Method and apparatus for accelerating a vehicle at a signal display unit

Abstract

To reliably improve the comfort of driving functions for automated longitudinal driving of a vehicle in a signal display unit. A device for accelerating a vehicle (100) under speed control when traveling toward a signal display unit (200, 210) located ahead, the device comprising: - to determine when the actual traveling speed of the vehicle 100 is below the target traveling speed of the speed control when traveling towards the signal display unit 200, 210 located ahead; - to determine distance information about the distance 305 of the signal display units 200, 210 located ahead of the vehicle 100; and In speed control to the target driving speed, the acceleration of the vehicle 100 is brought about by an acceleration value that depends on the distance information. It is composed of:

Description

[Technical Field]

[0001] The present invention relates to a device and a corresponding method for operating vehicle driving functions, in particular vehicle speed control, in a signal display unit. [Background technology]

[0002] A vehicle may be equipped with one or more navigation functions that assist the driver of the vehicle when steering the vehicle, particularly when steering longitudinally and / or laterally. An exemplary navigation function that assists the longitudinal steering of a vehicle is an adaptive cruise control (ACC) function, which may be used to steer the vehicle longitudinally at a set or target speed and / or at a set or target distance relative to a preceding vehicle traveling in front of the vehicle. Navigation functions may also be used in connection with signal display units (particularly traffic lights) at traffic junctions (e.g., intersections) to provide automated longitudinal steering, e.g., automated deceleration, in the signal display units. Summary of the Invention [Problem to be solved by the invention]

[0003] The present specification addresses the problem of ensuring improved comfort of driving functions for automated longitudinal driving of vehicles in signal display units. [Means for solving the problem]

[0004] The problem is solved by each independent claim. Advantageous embodiments are set out in particular in the dependent claims. It should be noted that the additional features of claims dependent on an independent claim, either without the features of the independent claim or only in combination with some of the features of the independent claim, may form an invention independent of the combination of all the features of the independent claim, which invention may be made for the subject matter of an independent claim, a divisional application or a subsequent application. The same applies to technical suggestions given in the description that may form an invention independent of one of the features of the independent claim.

[0005] According to one aspect, a device is described for accelerating a (motorized) vehicle in speed control when traveling toward a signal display unit (e.g., a traffic light or a traffic sign) located ahead. The speed control may be part of a driving function, in particular an ACC driving function. The speed control can be performed when the vehicle is traveling freely (without a preceding vehicle located immediately in front of the vehicle). At this time, the vehicle speed can be controlled to a target driving speed (set by the vehicle user).

[0006] The signal display unit may include, in particular, a traffic light. The device may be configured to take into account the signal display unit, in particular the signal display state (e.g., color) of the signal display unit, during automated longitudinal driving of the vehicle. For example, the device may be configured, depending on the signal display state of the signal display unit, to cause the vehicle to pass through the signal display unit and drive longitudinally based on speed control to a target driving speed (when the signal display state (e.g., green) indicates that the vehicle may travel freely at the intersection). On the other hand, the device may be configured to automatically decelerate the vehicle until it stops at the stop position of the signal display unit (when the signal display state (e.g., yellow or red) indicates that the vehicle must stop at the signal display unit).

[0007] The device is configured to determine when the actual traveling speed of the vehicle is less than the target traveling speed of the speed control (e.g., more than 10% below the target traveling speed) when traveling towards a signal display unit located ahead. Such a situation may exist particularly when the speed control is activated. In the speed control, acceleration at a predetermined standard value is typically provided in order to set and particularly control the traveling speed of the vehicle to the target traveling speed. The standard value may depend on the difference between the actual traveling speed and the target traveling speed (and typically increases as the difference increases).

[0008] Therefore, particularly when the difference between the actual driving speed and the target driving speed is relatively large, this can lead to relatively strong acceleration of the vehicle, which can be uncomfortable for the vehicle user when driving towards the signal display unit (especially if the signal display unit is not far from the vehicle).

[0009] The device is also configured to determine distance information about the distance (in time and / or in space) of a signal display unit located ahead from the vehicle, in particular the distance can be determined in terms of travel time in seconds and / or travel distance in meters.

[0010] The distance information can be determined based on sensor data from one or more surrounding sensors of the vehicle (e.g., camera and / or lidar sensors) and / or based on a digital map of the lane network the vehicle is traveling in. The data can also be used for the recognition of signal display units located ahead.

