Method for controlling vehicle approach, distance regulator, computer program, and memory unit

Abstract

To provide a method for controlling approach of vehicle, interval adjuster, computer program and memory unit.SOLUTION: The present invention relates to a method (10) for controlling approach of a traveling vehicle (12) traveling in front of at least one reference vehicle (14) under application of automatic interval adjustment depending on a target interval (22) between the vehicle (12) and the reference vehicle (14). In the method, the target interval (22) is operable by a driver of the vehicle (12) and calculated depending on an operation position (27) of an operation element (26) of the vehicle (12), which operation element controls a drive unit of the vehicle (12). In the method, the target interval (22) is reduced indirectly or directory by actuation of an actuation element (16) of the vehicle (12), which actuation element has an actuation position (38), is operable by the driver of the vehicle (12), and controls braking deceleration of the vehicle (12). The invention further relates to an interval adjuster (30), a computer program and a memory unit.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The invention relates to a method according to the preamble of claim 1. The invention further relates to an interval adjuster, a computer program and a memory unit. [Background technology]

[0002] DE 10 2018 201306 A1 describes a distance regulator that reads the accelerator pedal angle of a vehicle's accelerator pedal in order to determine a distance target value for the vehicle relative to a reference vehicle traveling ahead. The distance target value is determined using the read value. The distance target value is transmitted to an acceleration regulator. A calculation unit of the acceleration regulator calculates an acceleration target value using the distance target value and the accelerator pedal angle. The acceleration target value is read by a control unit of the acceleration regulator. In the control unit, the acceleration target value is converted into a drive control signal for the vehicle's drive and / or a brake signal for the vehicle's braking system. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] German Patent Application Publication No. 102018201306A1 Summary of the Invention [Means for solving the problem]

[0004] According to the present invention, a method is proposed for controlling the approach of a moving vehicle to at least one reference vehicle traveling ahead by applying an automatic spacing adjustment depending on a target spacing between the vehicle and the reference vehicle. This allows the automatic spacing adjustment to better correspond to the driver's expectations during the approach process. The automatic spacing adjustment can be performed more reliably, more realistically, and more comfortably. The automatic spacing adjustment can be better adapted to the driving situation. In particular, the required free space can be provided for the moving vehicle when the vehicle or other vehicles in front of or behind the vehicle enter a lane.

[0005] The vehicle may be a car, a passenger car, a truck, a motorcycle, or a comparable vehicle moving on a roadway. The same applies to the reference vehicle. The reference vehicle may travel ahead of the vehicle in the same lane or in a lane adjacent to the vehicle's lane. The automatic spacing adjustment may incorporate automatic adjustment of the actual spacing and / or automatic limitation of the actual spacing to at least a minimum spacing depending on the target spacing. The automatic spacing adjustment may be classified as a driver-focused assistance function, in particular Dynamic Distance Assist (DDA). The automatic spacing adjustment may at least partially assume the function of an actuating element, preferably the function of the vehicle's brake pedal, for adjusting the braking deceleration. The automatic spacing adjustment may incorporate surrounding environment capture by the vehicle. For example, the distance between the vehicle and the reference vehicle and / or objects in the vehicle's immediate vicinity may be measured by a distance sensor, such as a radar sensor, a camera, and / or a lidar sensor. The operating element may be the vehicle's accelerator pedal. The stronger the operating element is actuated, the greater the vehicle's driving acceleration.

[0006] The actuating element may be a brake pedal of a brake system. The brake system may include at least one brake on a wheel of the vehicle. The brake may be a disc brake. The stronger the actuating element is actuated, the greater the braking deceleration of the vehicle, at least if automatic distance adjustment is not activated. Automatic distance adjustment preferably remains active when the actuating element is actuated. The braking deceleration of the vehicle may be automatically adapted by automatic distance adjustment. The target distance may be calculated directly depending on the displacement of the actuating element and / or the time gradient of the displacement of the actuating element. The target distance may be calculated directly depending on a brake parameter that can be directly influenced by the actuation position and therefore indirectly depending on the actuation position. The brake parameter may be a brake pressure of the brake system. The greater the brake pressure, the stronger the braking deceleration can be performed via the brake system.

