Method and apparatus for automatically adjusting the travel speed of a motorized vehicle

Abstract

To enable the highest possible maximum speed for automated longitudinal control of motorized vehicles. [Solution] A device for automated longitudinal control of a motor vehicle 100, wherein the device is configured such that the motor vehicle 100 always has a driving speed less than or equal to the maximum driving speed when following another vehicle, the device is configured to detect when the motor vehicle 100 transitions from following another vehicle to free driving, and in response to the detection, the device is configured to reduce the driving speed of the motor vehicle 100 to a driving speed less than or equal to the maximum free driving speed, which is smaller than the maximum driving speed, during the transition from following another vehicle to free driving.

Description

Technical Field

[0001] The present invention relates to a method and a corresponding device configured to automatically adjust the driving speed of a vehicle with a prime mover.

Background Art

[0002] A vehicle can be formed to be automatically longitudinally controlled (longitudinal driving, longitudinal guidance) and / or laterally controlled (lateral driving, lateral guidance). At this time, the automated longitudinal control and / or lateral control can be brought about by a high degree of automation such that, in some cases, the driving operation of the vehicle need not be monitored by the driver of the vehicle.

[0003] A driving system for the automated longitudinal control and / or lateral control of a vehicle can be formed to autonomously set the driving speed of the vehicle. The maximum speed used at this time may depend on the range in which an object located ahead can be reliably detected based on sensor data detected by one or more surrounding sensors of the vehicle. The sensor-based maximum speed may vary depending on the settings of one or more surrounding sensors.

Summary of the Invention

Problems to be Solved by the Invention

[0004] This specification addresses the technical problem of enabling the maximum possible speed for the automated longitudinal control of a vehicle with a prime mover.

Means for Solving the Problems

[0005] The problem is solved by each independent claim. Preferred embodiments are described, in particular, in the dependent claims. It should be noted that additional features of claims dependent on independent claims can form an invention independent of the original and all combinations of features of the independent claims, either without the features of the independent claims or only in combination with some of the features of the independent claims, and such invention may be made subject to the independent claims, divisional applications, or subsequent applications. This also applies to technical suggestions described in the specification that can form an invention independent of one of the features of the independent claims.

[0006] According to one embodiment, a device for automated longitudinal control of a motorized vehicle is described. The device can be configured to provide longitudinal control with an automation level of SAE Level 3 or higher. The motorized vehicle can be automated longitudinally and / or laterally controlled within a given lane. Automated longitudinal control can be provided using a speed controller (cruise control) and / or distance controller.

[0007] The device is configured such that the motorized vehicle always maintains a driving speed below the maximum follow speed during follow driving. Follow driving may occur, for example, when the motorized vehicle has a preceding vehicle (directly on the same lane) within the follow driving distance range (immediately in front of the motorized vehicle). On the other hand, if the motorized vehicle does not have a preceding vehicle within the forward follow driving distance range, follow driving may not occur, and free driving may occur instead. The follow driving distance range can be set in advance. Alternatively, or in addition to this, the device can be configured to determine the follow driving distance range depending on the driving speed of the motorized vehicle, and / or depending on the maximum follow speed, and / or depending on the maximum free driving speed (described below).

[0008] The preceding vehicle can be detected based on one or more surrounding sensors of the motorized vehicle (e.g., one or more cameras, one or more radar sensors, and / or one or more lidar sensors). Furthermore, the distance and / or speed of the preceding vehicle can be determined based on sensor data from one or more surrounding sensors of the motorized vehicle.

[0009] The device can be configured to automatically control the motorized vehicle longitudinally behind the preceding vehicle at a target distance (which may be set by the motorized vehicle's user) when the preceding vehicle's speed is below the maximum speed for following, particularly when using a distance controller, especially as long as the preceding vehicle's speed is below the maximum speed for following. Alternatively, or in addition to the above, the device can be configured to keep the motorized vehicle's speed below the maximum speed for following at all times when the preceding vehicle's speed is above the maximum speed for following, particularly as long as the preceding vehicle's speed is above the maximum speed for following, and / or as long as the preceding vehicle's speed is above the maximum speed for following (and as long as the preceding vehicle is within the following distance range), especially when using a speed controller, especially when the preceding vehicle's speed is above the maximum speed for following, particularly as long as the preceding vehicle's speed is above the maximum speed for following, and / or as long as the preceding vehicle's speed is above the maximum speed for following (and as long as the preceding vehicle is within the following distance range).

