How to operate the adaptive speed controller

Abstract

The present invention relates to a method for operating an adaptive speed controller, a computer program product, a control device for a vehicle, and a vehicle. The method for operating an adaptive speed controller of a host vehicle (100) includes the steps of: a) selecting a first vehicle (200) traveling ahead as a target vehicle (S1); b) controlling a distance (201) between the target vehicle (200) and the host vehicle (100); c) identifying a second vehicle (300) traveling ahead in a lane section in front of the target vehicle (200); d) determining a speed difference (S4) between the speed of the second vehicle (300) traveling ahead and the speed of the target vehicle (200); e) comparing the speed difference with a speed limit value (S5); and f) determining a distance (301) between the second vehicle (300) traveling ahead and the target vehicle (200). g) a step (S7) of comparing the distance with a distance limit value; and h) a step of limiting the acceleration of the host vehicle (100) in response to the comparisons of steps e) and g).

Description

[Technical Field]

[0001] The present invention relates to a method for operating an adaptive speed controller, a computer program product, a control device for a vehicle, and a vehicle. [Background technology]

[0002] When using an adaptive speed controller, there may be situations where the host vehicle is controlling its distance from a vehicle in front (hereinafter also referred to as the "first" vehicle) and / or adjusting its speed in response to the vehicle in front, but the vehicle in front accelerates. The first vehicle in front may accelerate for several reasons. On the one hand, it may be because a second vehicle in front of the first vehicle is accelerating, or on the other hand, it may be because the first vehicle in front is increasing its speed in an attempt to overtake the first vehicle in front. In the first example, it is intended that the host vehicle should continue to control its distance from the first vehicle in front. In contrast, in the second example, it is undesirable for the host vehicle to accelerate because there is a vehicle in front of the host vehicle and the host vehicle would have to immediately brake when the first vehicle in front attempts to overtake.

[0003] US2019 / 0315355A1 discloses an adaptive speed controller for a vehicle configured to identify a change in the state of a small vehicle. The unit for storing an upper limit value is configured to store an upper limit value of a target acceleration set before the determination unit identifies the change in the state of the small vehicle. The target acceleration setting unit is configured to set the target acceleration to be equal to or less than the upper limit value while the small vehicle is selected as a following target. Summary of the Invention

[0004] Against this background, it is an object of the present invention to provide an improved adaptive speed control method.

[0005] A first aspect provides a method for operating an adaptive speed controller of an ego vehicle, the method comprising: a) selecting a first vehicle traveling ahead as a target vehicle; b) controlling the distance between the target vehicle and the host vehicle; c) identifying a second vehicle traveling ahead of the target vehicle on a road section ahead of the target vehicle; d) determining a speed difference between the speed of the second vehicle traveling ahead and the speed of the target vehicle; e) comparing the speed difference with a speed limit value; f) determining the distance between the second vehicle traveling ahead and the target vehicle; g) comparing the distance with a distance limit; h) limiting the acceleration of the host vehicle in response to the comparison of steps e) and g); Equipped with.

[0006] The method has the advantage that the host vehicle takes over the acceleration of the vehicle ahead only if there is a high probability that the vehicle ahead will remain in the host vehicle's lane. This is indicated by the distance between the first vehicle ahead and the second vehicle ahead, as well as their relative speeds. In this way, the adaptive speed controller of the host vehicle can be prevented from making incorrect acceleration or braking actions. This results in an improved application safety level of the adaptive speed controller on the one hand, and improved driving comfort for the vehicle's occupants on the other hand.

[0007] The vehicle is, for example, a passenger car, a large freight vehicle, or other automobile.

[0008] If the first vehicle traveling ahead meets the adaptive speed controller's predetermined criteria, it is selected as the target vehicle. These criteria include, for example, that the target vehicle is a vehicle and not another road user such as a pedestrian.

[0009] "Selecting" a target vehicle is understood to mean that the vehicle is used as a target for the adaptive speed controller, in particular by selecting or setting values ​​in the adaptive speed controller software.