[0011] The device is also configured to accelerate the vehicle with an acceleration value that depends on the distance information during speed control to a target speed. In other words, it is possible to control the speed to a (set) target speed. However, the acceleration used in the speed control and / or the maximum allowable acceleration during the speed control may depend on the distance information.

[0012] The acceleration value of the acceleration can be increased as the distance increases and / or decreased as the distance decreases. The device can be configured, for example, to determine, based on the distance information, that the distance is less than or equal to a (predefined) distance threshold. In response to the determination, a reduced acceleration value can be produced compared to a standard value of acceleration used in speed control.

[0013] Therefore, the acceleration used in the speed control during free running can be set depending on the distance (in time and / or space) to the signal display unit located ahead, thereby improving user comfort (especially when the speed control is activated).

[0014] The acceleration used in the speed control (e.g., the controlled variable of the speed control circuit) can be set (adjusted) depending on a control error, which can depend on or correspond to the difference between the actual driving speed and the target driving speed. The speed control device can specify the value of the acceleration of the vehicle as the controlled variable. In this case, the value of the acceleration generally depends on the control error and generally increases as the control error increases.

[0015] In speed control, it is possible to set a maximum value for acceleration so that it is not exceeded (even in the presence of relatively large control errors). During normal operation of the speed control device, the maximum value corresponds to a predetermined standard maximum value.

[0016] The device may be configured to set and / or adjust a maximum acceleration value of the vehicle used in speed control in dependence on the distance information, in particular so that the maximum acceleration value increases with increasing distance and / or decreases with decreasing distance. The device may, for example, be configured to determine, based on the distance information, that the distance is less than or equal to a (predefined) distance threshold. In response to the determination, a reduced maximum acceleration value may be used compared to a normal maximum acceleration value used in speed control.

[0017] A selective reduction of the maximum value of vehicle acceleration permitted in speed control as a function of distance information makes it possible to provide a particularly comfortable driving function when approaching a signal display unit.

[0018] The device may be configured to determine when the actual road speed is less than the target speed by activating the speed control.

[0019] For example, a user input from a vehicle user that the speed control should be activated (at a predetermined initial position) can be detected at a vehicle user interface, and based on the detected user input, it can be reliably determined that the actual driving speed is less than the target speed due to activation of the speed control.

[0020] Alternatively or additionally, the device may be configured to determine that the vehicle (at its initial position) has transitioned from following the preceding vehicle with distance control to free travel with speed control (e.g., because the preceding vehicle has left the lane in which the vehicle is traveling). This may be recognized based on sensor data from one or more surrounding sensors. Then, based on the detected transition from distance control to speed control, it may be determined that the actual travel speed is less than the target speed due to the activation of speed control.

[0021] In some cases, the acceleration value of the vehicle acceleration can be determined depending on the distance information only when the actual driving speed is determined to be less than the target speed by the speed control operation. Therefore, the setting (adjustment) of the distance-dependent acceleration value of the speed control can be limited to the stage of the speed control operation. Therefore, it is possible to further improve the comfort for the user.

[0022] The device can be configured to specify whether the speed control (or driving function) is operated in an automatic mode, in which forward-located signal display units are automatically taken into account when driving the vehicle longitudinally, or in a manual mode, in which forward-located signal display units are only taken into account when driving the vehicle longitudinally after a suggestion is accepted by the vehicle user.

[0023] The device can be configured, for example, to output a suggestion to a user of the vehicle via a user interface of the vehicle (in manual mode) that the signal display status of a forwardly positioned signal display unit, in particular the forwardly positioned signal display unit, be taken into account in controlling the speed of the vehicle, and the user can then accept or reject the suggestion via a user input, while in automatic mode the consideration of the signal display unit can be performed automatically without requiring a response from the user.

[0024] Therefore, the device described herein can be configured to set (adjust) the acceleration value of the acceleration used in the speed control depending on the distance information of the signal display unit located ahead when the signal display unit is not taken into account in the automated longitudinal driving of the vehicle, thereby extending the duration for the user to accept the proposal to take the signal display unit into account, and thus improving the comfort of the driving function.