[0007] The target distance may further be calculated depending on the actual speed of the vehicle, the speed difference between the vehicle and a reference vehicle, the actual distance between the vehicle and the reference vehicle, and / or the actual distance between the vehicle and a following vehicle traveling behind it. Furthermore, a target distance set by the driver, for example, via the vehicle and the driver's user interface, in particular via a switch and / or a touch screen, may be taken into account.

[0008] In a preferred embodiment of the invention, it is advantageous if the target distance is reduced depending on the actuating position, thereby allowing the automatic distance adjustment to be adapted to the driving situation. In a particular embodiment of the invention, it is advantageous if the target distance is reduced more strongly the actuating element is actuated more strongly. This allows critical driving situations to be measured and reliably overcome during automatic distance adjustment. The brake system that is prepared or already providing braking deceleration via actuation of the actuating element can, if necessary, provide a more strongly required braking power more quickly.

[0009] In an advantageous embodiment of the invention, it is provided that the target distance is reduced more strongly by the actuation of the actuating element than when the actuating element and / or the operating element is not actuated and / or when the operating element is actuated. The brake torque that is already prepared or already available when the actuation of the actuating element has already taken place can achieve a more rapid braking deceleration of the vehicle. Therefore, the target distance can be reduced more strongly by the actuation of the actuating element.

[0010] Activation of the activation element may set a smaller minimum distance between the vehicle and the reference vehicle than the minimum distance when the activation element and / or operating element is not activated and / or when the operating element is activated.

[0011] In a preferred embodiment of the invention, it is advantageous if the actuation position incorporates the displacement of the actuating element and / or the time gradient of the displacement of the actuating element. This allows the strength and / or speed of actuation of the actuating element to be incorporated in order to reduce the target distance. In a preferred embodiment of the invention, the actuating element is a brake pedal and the actuation position is a brake pedal angle. The stronger the actuation element is actuated, the greater the brake pedal angle can be.

[0012] Preferably, the target distance is reduced depending on the operating position of the operating element, so that a closer following distance to the reference vehicle can be brought about by actuation of the accelerator pedal, and the driver can be allowed to influence the target distance during automatic distance adjustment.

[0013] According to the invention, there is further proposed a distance adjuster adapted to indirectly or directly carry out a method having at least one of the above-mentioned features. The distance adjuster may be implemented in a control device of a vehicle. The control device may be arranged in the vehicle.

[0014] The distance adjuster or a downstream post-adjuster can additionally take into account the vehicle's driving characteristics when navigating a curve at its input. The distance adjuster or post-adjuster, for example an acceleration adjuster, can also take into account the vehicle's actual speed, the speed difference between the vehicle and a reference vehicle, and / or the actual distance between the vehicle and the reference vehicle at its input. Furthermore, the actual distance between the vehicle and a following vehicle traveling behind it can also be taken into account. Furthermore, a target distance set by the driver, for example, via the vehicle and the driver's user interface, in particular via a switch and / or a touch screen, can be taken into account.

[0015] According to the invention, there is further proposed a machine-readable computer program comprising at least one computer-executable instruction, the execution of which causes the above-mentioned method to operate.

[0016] According to the invention, a memory unit is further proposed, which is implemented in a machine-readable and accessible manner by at least one computer and on which the above-mentioned computer program is stored.