[0010] Furthermore, the device is configured to detect the transition of a motorized vehicle from following a vehicle to free driving (which follows directly from following a vehicle) based on sensor data from one or more ambient sensors. This transition can have a predetermined transition type, such as a lane change by the preceding vehicle, a turning maneuver by the preceding vehicle, or an acceleration maneuver by the preceding vehicle. An exemplary transition type for the transition from following a vehicle to free driving is: • One or more types of lane changes by a preceding vehicle into an adjacent lane, in particular, - The preceding passenger car, - The preceding track, - The preceding motorcycle, and / or - The preceding bus One transition type for each lane change, and / or • One or more transition types for the turning operation of the preceding vehicle (for example, one transition type for each of the above vehicle types), and / or Transition type where the preceding vehicle has a greater distance relative to the motorized vehicle (your vehicle) (e.g., due to acceleration) until the preceding vehicle eventually leaves the following distance range located ahead (resulting in a transition to free driving). That is the case.

[0011] The transition from follow-me driving to free driving may have a predetermined transition (duration) time (e.g., 0.5 to 2.5 seconds). The transition time may depend on the type of transition.

[0012] The device can be configured to respond to detection and reduce the speed of the motorized vehicle to a speed below the maximum free-driving speed during the transition from follow-driving to free-driving (during the transition time), where the maximum free-driving speed is less than the maximum follow-driving speed.

[0013] The maximum free-roaming speed may depend on the range within which an object located ahead can be detected based on sensor data from one or more surrounding sensors of the motorized vehicle. On the other hand, this range may depend on the technical configuration of one or more surrounding sensors.

[0014] The maximum speed for follow-up driving may be (exactly) greater than the maximum speed for free driving by a (predetermined) speed difference. The speed difference is: • Transition time for the transition of a motorized vehicle from following a vehicle to free-running, and / or Transition deceleration: This mechanism slows down the motorized vehicle when transitioning from following a vehicle to free-roaming. It may depend on this.

[0015] The device can be configured, in particular, to reduce the speed of the motorized vehicle from an initial speed exceeding the maximum free-running speed to the maximum free-running speed, especially during the transition time from follow-driving to free-running, using a speed controller (so that the speed of the motorized vehicle corresponds to the free-running speed after the transition time). Furthermore, the device can be configured, in particular, to keep the speed of the motorized vehicle below the maximum free-running speed at all times during subsequent free-running, especially using a speed controller. In particular, the maximum free-running speed can be used as the target speed of the speed controller.

[0016] Therefore, a device is described that enables the use of the transition time from follow-up driving to free driving directly following a sensor to decelerate the motorized vehicle to the sensor-dependent maximum free driving speed, so that the motorized vehicle can be automated and longitudinally controlled at a speed exceeding the maximum free driving speed while following a preceding vehicle. Thus, it is possible to provide particularly comfortable (especially rapid) and safe automated longitudinal control of a motorized vehicle.

[0017] The device can be configured to detect objects located ahead during free travel, particularly during direct free travel. Furthermore, the device can be configured to decelerate the motorized vehicle in response to object detection by a (relatively large) object deceleration, at least temporarily (or continuously until a stop). The object deceleration is 4 m / s² in value. 2 That's all.

[0018] Furthermore, the device can be configured to always decelerate the motorized vehicle at a deceleration less than or equal to the transition deceleration while transitioning from follow-me driving to free driving. In this case, preferably, the transition deceleration is smaller in value than the object deceleration, and in particular, is 2 times (factor 2) or more smaller. The transition deceleration is, for example, 2 m / s in value. 2 The following is acceptable:

[0019] By providing a relatively small transition deceleration rate from following driving to free driving and a relatively large object deceleration rate for deceleration with respect to a detected object, it is possible to provide longitudinal control of a particularly comfortable and safe automated motor vehicle.

[0020] The device can be configured to identify one or more ambient conditions currently present in the immediate vicinity of the motor vehicle, each having an impact on the range within which it is possible to detect an object located in front based on the sensor data of one or more ambient sensors of the motor vehicle. Exemplary ambient conditions are · weather conditions in the vicinity of the motor vehicle and / or · brightness conditions in the vicinity of the motor vehicle are.