[0025] As mentioned above, the speed control described herein can be performed in a navigation function where the vehicle is configured for automated longitudinal driving at and / or in association with the signal display unit. The navigation function can then be configured according to SAE Level 2. In other words, the navigation function can optionally provide automated navigation and / or driving assistance (for longitudinal driving) according to SAE Level 2. The navigation function can be limited to longitudinal driving of the vehicle. Lateral driving of the vehicle (lateral guidance (e.g., steering control)) can be provided during operation of the navigation function, possibly manually by the driver or by another and / or separate navigation function (e.g., by lane keep assist).

[0026] In the cruise function, the vehicle can be automatically driven longitudinally according to a set or target speed and / or a target distance to a preceding vehicle traveling ahead (immediately before) the vehicle. For this purpose, the cruise function can provide a speed control device as described herein, which adjusts, in particular controls, the actual speed of the vehicle according to a set or target speed. Alternatively or additionally, the cruise function can provide a distance control device, which adjusts, in particular controls, the actual distance of the vehicle to the preceding vehicle according to a set or target distance. The cruise speed of the vehicle can be controlled if there is no relevant preceding vehicle or if the preceding vehicle is traveling faster than the set or target speed. Alternatively or additionally, the distance of the vehicle to the preceding vehicle can be controlled if the preceding vehicle is traveling slower than the set or target speed. Thus, the cruise function can provide an adaptive cruise control (ACC) driver assistance function.

[0027] The vehicle may include a user interface for interaction with a vehicle user, in particular a driver. The user interface includes one or more operating elements that enable the user to set a set or target speed and / or a set or target distance. Alternatively or additionally, the one or more operating elements may enable the user to accept a preset set or target speed and / or a preset set or target distance of the vehicle for activation of a driving function. The one or more operating elements may be configured to be operated by the driver's hands and / or fingers. Alternatively or additionally, the one or more operating elements may be arranged on a steering means (in particular a steering wheel or steering linkage) of the vehicle.

[0028] Furthermore, the driving function can be configured to take into account one or more signal display units in the lane (particularly the road) on which the vehicle is traveling and / or in the driving route during automated longitudinal driving. The signal display units can be configured to set the right-of-way at junctions (particularly intersections) of the lane network on which the vehicle is traveling. Here, the right-of-way setting can be temporarily changeable (for example, as in a signal light installation, e.g. a traffic signal installation with one or more different signal groups (each with one or more traffic lights) for one or more different driving directions of the vehicle at the junction) or can be set permanently (for example, as in the case of a traffic sign, e.g. a stop sign).

[0029] During operation of the navigation function, data relating to a signal display unit (at an intersection) located ahead in the direction of travel of the vehicle can be determined. The data can include map data for the signal display units and / or intersections in the lane network through which the vehicle is traveling. The map data (i.e., the digital map) can include one or more attributes for each individual signal display unit. The one or more attributes for a signal display unit can be: the type of signal display unit, in particular whether the signal display unit is a signal light installation or a traffic sign; and / or the number of different signal groups of a signal display unit (and the number of traffic lights per signal group) for different directions of travel and / or for different lanes at junctions in the traffic network that are located on or associated with the signal display unit, and / or the location (e.g. GPS coordinates) of the signal display unit and / or its stop line within the lane network, and / or the relative distance of the stop line to the relevant signal display unit, and / or The relative distance and / or relative positioning of the individual signals of a signal display unit It is possible to indicate or include:

[0030] The navigation function may be configured to detect the vehicle's actual position (e.g., current GPS or GNSS coordinates) within the lane network using a vehicle position sensor (e.g., a GPS or GNSS receiver) and / or odometer measurements, and may recognize (e.g., the next) traffic light display unit on the vehicle's route or for navigation toward an intersection ahead based on map data. It may also detect one or more map attributes for the recognized traffic light display unit.

[0031] Alternatively or additionally, the data about a signal display unit (at an intersection) located ahead in the vehicle's direction of travel can include or be determined based on ambient data about the signal display unit. The ambient data can be detected by one or more ambient sensors of the vehicle. Exemplary ambient sensors include a camera, a radar sensor, a lidar sensor, etc. The one or more ambient sensors can be configured to detect sensor data (i.e., ambient data) about the surroundings ahead of the vehicle in the direction of travel.