[0010] The adaptive speed controller of the host vehicle is configured to control a distance between the target vehicle and the host vehicle. This distance is controlled, inter alia, by adjusting the speed of the host vehicle. The adaptive speed controller receives sensor data from one or more host vehicle sensors. The sensor data is used, for example, to determine the speed of the target vehicle and the distance between the target vehicle and the host vehicle. The adaptive speed controller is further configured to operate an engine control system, a braking system, and / or a steering system of the host vehicle.

[0011] The adaptive speed controller controls the distance between the target vehicle and the host vehicle by activating the engine control, steering system, and / or braking system of the host vehicle to accelerate or brake.

[0012] The second vehicle traveling ahead is identified in step c) in particular by one or more sensors of the ego vehicle, in particular one or more cameras (e.g., front-facing cameras) of the ego vehicle. For the purpose of identification, object recognition (e.g., by software-based image recognition) can be performed on the image data acquired by the one or more cameras.

[0013] If the second vehicle traveling ahead is on the road section ahead of the target vehicle, the second vehicle traveling ahead is identified, especially if the second vehicle traveling ahead is not obscured by the target vehicle.

[0014] The speed of a second vehicle traveling ahead and the speed of the target vehicle are determined using sensor data from one or more sensors on the host vehicle, and the speed difference between the two vehicles is determined.

[0015] In step e) the speed is compared with a speed limit, which may be both an upper and a lower limit.

[0016] Additionally, the distance between the target vehicle and a second vehicle traveling ahead is determined using the sensor data.

[0017] In step g), the determined distance is compared with a distance limit, which may be both an upper and a lower limit.

[0018] The acceleration of the ego vehicle is limited depending on the comparison between steps e) and g). This comparison is used to estimate whether the target vehicle will stay in the ego vehicle's lane or whether the target vehicle is attempting to overtake a second vehicle traveling ahead. If the speed difference is greater than the speed limit value and the distance between the target vehicle and the second vehicle traveling ahead is less than the distance limit value, it is assumed that there is a high probability that the target vehicle is attempting to overtake the second vehicle traveling ahead.

[0019] "Limiting" the acceleration of the ego vehicle is understood to mean that the adaptive speed controller still follows (or no longer follows, depending on the embodiment) the vehicle, but does not accelerate when the target vehicle accelerates. This may also mean that the distance between the ego vehicle and the target vehicle is not controlled. For example, the acceleration of the ego vehicle may be limited to zero, a positive value, or a negative value.

[0020] According to one embodiment, said speed limit value is set before step e), in particular before step a).

[0021] For example, the speed limit may be a fixed limit set in the adaptive speed controller software.

[0022] The speed limit may only be set before step e), for example by an adaptive speed controller, which uses sensor data to estimate the traffic volume around the host vehicle and derives the speed limit therefrom, the limit being preferably set by the driver of the host vehicle.

[0023] According to one embodiment, the speed limit has a value between 3 km / h and 10 km / h.

[0024] According to one embodiment, said distance limit is set before step g), in particular before step a).

[0025] For example, the distance limit may be a fixed limit set in the adaptive speed controller software.

[0026] The distance limit may simply be set prior to step e), for example by an adaptive speed controller, which uses sensor data to estimate the traffic volume around the host vehicle and derives the distance limit therefrom. The distance limit is preferably set by the driver of the host vehicle.

[0027] According to one embodiment, the distance limit value has a value between 0 m and 25 m.

[0028] The distance limit value particularly advantageously has a value of 10 m.

[0029] According to one embodiment, if the speed difference is greater than the speed limit and the distance is less than the distance limit, the acceleration of the host vehicle is limited in step h).

[0030] According to one embodiment, the target vehicle is a motorcycle.

[0031] According to one embodiment, the distance between the target vehicle and the ego vehicle is selected depending on the speed of the target vehicle and / or depending on the road conditions.

[0032] Thus, the distance controlled by the adaptive speed controller in step b) is dynamically determined depending on the speed of the target vehicle, e.g., the adaptive speed controller may be configured to never go below a safe distance, e.g., half the speed.

[0033] Additionally, the distance between the target vehicle and the host vehicle may be selected depending on road conditions, for example, if the host vehicle sensor detects a wet road, the adaptive speed controller may be configured to control a greater distance than would be the case on a dry road.