[0021] Furthermore, the device can be configured to determine a free driving maximum speed and / or a following driving maximum speed based on one or more ambient conditions. By taking into account the currently present ambient conditions respectively when setting the free driving maximum speed and / or the following driving maximum speed, it is possible to further improve the comfort and / or safety of the automated longitudinal control.

[0022] The device can be configured to select a transition type of the transition from following driving to free driving from among a plurality of different (predetermined) transition types (based on the sensor data of one or more ambient sensors). In this case, the following driving maximum speed, particularly the speed difference by which the following driving maximum speed exceeds the free driving maximum speed, can be determined based on the selected transition type. For this purpose, in some cases, it is possible to use characteristic data indicating the speed difference associated with each of the plurality of different transition types. The characteristic data can be preset. Therefore, it is possible to further improve the comfort and safety of the automated longitudinal control.

[0023] The device can be configured to identify the vehicle type of a preceding vehicle from among several different (predefined) vehicle types (based on sensor data from one or more ambient sensors). Exemplary vehicle types include: Passenger cars, ·track, • Motorcycles, and / or ·bus That is the case.

[0024] In this case, the maximum follow speed, particularly the speed difference where the maximum follow speed exceeds the maximum free-roaming speed, can be determined based on the identified vehicle type of the preceding vehicle. For this purpose, characteristic data showing the associated speed differences for multiple different vehicle types can be used, if necessary. This characteristic data can be pre-configured. Thus, the comfort and safety of automated longitudinal control can be further improved.

[0025] In another embodiment, a motorized vehicle (in particular a passenger car or freight car or bus or motorcycle) including the device described herein is described.

[0026] In another embodiment, a method for automated longitudinal control of a motorized vehicle is described. The method includes ensuring that the motorized vehicle always maintains a speed below the maximum speed for follow driving when following a vehicle. Furthermore, the invention includes detecting the transition of the motorized vehicle from follow driving to free driving. Furthermore, in response to the above detection, the method includes reducing the speed of the motorized vehicle to a speed below the maximum speed for free driving during the transition from follow driving to free driving, where the maximum speed for free driving is less than the maximum speed for follow driving. The method may also include ensuring that the motorized vehicle always maintains a speed below the maximum speed for free driving when free driving.

[0027] It should be noted that embodiments and claims described in relation to the apparatus are also applicable to methods as features of the corresponding methods.

[0028] In another embodiment, a software (SW) program is described. The software program can be configured to be executed in a processor (for example, in a vehicle control system) and thereby perform the methods described herein.

[0029] In another embodiment, a storage medium is described. The storage medium may include a software program that is installed to run on a processor and thereby perform the method described herein.

[0030] In this specification, the term (concept) “automated driving” is understood to mean driving with automated longitudinal control (longitudinal driving, longitudinal guidance) and / or lateral control (lateral driving, lateral guidance). Automated driving may be, for example, relatively long-duration driving on a highway or time-limited driving in a parking situation. The term “automated driving” includes automated driving with appropriate degrees of automation. Exemplary degrees of automation are (in increasing order of degree of automation) assisted driving, partially automated driving, highly automated driving, fully automated driving, and autonomous driving. The five degrees of automation described above correspond to SAE levels 1 to 5 of the SAE J3016 standard (SAE: Society of Automotive Engineering). In assisted driving (SAE level 1), the system performs longitudinal driving or lateral driving in a given driving situation. In partially automated driving (SAE Level 2), the system handles longitudinal and lateral driving under specified driving conditions, and the driver needs to continuously monitor the system, as in assisted driving. In highly automated driving (SAE Level 3), the system handles longitudinal and lateral control under specified driving conditions without requiring continuous driver monitoring, but the driver needs to be able to take over vehicle control for a certain period of time in response to system requests. In fully automated driving (SAE Level 4), the system takes over vehicle control under specified driving conditions without the driver needing to respond to requests for intervention, thus eliminating the need for a driver as a backup level. In autonomous driving (SAE Level 5), the system can perform all aspects of dynamic driving tasks under all road and ambient conditions that would also be handled by a human driver.

[0031] The measures described herein relate particularly to vehicles formed in accordance with SAE Level 3 or higher.

[0032] It should be noted that the methods, apparatus, and systems described herein can be used individually or in combination with other methods, apparatus, and systems described herein. Furthermore, each aspect of the methods, apparatus, and systems described herein can be combined in various ways. In particular, the features of the claims can be combined in various ways. Features indicated in parentheses should be understood as optional features.

