second predetermined target distance of the vehicle to a second predetermined object traveling in the same lane as the vehicle and adjacent to the first predetermined object.
[0021] The second acceleration controller is further configured to determine a third target acceleration of the vehicle based on a predetermined third target distance of the vehicle to a predetermined third target traveling in a different lane from the vehicle and / or changing from the different lane to the same lane as the vehicle.
[0022] The second acceleration controller may also be referred to as a multi-object controller (see above), and therefore corresponds to the third control determination unit described above.
[0023] However, in addition to the range of functions of a conventional multi-object controller provided for objects in adjacent lanes or for objects cutting in, the second acceleration controller is adapted to function as a preceding vehicle controller for a second object within the roadway enclosure.
[0024] In other words, the driving assistance system has at least two control decision units whose parameter settings are at least partially adjusted separately. A control decision unit corresponding to a first conventional control decision unit, which may also be called a "preceding vehicle controller", is provided for the nearest target object (i.e. the object closest to the vehicle in its path envelope). A control decision unit corresponding to a third conventional control decision unit, which may also be called a "multiple object controller", is provided for objects in adjacent lanes or objects that cut in (i.e. objects that are not in the path envelope of the vehicle) and further for a second object that travels next to the first object traveling in the path envelope.
[0025] The driving assistance system has a first target acceleration determining unit configured to determine a target acceleration to be output to the vehicle based on the first, second and third target accelerations.
[0026] It is therefore proposed here to use, at least temporarily, a third control decision unit, i.e. a multi-object control, for further or second objects in the roadway enclosure.
[0027] This makes it possible, particularly in the above-mentioned cases where there are multiple motorcycles in front of the vehicle in a single lane and these motorcycles are traveling close to each other or overlapping / adjacent to each other, to at least keep pace with the motorcycle platoon in the event of sudden or jerky acceleration behavior that is common among motorcycles, or to avoid unintentional or non-smooth braking of the vehicle, which is often caused by the dynamic movements of the motorcycles.
[0028] Furthermore, this can be achieved by the configuration of the above-mentioned controller or driving assistance system, in particular by the dual function of the multi-target controller, so there is no need to prepare two first control judgment units or preceding vehicle controllers, including parameter settings.
[0029] Thus, a solution is proposed that can be implemented based on the conventional controller configurations described above without significant effort in additional safety measures and applications.
[0030] The predetermined first object and / or the predetermined second object may each be considered to be a single-track motor vehicle, in particular a motorcycle.
[0031] The first acceleration controller and the second acceleration controller may be configured to use substantially the same parameter settings to determine the first and second target accelerations, respectively.
[0032] The first predetermined target distance and the second predetermined target distance may have substantially the same value.
[0033] This means that the target distance and parameter settings of the multi-target controller may correspond to the target distance and parameter settings of the leading vehicle controller in the case of platooning.
[0034] The driving assistance system may have a third acceleration controller configured to determine a fourth target acceleration of the vehicle based on a predetermined fourth target distance of the vehicle to a predetermined fourth object traveling in the same lane as the vehicle and in front of the predetermined first object and the predetermined second object.
[0035] Therefore, a control judgment unit that can also be called a ``preceding vehicle controller'' corresponding to the conventional second control judgment unit can also be provided, and this control judgment unit is provided for the vehicle ahead (i.e., the object ahead of the vehicle in front of the automobile within the driving path enclosure).
[0036] The driving assistance system may comprise a second target acceleration determining unit configured to determine a fifth target acceleration of the vehicle based on the first and fourth target accelerations.
[0037] The first target acceleration determination unit may be configured to determine a target acceleration to be output to the vehicle based on the fifth target acceleration.
[0038] This means that a second target acceleration determination unit can be provided upstream of the first target acceleration determination unit, and the second target acceleration determination unit receives the control amount or acceleration determined by the preceding vehicle controller and the preceding vehicle controller as input values, and outputs another control amount based on the input values to the first target acceleration determination unit.
[0039] The first target acceleration determination unit may be configured to determine a target acceleration to be output to said vehicle by selecting the minimum.
[0040] Therefore, the first target acceleration determination unit can output the received minimum control amount or acceleration as a control amount to the vehicle.
[0041] The second acceleration controller may be configured to determine the second target acceleration only if the predetermined third object is not present.
[0042] This means that a condition for the multi-object controller to act as a second preceding vehicle controller as part of its dual function may be that the multi-object controller does not currently have an adjacent truck object to control.
[0043] Furthermore, a vehicle, in particular a motor vehicle, is provided that is equipped with the above-mentioned driving assistance system.
[0044] What has been stated above with respect to the driver assistance system also applies to this vehicle and vice versa.