[0034] According to one embodiment, the driver of the ego vehicle sets the distance between the target vehicle and the ego vehicle via an input interface before step b).

[0035] The driver of the vehicle can adjust the distance that the adaptive speed controller itself controls before step b), for example by configuring the adaptive speed controller to only allow distances that exceed the safety distance.

[0036] In this example, the safety distance can be determined by the adaptive speed controller depending on the speed of the host vehicle, where the safety distance is selected so that if the target vehicle applies emergency braking, the host vehicle will stop in time to avoid a rear-end collision.

[0037] According to one embodiment, steps d) to h) are repeated until said second vehicle traveling ahead is no longer identified.

[0038] Therefore, as long as a second vehicle traveling ahead of the target vehicle is identified, the speed difference and distance are determined, and the speed difference is compared with the speed limit value, and the distance is compared with the distance limit value. This ensures that the acceleration of the target vehicle is limited as soon as the speed difference becomes greater than the speed limit value and the distance becomes smaller than the distance limit value. This improves the safety of the adaptive speed controller.

[0039] According to one embodiment, instead of or in addition to step h), the vehicle of interest is retained or deselected depending on the comparison of steps e) and g).

[0040] "Deselecting" a target vehicle is understood to mean that the adaptive speed controller no longer controls or follows that vehicle. For this purpose, a value is set in the adaptive speed controller's software, among other things. For example, if there is no vehicle ahead, the adaptive speed controller can select a new target vehicle to follow or can be switched off.

[0041] For example, a second vehicle ahead may be selected as the new target vehicle. This has the advantage that the adaptive speed controller remains on and controls the distance between the second vehicle ahead and the ego vehicle. This prevents the ego vehicle from braking suddenly when the deselected vehicle leaves its lane to overtake.

[0042] A second aspect is a method for operating an adaptive speed controller of an host vehicle, comprising: a) selecting a first vehicle traveling ahead as a target vehicle; b) controlling the distance between the target vehicle and the host vehicle; c) identifying a second vehicle traveling ahead of the target vehicle on a road section ahead of the target vehicle; d) determining a speed difference between the speed of the second vehicle traveling ahead and the speed of the target vehicle; f) determining the distance between the second vehicle traveling ahead and the target vehicle; h) limiting the acceleration of the host vehicle in accordance with the determined speed difference and the determined distance; A method comprising:

[0043] A third aspect provides a computer program product comprising instructions that, when the program is run by a computer, cause the computer to perform a method according to the first or second aspect.

[0044] The computer program product according to the third aspect may be provided in the form of a computer-readable storage medium, such as a memory card, a USB stick, a CD-ROM, a DVD, etc. Alternatively, the computer program product may be provided as a file that can be downloaded from a server on a network. Transmission of the computer program product may be performed, for example, by transmitting a corresponding file containing the computer program product via a wireless communication network.

[0045] A fourth aspect provides a control device for a vehicle for operating an adaptive speed controller, the control device comprising a processor unit and a memory unit storing means for performing the method according to the first aspect.

[0046] The control device (e.g. in the form of a vehicle central control device or electronic control unit (ECU)) is particularly configured to process the above-mentioned computer program product, e.g. in a processor unit of the control device, to operate the adaptive speed controller.

[0047] Each unit, e.g., a memory unit, can be implemented in hardware and / or software. If implemented in hardware, each unit may be in the form of a computer or microprocessor. If implemented in software, each unit may be in the form of a computer program product, a function, a routine, an algorithm, a portion of program code, or an executable object.

[0048] A fifth aspect provides a vehicle, the vehicle having one or more sensors and a control device according to the fourth aspect.

[0049] The sensors of the ego vehicle can be, for example, radar sensors, LiDAR sensors, ultrasonic sensors, and / or cameras (as already mentioned). The ego vehicle can have one type of sensor, several sensors of one type, and / or several sensors of several types. Advantageously, the ego vehicle has several sensors of several types. The ego vehicle in particular has a radar sensor, which is advantageously positioned centrally in front of the ego vehicle.