[0033] The present invention will be described in detail below based on examples. [Brief explanation of the drawing]

[0034] [Figure 1a] This is a diagram illustrating exemplary components of a vehicle. [Figure 1b] This figure shows an example of the detection range of one or more surrounding sensors on a vehicle. [Figure 2] This diagram illustrates an example of the transition from follow-me driving to free driving. [Figure 3] This diagram shows a flowchart illustrating an example method for adjusting the vehicle's speed. [Modes for carrying out the invention]

[0035] As explained at the outset, this specification aims to enable safe, reliable, automated longitudinal control of a vehicle at the highest possible travel speed. In this regard, Figure 1a shows an exemplary vehicle 100 having one or more ambient sensors 102, each configured to detect sensor data (also called ambient data) about the surroundings of the vehicle 100. Exemplary ambient sensors 102 include cameras, radar sensors, lidar sensors, ultrasonic sensors, and the like.

[0036] The (control) device 101 of the vehicle 100 can be configured to evaluate ambient data to recognize, for example, one or more objects (e.g., other vehicles) around the vehicle 100. The device 101 can also be configured to generate automated longitudinal control (longitudinal driving, longitudinal guiding) and / or lateral control (lateral driving, lateral guiding) of the vehicle 100 based on the ambient data, particularly based on one or more detected objects. For this purpose, it is possible to control (operate) one or more longitudinal control actuators and / or lateral control actuators 103 of the vehicle (e.g., drive motors, brakes and / or steering devices).

[0037] Automatic longitudinal control of vehicle 100 can be provided, for example, by a speed controller (cruise control) and / or a distance (inter-vehicle distance) controller. In this case, when vehicle 100 is following a preceding vehicle, the actual distance (inter-vehicle distance) of vehicle 100 to the preceding vehicle can be determined based on ambient data. Furthermore, the actual distance can be adjusted, in particular controlled, to a predetermined target distance by a distance controller. The driving speed of vehicle 100 can correspond to the driving speed of the preceding vehicle (at least on average over time) during following.

[0038] The speed controller and / or distance controller can be configured to specifically control the speed of the vehicle 100 when it is traveling freely (within a predetermined distance range) without a preceding vehicle in front of it, adjusting the speed of the vehicle 100 to a predetermined target speed. The predetermined target speed may correspond to a predetermined maximum speed, and the maximum speed may depend on the quality of ambient data detected by one or more ambient sensors 102. In particular, the maximum speed may depend on the range in which objects in front of the vehicle 100 in the direction of travel can be reliably recognized based on the ambient data. In this specification, the maximum speed (which depends on the sensors) for free travel is also referred to as the maximum free travel speed.

[0039] Figure 1b shows an exemplary driving scenario in which vehicle 100 is traveling toward an object 110 (stationary) located in front of vehicle 100 in the direction of travel. One or more ambient sensors 102 can be configured such that the object 110 can be reliably recognized at a predetermined maximum distance A112. The maximum distance A112 may depend on the configuration of one or more ambient sensors 102. Alternatively, or in addition to this, the maximum distance A112 may depend on the ambient conditions currently present around vehicle 100. Exemplary ambient conditions are: • Weather conditions (such as sunshine, rain, fog, snow, etc.) and / or • Light conditions (for example, sunlight, nighttime, or dim light) That is the case.

[0040] When a maximum distance A112 exists, the vehicle 100 will stop before reaching the (stationary) object 110 from its maximum speed 111 using the object deceleration a, such that the vehicle 100 has a (relatively large) object deceleration (e.g., the maximum allowable deceleration) a (e.g., a = 7 m / s²) of the vehicle 100. 2 Taking this into consideration, it is possible to determine the maximum speed 111 of the vehicle 100 (which depends on the sensors) based on the maximum distance A112.

[0041] The sensor-dependent (free-roaming) maximum speed 111 may be relatively small depending on the settings of one or more ambient sensors 102 and the associated sensor (detection) range. This specification describes one or more measures that can increase the maximum speed of the vehicle 100, at least depending on the circumstances. In particular, it may be possible to increase the maximum speed of the vehicle 100 during follow-me driving beyond the sensor-dependent (free-roaming) maximum speed 111.