[0045] The vehicle comprises an object recognition unit connected to a driving assistance system, the object recognition unit being adapted to recognize predetermined objects in the vicinity of the vehicle.
[0046] An embodiment will now be described with reference to FIGS. [Brief description of the drawings]
[0047] [Figure 1] FIG. 1 is a schematic diagram for illustrative purposes showing a driving situation with a car and two objects traveling in front of it, approximately in line with each other; [Diagram 2] FIG. 1 is a diagram showing a driving assistance system for an automobile according to an embodiment of the present invention. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS
[0048] 1 shows a lane 1 on which there is a car 2 together with two objects travelling in front of the car 2 in the direction of travel F, here cars, more precisely motorbikes 3 and 4, each with a single track (one wheel rut). There are no cars on another lane 6 running parallel to the lane 1.
[0049] The automobile 2 has a driving assistance system 5, shown diagrammatically in FIG. 2, which is configured to automatically control the steering of the automobile 2 in its direction of travel and, accordingly, the speed of the automobile 2 in its driving direction F by outputting a target acceleration a6 to the automobile 2.
[0050] For this purpose, the driving assistance system 5 has three acceleration controllers 51, 52, and 53. Hereinafter, the first acceleration controller 51 is referred to as a preceding vehicle controller. Hereinafter, the second acceleration controller 52 is referred to as a multi-object controller. Hereinafter, the third acceleration controller 53 is referred to as a preceding vehicle controller.
[0051] The preceding vehicle controller 51 and the preceding vehicle controller 53 are connected to a first target acceleration determination unit 54 via a second target acceleration determination unit 55, and the multi-object controller 52 is also connected to the first target acceleration determination unit 54.
[0052] In the situation shown in FIG. 1, the preceding vehicle controller 51 a predefined target distance s1 of the vehicle 2 to a first motorcycle 3 traveling directly ahead of the vehicle 2 in the same lane 1 as the vehicle 2, - the actual distance i1 of the first motorcycle 3 to the car 2, and - a given preceding vehicle controller parameter r1, and outputs the determined acceleration a1 of the preceding vehicle controller of the automobile 2 to the second target acceleration determination unit 55.
[0053] In the situation shown in FIG. 1, since there is no vehicle in another lane 6, the multi-object controller 52 determines that a predetermined target distance s1 of the vehicle 2 to a second motorcycle 4 traveling in front of the vehicle 2 next to the first motorcycle 3 in the same lane 1 as the vehicle 2; - the actual distance i2 of the second motorcycle 4 to the car 2, and - a predetermined preceding vehicle controller parameter r1 of the preceding vehicle controller 51 Based on It is adapted to determine a first multi-object controller acceleration a2 of the vehicle 2 and to output it to a first target acceleration determination unit 54 .
[0054] Therefore, the preceding vehicle controller 51 and the multi-object controller 52 are configured to use the same or identical preceding vehicle controller parameter r1 for determining the preceding vehicle controller acceleration a1 and the first multi-object controller acceleration a2, respectively, in the example shown in Figure 1 or in this driving situation.
[0055] The same applies to the target distance s1, which is used by the preceding vehicle controller 51 and the multi-object controller 52 to determine the preceding vehicle controller acceleration and the multi-object controller accelerations a1, a2, respectively.
[0056] The automobile 2 has an object recognition unit (not shown) connected to the driving assistance system 5, which is configured to recognize motorcycles 3, 4 in the vicinity of the automobile 2, determine first and second actual distances i1, i2 and output them to the driving assistance system 5.
[0057] The multi-object controller 52 determines a first multi-object controller acceleration a2 if and only if there is no predefined object, in this example another vehicle, in another lane 6 around the vehicle 2.
[0058] However, if there is another vehicle in another lane 6 around the vehicle 2, or if another vehicle is about to cut into lane 1 from the lane 6 (neither of which are shown), the multi-object controller 52: - a given target distance s2 of vehicle 2 to that other vehicle, - the actual distance to another vehicle i3, and - Predefined multi-objective controller parameters r2 and outputting the second multi-object controller acceleration a3 of the vehicle 2 to the first target acceleration determination unit 54.
[0059] In a situation where another car (not shown) is traveling ahead of the two motorcycles 3 and 4, the preceding vehicle controller 53 - a predefined target distance s3 of the car 2 to a further car traveling in front of the two motorbikes 3, 4; - the actual distance i4 to any further motor vehicles travelling in front of the two motorbikes 3, 4, and - Predetermined preceding vehicle controller parameter r1 and outputs the second target acceleration determining unit 55 to the second preceding vehicle controller acceleration a4 of the automobile 2 based on the above.