[0017] Further advantages and advantageous forms of the invention are apparent from the description and drawings of the figures. The present invention will be described in detail below with reference to the drawings. [Brief explanation of the drawings]

[0018] [Figure 1] FIG. 2 illustrates a method for controlling vehicle approach in accordance with a particular embodiment of the present invention. [Figure 2] FIG. 10 is a diagram showing the traveling situation of a vehicle when approaching a reference vehicle traveling ahead. [Figure 3] 10A and 10B are diagrams illustrating further driving situations of the vehicle as it approaches a reference vehicle driving ahead. [Figure 4] 1 shows a vehicle equipped with a distance adjuster in accordance with a particular embodiment of the present invention; DETAILED DESCRIPTION OF THE INVENTION

[0019] 1 shows a method for controlling the approach of a vehicle in a particular embodiment of the invention. The method 10 for controlling the approach of a moving vehicle 12 to at least one reference vehicle 14 moving in front is implemented in the context of automatic spacing adjustment, a driver-focused assistance function in which the actuation of an actuating element 16 for controlling the braking deceleration of the vehicle 12, preferably a brake pedal 18, should be taken over as far as possible from the driver of the vehicle 12.

[0020] During automatic spacing adjustment, vehicle 12 can be automatically braked to maintain an actual distance 20 between vehicle 12 and reference vehicle 14. For this purpose, a target distance 22 is calculated, via which automatic spacing adjustment adjusts actual distance 20, for example, by a braking process of vehicle 12. In doing so, a minimum distance 24 is also calculated, below which actual distance 20 must not fall, in order to meet safety requirements, in particular to avoid a collision of vehicle 12 with reference vehicle 14.

[0021] In automatic spacing adjustment, the actuation of an operating element 26 that controls the drive of the vehicle 12 for movement thereof is preferably captured, and the operating position 27 of the operating element 26, e.g., an accelerator pedal 28, is preferably passed to a spacing adjuster 30 together with further input parameters such as a target spacing set, e.g., by the driver via a vehicle-driver user interface, in particular via a switch and / or a touchscreen, the actual speed 32 of the vehicle 12, the speed difference 34 between the vehicle 12 and the reference vehicle 14, and / or the actual spacing 20 between the vehicle 12 and the reference vehicle 14. The actual spacing 20 can be measured by a spacing sensor 36, e.g., a radar sensor, a camera, and / or a lidar sensor.

[0022] Furthermore, the actuation position 38 of the actuating element 16 is captured, and depending on further input parameters, the target distance 22 is calculated by the distance adjuster 30 and output to the acceleration adjuster 40. The target distance 22 is thereby reduced depending on the actuation position 27 of the actuating element 26 and the actuation of the actuating element 16, preferably depending on the actuation position 38 of the actuating element 16. This makes it possible for the driver to influence the automatic distance adjustment by actuating the actuating element 16 or the actuating element 26. Preferably, the strength of the reduction of the target distance 22 depends on the actuating position 38. For example, the more strongly the actuating element 16 is actuated, the more the target distance 22 can be reduced.

[0023] 2 exemplarily illustrates a driving situation in which vehicle 12 moves from one lane into an adjacent lane, where there is already a reference vehicle 14 traveling ahead of vehicle 12 and a following vehicle 39 traveling in the adjacent lane behind vehicle 12. The driver of vehicle 12 intends to exit the lane, for example, via the adjacent lane and an exit lane extending next to the adjacent lane. To this end, vehicle 12 moves between reference vehicle 14 and following vehicle 39 in the adjacent lane when automatic spacing adjustment is active.

[0024] In this case, if the vehicle 12 has a higher speed than the reference vehicle 14, the automatic spacing adjustment will brake the vehicle 12 relatively strongly in order to maintain the actual distance 20 to the reference vehicle 14. If the driver of the vehicle 12 applies the brake pedal while the vehicle 12 is moving into the adjacent lane, the spacing adjuster can reduce the target distance depending on the brake pedal application position as an input parameter and avoid excessive braking processes of the vehicle 12, which could potentially result in the following vehicle 39 closing in on the vehicle 12.

[0025] In this regard, the actuation of the actuating element may also adjust the minimum distance 24.1 between vehicle 12 and reference vehicle 14 to be smaller than if the actuating element remained deactivated, in particular because the brake torque that was prepared or already effective during the previously performed actuation of the actuating element may more quickly achieve braking deceleration of vehicle 12. Therefore, the actuation of the actuating element may set a smaller minimum distance 24.1 between vehicle 12 and reference vehicle 14 than the minimum distance 24.2 if the actuating element and / or operating element remained deactivated and / or if the operating element was activated.