[0032] The navigation function can be configured to recognize, based on the ambient data (in particular based on camera sensor data), that a signal display unit is located ahead of the vehicle in the direction of travel. For this purpose, for example, image analysis algorithms can be used. Furthermore, the navigation function can be configured to identify the type of signal display unit (e.g., signal light installation or traffic sign) based on the ambient data. Furthermore, the navigation function can be configured to identify, based on the ambient data, the (signal display) state of the signal display unit regarding permission to pass through the junction associated with the signal display unit. In particular, it is possible to detect the color (green, yellow, or red) of one or more signal groups of the signal light installation.

[0033] The navigation function can be configured to take the detected signal display unit into account in the automated longitudinal navigation of the vehicle. In particular, the navigation function can be configured to determine whether the vehicle needs to stop at the signal display unit, in particular at the stop line of the signal display unit, based on data about the detected signal display unit, in particular based on the color of the signal light or signal group of the signal display unit indicated by the data. For example, it can detect that the vehicle needs to stop because the signal group associated with the vehicle is red. Alternatively, it can detect that the signal group associated with the vehicle is green, so the vehicle does not need to stop. In another example, it can detect that the vehicle needs to stop because the signal display unit is a stop sign.

[0034] The navigation function can also be configured to automatically stop the vehicle at the recognized signal display unit if it is determined that the vehicle needs to stop at the signal display unit. For this purpose, an automated deceleration process (to a standstill) can be implemented. The vehicle can then be driven automatically to the stop position of the signal display unit or before the stop line. During the automated deceleration process, one or more wheel brakes (e.g. one or more friction brakes or one or more regenerative brakes) are controlled by the navigation function to brake the vehicle (to a standstill). The temporal progression of the implemented deceleration can depend on the available braking distance to the detected signal display unit.

[0035] Alternatively or additionally, the driving function can be configured such that, if it is determined that the vehicle does not need to stop at the signal display unit, the vehicle passes the signal display unit and continues longitudinally, in particular beyond the stopping position of the signal display unit, with continued speed and / or distance control according to a set or target speed and / or according to a set or target distance to the preceding vehicle.

[0036] Thus, the cruise function can be configured to take into account the signal display unit to provide an ACC cruise function, which is also referred to herein as Urban Cruise Control (UCC).

[0037] Within the scope of this specification, the term "automated driving" can be understood as driving with automated longitudinal and lateral driving or automated driving with automated longitudinal and lateral driving. Automated driving can be, for example, relatively long driving on a highway or time-limited driving for parking or maneuvering. The term "automated driving" includes automated driving with any appropriate degree of automation. Exemplary degrees of automation are assisted driving, partially automated driving, highly automated driving, and fully automated driving. These degrees of automation are defined by the German Federal Institute for Road and Traffic Research (BASt) (see the BASt publication "Forschung kompakt", November 2012). In assisted driving, the driver continuously performs longitudinal and lateral driving, while the system takes over other functions to a certain extent. In partially automated driving (TAF), the system takes over longitudinal and lateral driving for certain periods and / or in special situations, and the driver needs to continuously monitor the system, as in assisted driving. Highly automated driving (HAF) involves a system assuming longitudinal and lateral driving for a period of time without the driver needing to continuously monitor the system, but the driver must still be able to drive the vehicle for a certain period of time. Fully automated driving (VAF) involves a system automatically performing all driving situations for a specific use case, where a driver is no longer required for that use case. The four levels of automation mentioned above correspond to SAE Levels 1 to 4 in the SAE J3016 (SAE: Society of Automotive Engineering) standard. For example, highly automated driving (HAF) corresponds to Level 3 of SAE J3016. SAE J3016 also defines SAE Level 5 as the highest level of automation, which is not included in the definition of BASt. SAE Level 5 corresponds to driverless driving, where the system can perform all driving situations like a human driver throughout the entire driving process, generally eliminating the need for a driver.The embodiments described herein relate particularly to driving or driver assistance functions configured according to SAE Level 2.

[0038] According to another aspect, there is described a (road vehicle) motor vehicle (in particular a car or lorry or bus or motorcycle) comprising the apparatus described herein.

[0039] According to another aspect, a method for accelerating a vehicle in a speed control when traveling toward a forward-located signal display unit is described, the method including determining that an actual traveling speed of the vehicle when traveling toward the forward-located signal display unit is less than a target traveling speed of the speed control (and that the speed difference is due to a recent actuation of the speed control).