[0050] Steps a), b), c), etc. may be performed in different orders. The presence of steps a) and c) does not necessarily mean that there is an intermediate step b), etc. "One" or "the singular" does not exclude a plurality.

[0051] Features and advantages described herein with respect to a first embodiment apply mutatis mutandis to the other embodiments, and vice versa.

[0052] Further possible embodiments of the invention also include combinations not expressly described of the features or embodiments described above or below with respect to the exemplary embodiments, although in this case the skilled person may still add individual aspects as improvements or additions to each basic form of the invention.

[0053] Further advantageous configurations and aspects of the invention form the subject matter of the following dependent claims and exemplary embodiments of the invention.The invention will now be described in more detail with reference to the following preferred embodiments and on the basis of the accompanying drawings. [Brief explanation of the drawings]

[0054] [Figure 1] FIG. 1 shows a schematic top view of a vehicle having an adaptive speed controller according to one embodiment. [Figure 2] FIG. 2 shows a schematic diagram of a situation in which an adaptive speed controller is used according to one embodiment. [Figure 3] FIG. 3 shows a flow chart of adaptive speed control according to one embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0055] In the drawings, identical or functionally identical elements are designated by the same reference numbers unless otherwise stated.

[0056] FIG. 1 illustrates a schematic top view of a vehicle 100 having a control device 103 and a sensor 102 according to one embodiment. In the example illustrated in FIG. 1, the vehicle 100 is an automobile, specifically a passenger car. The sensor 102 is designed, for example, as part of a driver assistance system. The adaptive speed controller is designed, for example, as a software component of the driver assistance system. The driver assistance system is used, for example, to assist a driver of the vehicle 100. Furthermore, the driver assistance system may be designed for semi-autonomous or fully autonomous driving of the vehicle 100. The driver assistance system may be configured to control vehicle components, such as the engine control device 104, the braking system 106, and the steering system 107, thereby enabling driver-assisted semi-autonomous and / or fully autonomous driving. For example, the driver assistance system may be designed for high-speed driving, such as that found on country roads or highways. The driver assistance system may also be designed for low-speed driving, such as that found on urban roads.

[0057] The sensor 102, which is a radar sensor in this example, is located at the center of the front of the vehicle 100, as shown in FIG. 1 . The sensor 102 is connected to the controller 103 wirelessly and / or via a wire for transmitting sensor data. The vehicle 100 preferably includes additional sensors 109 configured to detect the driving state of the vehicle 100 and to detect the vehicle's 100's surrounding environment. Examples of such sensors 109 on the vehicle 100 include image capture devices such as cameras, radar (radio detection and ranging), or lidar (light detection and ranging), ultrasonic sensors, position sensors, wheel angle sensors, and / or wheel speed sensors. The sensors 109 are each configured to provide sensor data to, for example, the controller 103 and / or a driver assistance system. The driver assistance system assists the driver and performs semi-autonomous or fully autonomous driving in response to the detected sensor data.

[0058] The control device 103 comprises a processor unit and a memory unit (not shown), both configured to implement a method for operating the adaptive speed controller during operation of the vehicle 100, as described below. The control device 103 is configured to receive sensor data from the vehicle's sensors 109, and in particular from the sensor 102. A data link between the control device 103 and the vehicle components is indicated by reference numeral 105. The data link may represent a line, a data line, a vehicle bus, and / or wireless data transmission.

[0059] The controller 103 is connected to the engine controller 104 in the exemplary illustration of the vehicle 100 of FIG. 1 and is configured to transmit data to the engine controller 104. The transmitted data includes, for example, control signals that cause the engine controller 104 to accelerate and / or brake the vehicle 100.

[0060] The control device 103 of Fig. 1 is also connected to the braking device 106. The control device 103 transmits data wirelessly and / or via wires to the braking device 106 of the vehicle 100. The data includes, for example, control signals. These control signals cause the braking device 106 to brake the vehicle 100. In particular, the control signals may include information about the likelihood of an impending emergency braking operation by the driver of the vehicle 100. This likelihood is detected by the sensors 109 and / or the adaptive speed controller. The braking device 106 is prepared for this.