[0042] Figure 2 shows a driving situation in which vehicle 100 is traveling behind a preceding vehicle 200 in the first lane 201 of a multi-lane road. The preceding vehicle 200 may have a speed greater than the sensor-dependent maximum free-travel speed 111. It can be assumed that the speed of the preceding vehicle 200 is large enough that, when the preceding vehicle 200 uses object deceleration a, it can recognize the object 110 in front of it and decelerate to a stationary state without collision.

[0043] In the example shown in Figure 2, the preceding vehicle 200 changes to the second lane 202 of the multiple lanes, causing vehicle 100 to transition from following to independent driving. The lane change by the preceding vehicle 200 may take a predetermined transition (duration) time T. In other words, the transition of vehicle 100 from following to independent driving can occur within a predetermined transition period T. The transition time T can be determined in advance based on measurements (of a typical lane change operation). The transition time T may be, for example, 1 second or more. The transition time T may differ for different types of transitions.

[0044] The transition time T may be used by the vehicle 100 to reduce the travel speed from a predetermined initial speed to a sensor-dependent maximum free-travel speed 111. To reduce the travel speed, it is generally possible to use a predetermined transition deceleration b that is smaller (in absolute value) than the object deceleration a. The transition deceleration b is, for example, -2 m / s 2 (or less than this in absolute value). Based on the transition time T and the transition deceleration b, it is possible to determine the speed difference that can be reduced during the transition from follow driving to free driving. This speed difference can be added to the sensor-dependent maximum free driving speed 111, and thus result in an increased maximum follow driving speed for follow driving. Therefore, during follow driving, it is possible to automate longitudinal control of the vehicle 100 at a speed exceeding the sensor-dependent free driving speed 111.

[0045] Therefore, by actively adapting the driving strategy to the situation, it is possible to utilize the presence of the preceding vehicle 200 so that it can travel at a maximum follow speed greater than the sensor-dependent maximum free travel speed 111. To this end, the vehicle 100's device 101 detects early changes in follow-up driving behind the preceding vehicle 200, and then the vehicle 100 begins to decelerate from each initial speed. At this time, the reduced travel speed allows the vehicle 100 to detect objects 110 ahead of its lane 210 early at a maximum free travel speed 111 that is still sufficient for the sensors 102 (to avoid collisions with objects).

[0046] Therefore, during follow-me driving, the vehicle can travel at a higher speed, enabling the vehicle 100 to travel continuously and for a relatively long period of time in a highly automated manner without deviating from its inherent safety range.

[0047] In potentially critical cases (for example, during a relatively rapid lane change to avoid an object 110 in the lane ahead 201), the speed of vehicle 100 is first reduced by a (relatively comfortable) transition deceleration (during the transition time T). If, following the transition from follow driving to free driving, the object 110 is recognized based on sensor data from one or more surrounding sensors 102 of vehicle 100, it is possible to cause object deceleration, resulting in vehicle 100 slowing down to a stationary state before reaching the object 110 without collision.

[0048] Alternatively, the device 101 can be configured to mimic (copy) the behavior of the preceding vehicle 100. In this case, it is possible to cause an automatic lane change to a second lane 202 in order to avoid an object 110 (which may be located ahead and / or not yet recognized). Thus, when the preceding vehicle 200 changes lanes, it is possible to cause a corresponding automatic lane change in vehicle 100 (provided that the adjacent lane 202 provides sufficient free space for this purpose). During the process of avoiding the preceding vehicle 200, the device 101 of vehicle 100 can automatically mimic (copy) the operation. Thus, vehicle 100 can continue to stay safely behind the preceding vehicle 200 and avoid driving conditions related to the settings of one or more surrounding sensors 102 (particularly free driving with an object 110 located ahead).

[0049] In one example, a vehicle 100's surrounding sensor (e.g., a lidar sensor) 102 is configured to recognize an object 110 (e.g., a pallet) at a maximum distance A112 of 70m. The validation time and / or response time is 1 second, and the maximum (object deceleration) is -7m / s 2 In that case, it is possible to enable a free-traveling maximum speed 111 of 90 km / h. The measures described herein may enable a follow-up maximum speed of, for example, 95 km / h when following a preceding vehicle 200 (e.g., a truck). When the departure of the preceding vehicle 200 is recognized, the vehicle 100 automatically reduces its speed to the free-traveling maximum speed 111 to ensure that the vehicle 100 can be reliably decelerated without collision when the object 110 is recognized.