[0040] The method further includes determining distance information relating to the distance of a signal display unit located ahead of the vehicle, and causing acceleration of the vehicle in speed control to a target speed having an acceleration value that is dependent on the distance information (set by a user of the vehicle).

[0041] According to another aspect, a software (SW) program is described, which can be configured to run on a processor (e.g., in a vehicle controller) and thereby perform the methods described herein.

[0042] According to another aspect, a storage medium is described. The storage medium can include a software program configured to execute on a processor and thereby perform the methods described herein.

[0043] It should be noted that the methods, devices, and systems described herein can be used alone or in combination with other methods, devices, and systems described herein. Furthermore, aspects of the methods, devices, and systems described herein can be combined with each other in various ways. In particular, features of the claims can be combined in various ways. Also, features shown in parentheses should be understood to be optional features.

[0044] The present invention will be described in detail below based on examples. [Brief explanation of the drawings]

[0045] [Figure 1] FIG. 1 illustrates exemplary components of a vehicle. [Figure 2a] FIG. 1 illustrates an exemplary signal light installation. [Figure 2b] FIG. 1 illustrates an exemplary traffic sign. [Figure 3a] FIG. 1 illustrates an exemplary driving situation. [Figure 3b] 3b shows an exemplary speed course of a vehicle in the driving situation shown in FIG. 3a. [Figure 4] FIG. 1 shows a flowchart of an exemplary method for accelerating a vehicle at a signal display unit. DETAILED DESCRIPTION OF THE INVENTION

[0046] As explained at the beginning, this specification aims to improve the functionality of a vehicle, particularly the comfort of driver assistance systems, in relation to a signal display unit at a junction (merging point, intersection) with a lane on which the vehicle is traveling. In particular, this specification aims to enable comfortable and reliable speed control in the signal display unit.

[0047] 1 illustrates exemplary components of a vehicle 100. The vehicle 100 includes one or more surrounding sensors 102 (e.g., one or more image cameras, one or more radar sensors, one or more lidar sensors, one or more ultrasonic sensors, etc.), each configured to detect surrounding data related to the surroundings of the vehicle 100 (particularly related to the surroundings in the direction of travel ahead of the vehicle 100). Furthermore, the vehicle 100 includes one or more actuators 103, which are configured to affect the longitudinal and / or lateral steering of the vehicle 100. Exemplary actuators 102 include brake equipment, drive motors, steering, etc.

[0048] The (control) device 101 of the vehicle 100 can be configured to provide driving functions, in particular driver assistance functions, based on sensor data (i.e., based on ambient data) from one or more ambient sensors 102. For example, based on the sensor data, it is possible to detect an obstacle in the driving trajectory of the vehicle 100. Based on this, the device 101 can control one or more actuators 103 (e.g., braking equipment) to automatically slow down the vehicle 100 and thereby avoid a collision between the vehicle 100 and the obstacle.

[0049] In the automated longitudinal driving of the vehicle 100, in addition to the vehicle ahead, it is possible to take into account one or more signal display units (e.g., signal light installations and / or traffic signs) in the lane or road along which the vehicle 100 is traveling, in particular the signal display state of the signal light installations or traffic signal installations, so that the vehicle 100 is automated to slow down to a traffic light stop position at a red light related to its (planned) direction of travel and / or accelerate (possibly again) at a green light.

[0050] An exemplary signal light installation 200 is shown in Figure 2a. The signal light installation 200 shown in Figure 2a includes four different traffic lights 201, which are located at different positions on the approach to an intersection. The left traffic light 201 has an arrow 202 pointing to the left, indicating that the traffic light 201 is for left-turners (vehicles). The two middle traffic lights 201 have arrows 202 pointing upward (or no arrows), indicating that both traffic lights 201 are for straight-through driving. The individual light indications of both traffic lights 201 form a signal group. Furthermore, the right traffic light 201 has an arrow 202 pointing to the right, indicating that the traffic light 201 is for right-turners (vehicles).

[0051] 2b shows an exemplary stop sign as traffic sign 210, which provides the right-of-way at a traffic junction, in particular an intersection. The (control) device 101 of the vehicle 100 can be configured to detect traffic signs 210 relating to the travel of the vehicle 100 on the road or lane on which the vehicle 100 is travelling based on sensor data from one or more surrounding sensors 102 (i.e. based on surrounding data) and / or based on digital map information (i.e. map data).