[0061] The control device 103 in Fig. 1 is connected to the steering device 107 of the vehicle 100. The control device 103 transmits data to the steering device 107 of the vehicle 100 wirelessly and / or via a wire. The data includes, for example, control signals. These control signals cause the steering device 107 to change the steering angle of the vehicle 100.

[0062] Additionally, as described below, the controller 103 has a stored computer program product including program code means stored on a computer readable medium such that the controller 103 can implement a method for operating an adaptive speed controller.

[0063] Using the schematic diagram of FIG. 2 and the flow chart of FIG. 3, which illustrate the context in which an adaptive speed controller is used according to one embodiment, a method for operating the adaptive speed controller will now be described in more detail.

[0064] FIG. 2a) shows the vehicle 100 (hereinafter referred to as the host vehicle 100) of FIG. 1. A first vehicle 200 traveling ahead is selected as a target vehicle (see step S1 in FIG. 3). In the example shown in FIG. 2, the first vehicle 200 traveling ahead is a passenger car. However, the first vehicle 200 traveling ahead may also be a motorcycle, in particular.

[0065] The adaptive speed controller of the host vehicle 100 is configured to control the distance 201 between the target vehicle 200 and the host vehicle 100 (see step S2 in FIG. 3). The sensor 102 is used to acquire sensor data and transmit it to the control device 103, which is used to determine the distance 201 and the speed and / or acceleration of the vehicle 200 traveling ahead. The control device 103 is also configured to control the distance 201 between the target vehicle 200 and the host vehicle 100. For this purpose, the control device 103 transmits data including control signals to the engine control device 104, the braking device 106, and / or the steering device 107, which then operate corresponding vehicle components to control the distance 201.

[0066] More precisely, controlling the distance 201 means accelerating the host vehicle 100 when the distance 201 is greater than a specified distance. Therefore, the control device 103 transmits data including a control signal to the engine control device 104, which then controls the engine of the host vehicle 100 so as to accelerate the host vehicle 100. When the distance 201 is less than the specified distance, the control device 103 transmits data including a control signal to the engine control device 104, the steering device 107, and / or the braking device 106, which causes the host vehicle 100 to decelerate.

[0067] If the host vehicle 100 accelerates, the control device 103 ensures that the maximum permitted speed is not exceeded. The maximum permitted speed is derived, for example, from GPS data of the driver assistance system. The maximum permitted speed for a route segment is specified in a stored map. Furthermore, the maximum permitted speed can also be determined by a sensor 109 configured to identify traffic signs.

[0068] Further, for example, the driver of the host vehicle 100 can input via the input interface a maximum speed that the driver does not want to exceed. The controller 103 is further configured to adapt to the data transmitted to the engine controller 104, so that the engine controller 104 does not accelerate the host vehicle 100 to a speed that exceeds the maximum speed input by the driver.

[0069] The distance 201 between the target vehicle 200 and the host vehicle 100 is a distance determined by an adaptive speed controller, for example, depending on the speed of the target vehicle 200. Therefore, the distance 201 is determined depending on the speed of the target vehicle 200. For this reason, the distance 201 is dynamically set and is not a fixed variable. The distance 201 may also be determined depending on the road condition detected by the sensor 109. For example, if the road is detected to be wet, the distance 201 is selected to be greater than if the road is detected to be dry.

[0070] For example, the distance 201 is determined by the driver of the host vehicle 100 before step S2. The distance 201 is transmitted to the control device 103, for example, by the driver via an input interface. The adaptive speed controller is therefore configured to control the distance 201 defined by the driver of the host vehicle 100. Furthermore, the adaptive speed controller may be configured to only execute inputs of the driver of the host vehicle 100 that exceed a safe distance. The safe distance is determined by the adaptive speed controller depending on the speed of the host vehicle 100. Here, the safe distance may be selected so that the host vehicle 100 stops in time to avoid being involved in a rear-end collision if the preceding vehicle 200, 300 applies emergency braking.

[0071] In step S3, it is checked whether the host vehicle 100 has detected a second vehicle 300 (a truck in this example) traveling ahead on the road section ahead of the target vehicle 200 (step S3 in FIG. 3). If the second vehicle 300 traveling ahead is not detected in step S3, the distance 201 from the target vehicle 200 continues to be controlled (step S2 in FIG. 3).