[0050] Assuming that the lane change (continuation) time / avoidance (continuation) time (i.e., transition (continuation) time) of the preceding vehicle 100 is 1 second, this transition time can be used to reduce the speed of vehicle 100. If the effective (reasonable) maximum free-traveling speed 111 for the sensors 102 is 90 km / h, then -1.4 m / s per second is required to reduce the speed difference by 1.4 m / s or 5.0 km / h. 2It is possible to decelerate with a (comfortable) transition deceleration.

[0051] Figure 3 shows a flowchart of an exemplary (and possibly computer-implemented) method 300 for automated longitudinal control of a motorized vehicle 100. Method 300 can be configured to automate longitudinal control of the motorized vehicle 100 to a degree of automation of SAE Level 3 or higher. Method 300 can be implemented by the (control) device 101 of the vehicle 100.

[0052] Method 300 includes ensuring that the motor vehicle 100 always maintains a driving speed less than or equal to the maximum following speed during following. Following may occur if the motor vehicle 100 has a preceding vehicle 200 (traveling directly in front of the motor vehicle 100 on the same lane 201) within a predetermined following distance range ahead.

[0053] During follow-up driving, as long as the speed of the preceding vehicle 200 is less than or equal to the maximum follow-up speed, it is possible to make the motorized vehicle 100 travel at the same speed as the preceding vehicle 200 (using a distance controller). Furthermore, during follow-up driving (using a speed controller), if the speed of the preceding vehicle 200 is greater than the maximum follow-up speed, and if the preceding vehicle 200 is within a (pre-defined) follow-up distance range, it is possible to make the motorized vehicle 100 travel at the maximum follow-up speed.

[0054] Method 300 also includes detecting a transition 302 of the motor vehicle 100 from following to free driving, wherein the motor vehicle 100 does not have a preceding vehicle 200 within its forward following distance range when free driving. The transition from following to free driving may be brought about in particular by the preceding vehicle 100 changing to an adjacent lane 202. The transition from following to free driving can be detected based on sensor data from one or more surrounding sensors 102.

[0055] Furthermore, method 300 includes, in response to the detection 302, reducing the speed of the motorized vehicle 100 to a speed less than or equal to the maximum free-driving speed 111 during the transition from follow-driving to free-driving, where the maximum free-driving speed 111 is less than the maximum follow-driving speed. As described above, the maximum free-driving speed 111 may depend on the settings and / or detection range of one or more ambient sensors 102 of the motorized vehicle 100. The maximum follow-driving speed may exceed the maximum free-driving speed 111 by (just) a speed difference, and the speed difference may depend in particular on the transition time and / or the transition deceleration that occurs during the transition.

[0056] The measures described herein make it possible to effectively and safely enable an increased maximum travel speed for automated longitudinal control of the vehicle 100, depending on the circumstances.

[0057] The present invention is not limited to the embodiments shown. In particular, it should be noted that the specification and drawings illustrate only the principles of the proposed methods, apparatus, and systems.

Claims

1. A device (101) for automated longitudinal control of a motorized vehicle (100), The device (101) is configured such that the motorized vehicle (100) always maintains a driving speed less than or equal to the maximum driving speed when following another vehicle, and the motorized vehicle (100) has a preceding vehicle (200) that is ahead of it within the range of the following distance when following another vehicle. The device (101) is configured to detect the transition of the motor vehicle (100) from following to free driving, and when the motor vehicle (100) is driving freely, there is no preceding vehicle (200) within the forward following distance range. The device (101) is configured to respond to the detection by reducing the driving speed of the motorized vehicle (100) to a driving speed less than or equal to the maximum free driving speed (111) during the transition from follow driving to free driving, wherein the maximum free driving speed (111) is smaller than the maximum follow driving speed. Apparatus (101) characterized by the following.

2. The aforementioned maximum speed for follow-up driving is greater than the aforementioned maximum speed for free driving (111) by a speed difference. The speed difference is, The transition time for the motor vehicle (100) to transition from following to free driving and / or Transition deceleration is the deceleration of the motorized vehicle (100) when transitioning from follow-me driving to free driving. The apparatus (101) according to claim 1, characterized in that it depends on the apparatus.

3. The apparatus (101) according to claim 1 or 2, characterized in that the maximum free-traveling speed (111) depends on a range in which an object (110) located in front of the motor vehicle (100) can be detected based on sensor data from one or more surrounding sensors (102).