[0052] The device 101 of the vehicle 100 may be configured to provide automated longitudinal driving of the vehicle 100 in urban areas. The driving function may be referred to as Urban Cruise Control (UCC). The driving function may then be provided in an automatic mode (aUCC) and / or a manual mode (mUCC). In this case, the driver may be able to configure, via a user interface 107 of the vehicle 100, whether the driving function should operate in the automatic mode or the manual mode, as the case may be.

[0053] The device 101 of the vehicle 100 can be configured to detect signal display units 200, 210 located ahead on the driving route of the vehicle 100 based on ambient data from one or more ambient sensors 102 and / or based on map data relating to the lane network along which the vehicle 100 is driving (associated with position data from the position sensors 106 of the vehicle 100). In a manual mode of the UCC driving function, a suggestion or response request can be output via the user interface 107 as to whether the signal display units 200, 210 should be taken into account in the automated longitudinal driving of the vehicle 100. The driver of the vehicle 100 can then accept, reject or ignore the suggestion, for example, by operating an operating element of the user interface 107. On the other hand, in an automatic mode of the UCC driving function, the detected signal display units 200, 210 can be taken into account in the automated longitudinal driving of the vehicle 100, possibly automatically (i.e., without any necessary notification by the driver).

[0054] When a detected signal display unit 200, 210 is taken into account in the automated longitudinal driving of the vehicle 100, an automatic deceleration can be triggered (depending on the type and / or (signal display) state of the signal display unit 200, 210) in order to bring the vehicle 100 to an automatic stop (e.g. at a red light or a stop sign), and an automatic start of the vehicle 100 can be triggered (e.g. after a (signal display) state change of the signal display unit 200, 210, e.g. after switching to green). The vehicle 100 can then be automatically accelerated again to a target speed (taking into account a set minimum or target gap to the preceding vehicle).

[0055] Thus, the UCC driving function may enable the driver of the vehicle 100 to use the ACC driving function even on roads having one or more signal display units 200, 210 (without having to deactivate and reactivate the ACC function on each individual signal display unit 200, 210).

[0056] 3a and 3b, it may occur that the vehicle 100 is traveling towards the signal display unit 200, 210 and has an actual speed 311 that is lower than the target speed 312 of the navigation function, even though the vehicle 100 is traveling freely. This may occur, for example, if a user of the vehicle 100 activates the navigation function while the vehicle 100 is traveling towards the signal display unit 200, 210 in the lane 300. Alternatively, this situation may occur if the vehicle 100 is first following behind a leading vehicle (traveling at a relatively slower speed) and the leading vehicle leaves the lane 300 (e.g., turns onto an entrance).

[0057] Thus, when the cruise function is activated, the control device 101 of the vehicle 100 can recognize that the vehicle 100 is traveling freely (without a preceding vehicle) and has an actual speed 311 that is (significantly) lower than the target speed 312 of the speed control device of the cruise function. The vehicle 100 can then be accelerated at the (relatively large) standard acceleration of the speed control device in order to set, and in particular control, the travel speed 310 of the vehicle 100 to the target speed 312. However, this may lead to a situation in which the vehicle 100 is accelerated at the relatively large standard acceleration even though it should stop at the stop position 302 of the signal display unit 200, 210 located ahead. This may lead to an uncomfortable situation for the user of the cruise function. In particular, using the relatively large standard acceleration may reduce the duration available to the user of the vehicle 100 to select the signal display unit 200, 210 in the manual mode of the cruise function.

[0058] The (control) device 101 can be configured to determine distance information about a distance 305 between an initial position 301 of the vehicle 100 (when speed control (cruise control) is activated) and a stopping position 302 of the signal display unit 200, 210. The initial position 301 can correspond to a position of the vehicle 100 where a free-running situation of the vehicle 100 exists and therefore the vehicle 100 should be accelerated to a target speed 312.

[0059] The acceleration value may be determined depending on the distance information. In this case, the acceleration value may be increased as the distance 305 increases. For example, if the distance 305 is greater than a predetermined distance threshold, a standard acceleration value may be used. On the other hand, if the distance 305 is equal to or less than the distance threshold, a smaller acceleration value than the standard acceleration value may be used.