[0072] As shown schematically in FIG. 2b), if a second vehicle 300 traveling ahead is detected in step S3, step S4 in FIG. 3 is carried out.

[0073] The host vehicle 100 identifies the second vehicle 300 traveling ahead, for example, via the sensor 102 and / or the sensor 109. The second vehicle 300 traveling ahead is identified particularly as soon as the distance between the target vehicle 200 and the second vehicle 300 traveling ahead becomes small, or if the second vehicle 300 traveling ahead is a larger vehicle than the target vehicle 200. Furthermore, the second vehicle 300 traveling ahead can also be identified when the target vehicle 200 and the second vehicle 300 traveling ahead are traveling side by side, rear to rear, with a slight offset from each other, as is often the case on highways.

[0074] In step S4, the adaptive speed controller uses sensor data from the sensor 102 to determine the speed of the target vehicle 200 and the speed of the second vehicle 300 traveling ahead, and then calculates the speed difference between the two determined speeds.

[0075] In step S5 of FIG. 3, the calculated speed difference is compared with a speed limit value. The speed limit value can be set by the driver of the host vehicle 100 via an input interface before step S5, or particularly before step S1. The speed limit value is stored in the adaptive speed controller. For example, the adaptive speed controller may dynamically determine the speed limit value using sensor data from sensors 109 and / or 102, taking into account traffic flow, etc. Thus, the speed limit value can be dynamically determined. In this example, the speed limit value has a value between 3 km / h and 10 km / h. Specifically, the speed limit value is particularly advantageously set to a value of 5 km / h.

[0076] If the speed difference is less than the speed limit value in the comparison of step S5, the method is executed from step S2. Therefore, the adaptive speed controller further controls the distance 201 between the target vehicle 200 and the host vehicle 100 (step S2 in FIG. 3). The adaptive speed controller is configured to execute the method from step S2 and thereby check whether a second vehicle 300 traveling ahead has been identified (step S3 in FIG. 3).

[0077] If the speed difference is equal to or greater than the limit value in the comparison in step S5, step S6 in FIG. 3 is performed.

[0078] In step S6, as shown in FIG. 2b), the adaptive speed controller uses sensor data from the sensor 102 to determine the distance 301 between the target vehicle 200 and a second vehicle 300 traveling ahead.

[0079] In step S7 of FIG. 3, the determined distance 301 is compared with a distance limit value. The distance limit value can be set, for example, by the driver of the host vehicle 100 via an input interface before step S7, or particularly before step S1. The distance limit value is stored in the adaptive speed controller. For example, the distance limit value can be dynamically determined by the adaptive speed controller using sensor data from sensors 109 and / or 102, taking into account traffic flow, etc. Thus, the speed limit value can be dynamically determined. In this example, the distance limit value has a value between 0 m and 25 m. Specifically, the limit value is particularly advantageously 10 m.

[0080] If the distance determined in step S7 exceeds the distance limit, the adaptive speed controller executes the method from step S2. Thus, the adaptive speed controller further controls the distance 201 between the target vehicle 200 and the host vehicle 100 (step S2 in FIG. 3). The adaptive speed controller is configured to execute the method from step S2 and thereby check whether a second vehicle 300 traveling ahead has been identified (step S3 in FIG. 3).

[0081] In this situation, the driver assistance system or adaptive speed controller assumes that the target vehicle 200 has also increased its speed because the second vehicle 200 traveling in front of it has also increased its speed. The adaptive speed controller continues to use the target vehicle 200 as a reference for speed or distance control.

[0082] If the distance determined in step S7 is less than the distance limit value, the acceleration of the ego vehicle is limited, as shown in Figure 2b) Additionally or alternatively, the target vehicle 200 may be deselected.

[0083] In this situation, the driver assistance system or adaptive speed controller may assume that the target vehicle 200 will soon overtake the second vehicle 300 traveling ahead. For example, the driver assistance system may warn the driver of the host vehicle 100 that the adaptive speed controller is not on and / or that the acceleration of the host vehicle 100 is limited. Furthermore, the adaptive speed controller may select the second vehicle 300 traveling ahead as a new target vehicle.