4. The aforementioned device (101) To identify one or more currently existing ambient conditions around the motor vehicle (100) that have an influence on the range in which an object (110) in front can be detected based on sensor data from one or more ambient sensors (102) of the motor vehicle (100), and Based on one or more of the aforementioned ambient conditions, the maximum free-driving speed (111) and / or the maximum follow-driving speed are determined. The apparatus (101) according to any one of claims 1 to 3, characterized by being configured as follows.

5. The aforementioned one or more ambient conditions Weather conditions and / or surrounding the motorized vehicle (100) The ambient light conditions around the aforementioned motor vehicle (100) The apparatus (101) according to claim 4, characterized in that it includes the above.

6. The device (101) detects an object (110) located in front of it when it is moving freely. In response to the detection of the object (110), the motorized vehicle (100) is decelerated at least temporarily by the object's deceleration, and During the transition from follow-me driving to free driving, the driving speed is always reduced at a deceleration rate less than or equal to the transition deceleration rate. The apparatus (101) according to any one of claims 1 to 5, characterized in that the transition deceleration is smaller in value than the object deceleration.

7. The apparatus (101) according to claim 6, characterized in that the transfer deceleration is at least twice as small in value as the object deceleration.

8. The aforementioned device (101) Select the transition type from several different transition types for the transition from follow driving to free driving, and Based on the selected transition type, a speed difference is identified in which the maximum follow speed exceeds the maximum free speed (111). The apparatus (101) according to any one of claims 1 to 7, characterized by being configured as follows.

9. The aforementioned multiple different transition types are One or more transition types for the lane change of the preceding vehicle (200) to the adjacent lane (202), and / or One or more transition types for the turning of the preceding vehicle (200), and / or A transitional type in which the preceding vehicle (200) has a travel speed greater than the maximum follow-up travel speed such that the preceding vehicle (200) has a distance greater than the motor vehicle (100) until the preceding vehicle (200) is finally located away from the follow-up travel distance range that is ahead of it. The apparatus (101) according to claim 8, characterized in that it includes the following:

10. The apparatus (101) according to claim 9, characterized in that the one or more transition types for the lane change of the preceding vehicle (200) to the adjacent lane (202) each include transition types for the lane change of a preceding passenger car, a preceding truck, a preceding motorcycle, and / or a preceding bus.

11. The aforementioned device (101) To identify the vehicle type of the preceding vehicle (200) from among several different vehicle types, and Based on the identified vehicle type of the preceding vehicle (200), a speed difference is determined in which the maximum follow speed exceeds the maximum free-travel speed (111). The apparatus (101) according to any one of claims 1 to 10, characterized by being configured as follows.

12. The aforementioned device (101) During follow-up driving, a distance controller is used so that, as long as the driving speed of the preceding vehicle (200) is less than or equal to the maximum follow-up driving speed, the motorized vehicle (100) is automatically controlled longitudinally with respect to a target distance behind the preceding vehicle (200), and If the preceding vehicle (200) has a driving speed equal to or greater than the maximum following speed, the speed controller is used to keep the driving speed of the motorized vehicle (100) always equal to or less than the maximum following speed. The apparatus (101) according to any one of claims 1 to 11, characterized by being configured as follows.

13. The aforementioned device (101) During the transition time from follow-me driving to free driving, a speed controller is used to reduce the speed of the motorized vehicle (100) from an initial speed exceeding the maximum free driving speed (111) to the maximum free driving speed (111), and During the subsequent free driving period, the speed controller is used to keep the driving speed of the motor vehicle (100) always below the maximum free driving speed (111). The apparatus (101) according to any one of claims 1 to 12, characterized by being configured as follows.

14. A method (300) for automated longitudinal control of a motorized vehicle (100), The method (300) includes (301) ensuring that the motorized vehicle (100) always maintains a driving speed less than or equal to the maximum driving speed during follow-up driving, wherein the motorized vehicle (100) has a preceding vehicle (200) that is ahead within the range of the follow-up driving distance when following-up driving. The method (300) includes detecting (302) the transition of the motorized vehicle (100) from following to free driving, wherein when the motorized vehicle (100) is driving freely, there is no preceding vehicle (200) within the forward following distance range. The method (300) includes, in response to the detection, reducing the driving speed of the motorized vehicle (100) to a driving speed less than or equal to the maximum free driving speed (111) during the transition from follow driving to free driving (303), wherein the maximum free driving speed (111) is smaller than the maximum follow driving speed. A method characterized by (300).

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