[0060] 3b shows a speed curve 321 of the speed 310 of the vehicle 100 when a standard value of acceleration is used. Furthermore, FIG. 3b shows a speed curve 322 when a reduced value of acceleration is used. The reduced value of acceleration extends the duration until the vehicle 100 reaches the decision position 303 at the latest, at which the driver must decide whether the signal display unit 200, 210 located ahead should be taken into account when operating the driving function. Therefore, the comfort for the driver of the vehicle 100 can be improved.

[0061] For example, it may happen that the vehicle 100 is operated with inactive driving functions (in particular with inactive distance control and / or speed control), and the driver of the vehicle 100 is generally not informed about the signal display units 200, 210 located in front of the vehicle 100. In particular, the signal display units 200, 210 located in front of the vehicle 100 are generally not taken into account during longitudinal driving of the vehicle 100.

[0062] When the driver activates the driving function, possibly (e.g., based on the signal display status) a signal display unit 200, 210 located ahead is recognized and / or displayed that should be taken into account during longitudinal driving. In this case, the driver can select the recognized signal display unit (if the driving function is operated in manual mode). However, at the same time, this may result in the vehicle 100 accelerating at a standard value in order to set the vehicle 100 to a target speed 312 for a free-driving situation. A relatively quick acceleration towards the signal display unit 200, 210 located ahead reduces the duration available to the driver to take over provision of the driving function depending on the distance 305 and the vehicle's actual driving speed 311.

[0063] The device 101 described herein can be configured to provide a dynamic reduction (compared to a standard value) of the vehicle 100 in a situation where the driving function is activated and the associated signal display unit 200, 210 is recognized, which dynamic reduction avoids a relatively strong acceleration to a set free-running target speed 312, e.g., 1 m / s 2 instead of the (maximum possible) standard acceleration of 0.2 m / s 2 Furthermore, this measure allows the driver to take over in time the manual provision for taking the signal display units 200, 210 into account, even in the case of relatively close signal display units 200, 210.

[0064] FIG. 4 shows a flowchart of a (possibly computer-implemented) method 400 for accelerating a (motorized) vehicle 100 in speed control (particularly in UCC function) when traveling towards a signal display unit 200, 210 located ahead.

[0065] The method 400 includes determining 401 that the actual traveling speed 311 of the vehicle 100 is lower than the target speed 312 of the speed control when traveling towards the signal display unit 200, 210 located ahead. For example, it may be determined that the actual traveling speed 311 is lower than the target speed 312 at the initial position 301 of the vehicle 100. In some cases, it may be determined that the speed difference may be due to the operation of the speed control (particularly the UCC function) performed at the initial position 301.

[0066] The method 400 also includes determining 402 distance information about a distance 305 (of a stop position 302) of a signal display unit 200, 210 located ahead of the vehicle 100 (particularly from an initial position 301 of the vehicle 100). The distance information may indicate a temporal and / or spatial distance 305 (i.e., a travel segment (travel distance)) to the signal display unit 200, 210. The temporal distance may be obtained based on the travel segment and the travel speed 310 of the vehicle 100. The distance information may indicate, in particular, that the signal display unit 200, 210 is located at a distance 305 from the vehicle 100 that is less than or equal to a predetermined distance threshold.

[0067] Furthermore, the method 400 includes effecting 403, in the speed control, acceleration to the target speed 312 (set by the user of the vehicle) with an acceleration value, in particular with a maximum possible acceleration value that depends on the distance information, where the acceleration value can be reduced as the distance 305 becomes smaller or increased as the distance 305 becomes larger.

[0068] In other words, it is possible to control the speed of the vehicle 100 to the target speed 312. At this time, the difference between each actual speed 311 and the target speed 312 can be identified as a control error. The acceleration of the vehicle 100 can be used as a controlled variable. However, in this case, the acceleration value of the acceleration can be limited to a value that depends on the distance information.

[0069] The measures described herein make it possible to reliably improve the comfort of the driving function for automated longitudinal operation of the signal display units 200, 210.

[0070] The invention is not limited to the embodiments shown, and it should be noted that the specification and drawings are intended to illustrate, by way of example only, the principles of the proposed methods, devices and systems.

Claims

1. A device (101) that accelerates the vehicle (100) in speed control when traveling toward a signal display unit (200, 210) located in front, wherein the device (101) - When traveling toward the signal display units (200, 210) located in front, the actual travel speed (311) of the vehicle (100) is determined to be below the target travel speed (312) for speed control. - To identify distance information regarding the distance (305) from the vehicle (100) to the signal display unit (200, 210) located in front, and - In speed control to the target driving speed (312), the acceleration of the vehicle (100) is brought about by an acceleration value that depends on the distance information. A device (101) characterized by being configured in this way.