[0060] The second target acceleration determination unit 55 is configured to determine a target acceleration a5 of the automobile 2 based on the preceding vehicle controller acceleration a1 and the preceding vehicle controller acceleration a4, and output the target acceleration a5 to the first target acceleration determination unit .
[0061] The first target acceleration determination unit 54 is configured to determine a target acceleration a6 to be output to the vehicle by selecting the minimum among the first multi-object controller acceleration a2 or the second multi-object controller acceleration a3 and the target acceleration a5 determined by the second target acceleration determination unit 54. [Explanation of symbols]
[0062] 1 lane 2. Automobiles 3. The First Motorcycle 4. The Second Motorcycle 5. Driving assistance systems 51 Leading vehicle controller 52 Multi-Objective Controller 53 Preceding vehicle controller 54 First target acceleration determination unit 55 Second target acceleration determination unit 6 Different lanes a1 Leading vehicle controller acceleration a2 First multi-objective controller acceleration a3 Second multi-objective controller acceleration a4 Preceding vehicle controller acceleration a5 the target acceleration determined by the second target acceleration determination unit a6 Target acceleration output to the vehicle F Travel direction i1 First motorcycle actual distance i2 Second Motorcycle Actual Distance i3 Actual distance of another car in another lane i4 Actual distance of another car ahead of the two motorcycles r1 Preceding vehicle controller parameters r2 Multi-target controller parameters s1 target distance of the vehicle to the first or second motorcycle s2 The vehicle's target distance to another vehicle in another lane s3 Target distance of the car to another car ahead of the two motorcycles
Claims
1. A driving assistance system (5) for a vehicle (2), the driving assistance system (5) being configured to automatically control steering of the vehicle (2) in a traveling direction by outputting a target acceleration (a6) to the vehicle (2), a first acceleration controller (51) configured to determine a first target acceleration (a1) of the vehicle (2) based on a first predetermined target distance (s1) of the vehicle (2) to a first predetermined object (3) traveling directly ahead of the vehicle (2) in the same lane (1) as the vehicle (2); a second acceleration controller (52), determining a second target acceleration (a2) of the vehicle (2) based on a second predetermined target distance (s1) of the vehicle (2) to a second predetermined object (4) traveling next to the first predetermined object (3) in the same lane (1) as the vehicle (2); determining a third target acceleration (a3) of the vehicle (2) based on a third target distance (s2) of the vehicle (2) to a third target object, which is to travel in a different lane (6) from the vehicle (2) and / or change from the different lane (6) to the same lane (1) as the vehicle (2); a second acceleration controller (52) configured a first target acceleration determination unit (54) configured to determine a target acceleration (a6) to be output to the vehicle (2) based on said first, second and third target accelerations (a1, a2, a3); A driving assistance system (5).
2. 2. A driving assistance system (5) according to claim 1, wherein the predetermined first object and / or the predetermined second object (3, 4) each have a track of a vehicle.
3. 2. A driving assistance system (5) as described in claim 1, wherein the first acceleration controller and the second acceleration controller (51, 52) are configured to use approximately the same parameter settings (r1) to determine the first target acceleration and the second target acceleration (a1, a2), respectively.
4. 2. A driving assistance system (5) according to claim 1, wherein the first predetermined target distance and the second predetermined target distance (s1) have substantially the same value.
5. 2. A driving assistance system (5) as described in claim 1, comprising a third acceleration controller (53) configured to determine a fourth target acceleration (a4) of the vehicle (2) based on a fourth predetermined target distance (s3) of the vehicle (2) to a fourth predetermined object traveling in front of the first predetermined object and the second predetermined object (3, 4) in the same lane (1) as the vehicle (2).
6. A driving assistance system (5) as described in claim 5, comprising a second target acceleration determination unit (55) configured to determine a fifth target acceleration (a5) of the vehicle (2) based on the first target acceleration and the fourth target acceleration (a1, a4), and the first target acceleration determination unit (54) is configured to determine a target acceleration (a6) to be output to the vehicle (2) based on the fifth target acceleration (a5).
7. A driving assistance system (5) as described in any one of claims 1 to 6, wherein the first target acceleration determination unit (54) is configured to determine the target acceleration (a6) to be output to the vehicle (2) by selecting a minimum.
8. 7. A driving assistance system (5) as described in any one of claims 1 to 6, wherein the second acceleration controller (52) is configured to determine the second target acceleration (a2) only when the predetermined third object is not present.
9. A motor vehicle (2) comprising a driving assistance system (5) according to any one of claims 1 to 6.
10. 10. A vehicle (2) as claimed in claim 9, comprising an object recognition unit connected to the driving assistance system (5), the object recognition unit being configured to recognize the predetermined objects (3, 4) in the vicinity of the vehicle (2).