[0084] Steps S4 to S8 are performed until the second vehicle 300 traveling ahead is no longer detected in step S3. For example, the second vehicle 300 traveling ahead is no longer detected when the target vehicle 200 is at least as large as the second vehicle 300 traveling ahead. In this case, for example, the second vehicle 300 traveling ahead can be identified if the target vehicle 200 is traveling behind the second vehicle 300 traveling ahead, offset to the right or left. When the target vehicle 200 again travels behind the second vehicle 300 traveling ahead, the second vehicle 300 traveling ahead can no longer be detected by the sensors 102, 109 of the host vehicle 100. In other words, the second vehicle 300 traveling ahead cannot be seen by the target vehicle 200. Therefore, it is no longer possible to determine the speed difference between the speed of the second vehicle 300 traveling ahead and the target vehicle 200 (step S4) or the distance between the two vehicles (step S6).

[0085] The speed difference (step S4) and distance (step S6) may be determined simultaneously or in reverse order. Furthermore, the comparisons (steps S5, S7) may also be performed simultaneously or in reverse order. In another variation, both comparisons in steps S5 and S7 or one of the comparisons may be omitted.

[0086] Although the present invention has been described with reference to exemplary embodiments, it is possible to modify the same in many ways.

[0087] 100 (Own) Vehicle 102 Sensors 104 Engine control device 105 Data Link 106 Brake equipment 107 Steering device 109 Sensors 200 First vehicle traveling ahead 201 Distance (between your vehicle and the first vehicle ahead) 300 Second vehicle traveling ahead 301 Distance (between the target vehicle and a second vehicle ahead) S1~S8 method steps

Claims

1. A method for operating an adaptive speed controller of a host vehicle (100), comprising: a) Step (S1) of selecting a first vehicle (200) traveling ahead as a target vehicle; b) controlling the distance (201) between the target vehicle (200) and the host vehicle (100); c) identifying a second vehicle (300) traveling ahead of the target vehicle (200) in a road section ahead of the target vehicle (200); d) determining a speed difference (S4) between the speed of the second vehicle (300) traveling ahead and the speed of the target vehicle (200); e) comparing the speed difference with a speed limit value (S5); f) determining the distance (301) between the second vehicle (300) traveling ahead and the target vehicle (200); g) comparing the distance with a distance limit value (S7); h) limiting the acceleration of the host vehicle (100) in response to the comparison of steps e) and g); A method having the following.

2. Before step e), in particular before step a), the speed limit value is set. The method of claim 1.

3. The speed limit value has a value between 3 km / h and 10 km / h. The method according to claim 1 or 2.

4. Before step g), in particular before step a), the distance limit value is set. The method according to any one of claims 1 to 3.

5. The distance limit value has a value between 0 m and 25 m. The method according to any one of claims 1 to 4.

6. If the speed difference is greater than the speed limit value and the distance (301) is less than the distance limit value, the acceleration of the host vehicle (100) is limited in step h). The method according to any one of claims 1 to 5.

7. The target vehicle (200) is a motorcycle. The method according to any one of claims 1 to 6.

8. the distance between the target vehicle (200) and the host vehicle (100) is selected depending on the speed of the target vehicle (200) and / or depending on the road conditions; The method according to any one of claims 1 to 7.

9. Before step b), the driver of the vehicle (100) sets the distance (201) between the target vehicle (200) and the vehicle (100) via an input interface. The method according to any one of claims 1 to 8.

10. Steps d) to h) are repeated until the second vehicle (300) traveling ahead is no longer identified. The method according to any one of claims 1 to 9.

11. A computer program product comprising instructions that, when said program is executed by a computer, cause said computer to perform the method of any one of claims 1 to 10.

12. A processor unit; a memory unit storing means for implementing the method according to any one of claims 1 to 10; A control device (103) for a vehicle (100) for operating an adaptive speed controller, comprising:

13. one or more sensors (102); A control device (103) according to claim 12; A vehicle (100) having:

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