2. The apparatus (101) according to claim 1, characterized in that the apparatus (101) is configured to increase the acceleration value as the distance (305) increases and / or decrease as the distance (305) decreases.

3. The aforementioned device (101) - Based on the distance information, it is determined that the distance (305) is less than or equal to the distance threshold, and - In response to the specified, the acceleration value is reduced compared to the standard value of acceleration used in speed control. The apparatus (101) according to claim 1 or 2, characterized by being configured as follows.

4. The aforementioned device (101) - To determine that the actual driving speed (311) is less than the target driving speed (312) through the operation of speed control, - When the actual driving speed (311) is determined to be less than the target driving speed (312) by the operation of the speed control, and especially only in this case, the acceleration value of the vehicle (100) is determined in accordance with the distance information. The apparatus (101) according to claim 1 or 2, characterized by being configured as follows.

5. The aforementioned device (101) --To detect user input in the user interface (107) of the vehicle (100) indicating that the speed control should be activated, and - Based on the detected user input, the system determines that the actual driving speed (311) is less than the target driving speed (312) due to the operation of the speed control. The apparatus (101) according to claim 4, characterized by its configuration.

6. The aforementioned device (101) - In particular, to identify that the preceding vehicle moved away from the lane (300) in which the vehicle (100) was traveling, causing the vehicle (100) to transition from following the preceding vehicle with distance control to free driving with speed control, and - Based on the detected transition from distance control to speed control, it is determined that the actual driving speed (311) is less than the target driving speed (312) due to the operation of the speed control. The apparatus (101) according to claim 4, characterized by its configuration.

7. The device (101) according to claim 1 or 2, characterized in that the device (101) is configured to set the maximum value of the acceleration of the vehicle (100) used in speed control, in particular, in a manner dependent on distance information such that the maximum value of the acceleration increases with increasing distance (305) and / or decreases with decreasing distance (305).

8. The aforementioned device (101) - To specify whether the speed control operates in an automatic mode in which the forward-positioned signal display units (200, 210) are automatically considered when the vehicle (100) is operating longitudinally, or in a manual mode in which the forward-positioned signal display units (200, 210) are considered only after the vehicle (100) user accepts a proposal, and - When speed control is operated in the manual mode, and especially only in this case, the acceleration value of the vehicle (100) is determined in relation to the distance information. The apparatus (101) according to claim 1 or 2, characterized by being configured as follows.

9. The aforementioned device (101) - The proposal that the signal display state of the forward-positioned signal display units (200, 210), particularly the forward-positioned signal display units (200, 210), should be taken into consideration in the speed control of the vehicle (100), should be output to the user of the vehicle (100) via the user interface (107) of the vehicle (100), and - In response to the acceptance of the above proposal, depending on the signal display state of the signal display unit (200, 210), - The vehicle (100) passes through the signal display unit (200, 210) based on speed control to the target driving speed (312) and is automatically driven in the longitudinal direction, or - The vehicle (100) is automatically decelerated until it comes to a stop at the stopping position (302) of the signal display unit (200, 210). To bring about The apparatus (101) according to claim 1 or 2, characterized by being configured as follows.

10. The aforementioned device (101) - Based on sensor data from one or more surrounding sensors (102) of the vehicle (100), and / or - Based on a digital map of the lane network on which the vehicle (100) travels, To identify the distance information and / or to detect the signal display units (200, 210) located in front The apparatus (101) according to claim 1 or 2, characterized by being configured as follows.

11. A method (400) for accelerating a vehicle (100) in terms of speed control when traveling toward a signal display unit (200, 210) located in front, wherein the method (400) is - When traveling toward the signal display units (200, 210) located in front, it is determined that the actual travel speed (311) of the vehicle (100) is below the target travel speed (312) for speed control (401), - Identifying distance information (402) regarding the distance (305) from the vehicle (100) to the signal display unit (200, 210) located in front of it, and - In speed control, the acceleration of the vehicle (100) to the target driving speed (312) is brought about by an acceleration value that depends on the distance information (403). A method (400) characterized by including the following.

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