[0026] 3 shows a driving situation in which a reference vehicle 14 traveling ahead of vehicle 12 enters the lane in which vehicle 12 is traveling from an adjacent lane. When the driver of vehicle 12 recognizes that the reference vehicle 14 is entering his lane at a slower speed, applying the brake pedal of vehicle 12 and reducing the target distance via the distance adjuster will certainly allow a smaller target distance to the reference vehicle 14 than if the brake pedal were not applied. However, this may prevent the following vehicle 39 following behind vehicle 12 from closing the following distance, since the actual distance between vehicle 12 and the following vehicle 39 is relatively large due to the reduced actual distance between vehicle 12 and the reference vehicle 14.

[0027] Here too, in particular, by actuation of an actuating element, i.e., the brake pedal, the minimum distance 24.1 may be adjusted to be smaller than the minimum distance 24.2 if the actuating element remains unactuated, since the brake torque that is prepared or already effective in the event of an already performed actuation of the actuating element can more quickly achieve braking deceleration of the vehicle 12, in order to avoid a reduction in the distance to the reference vehicle 14.

[0028] Returning to FIG. 1, the acceleration regulator 40 receives on its input side not only the target distance 22 output by the distance regulator 30 but also the actuation position 38 of the actuation element 16 and the actuation position 27 of the operating element 26, and outputs a target acceleration 41 depending thereon, which can be negative as a braking deceleration or positive as a driving acceleration, and realizes automatic distance adjustment.

[0029] 4 shows a vehicle equipped with a distance adjuster in accordance with a particular embodiment of the invention. The vehicle 12 has a control device 42 to which a distance adjuster 30 belongs for calculating a target distance when the vehicle 12 approaches a reference vehicle traveling ahead by applying automatic distance adjustment. The distance adjuster 30 may take into account, on the input side, the actual speed of the vehicle 12, the speed difference between the vehicle 12 and the reference vehicle, and / or the actual distance between the vehicle 12 and the reference vehicle. The actual distance may be measured by a distance sensor 36, for example a radar sensor, a camera, and / or a lidar sensor.

[0030] The target distance calculated by the distance adjuster 30 is output to an acceleration adjuster 40, which may also belong to the control device 42. The acceleration adjuster 40 calculates a target acceleration 41 as a function of the target distance, which is output to a control unit 44. The control unit 44 controls braking devices 46 at wheels 48 in order to perform the actual braking deceleration of the vehicle 12 for automatic distance adjustment. [Explanation of symbols]

[0031] 10 ways 12 vehicles 14 Reference vehicle 16 Actuating Elements 18 Brake pedal 20 Actual Spacing 22 Target Interval 24 minimum interval 24.1 Minimum spacing 24.2 Minimum spacing 26 Operational Elements 27 Operation adjustment 28 Accelerator pedal 30 Spacing adjuster 32 Actual Speed 34 Speed ​​difference 36 Spacing Sensor 38 Operation adjustment 39 Following vehicle 40 Acceleration regulator 41 Target acceleration 42 Control equipment 44 Control Unit 46 Brake equipment 48 wheels

Claims

1. A method (10) for controlling a moving vehicle (12) having a predefined minimum distance (24), wherein the control is performed when the moving vehicle (12) changes from a first lane to a second lane, and in the second lane there is a reference vehicle (14) that is positioned further forward in the fore-and-aft direction than the moving vehicle (12), and the control is performed using automatic distance setting, reducing a predefined minimum distance (24) from the moving vehicle (12) based on a manual operation by a driver of the moving vehicle (12) to change an operating position (38) of an operating element (16) of the moving vehicle (12) in order to decelerate the moving vehicle (12) when the moving vehicle (12) changes from a first lane to a second lane; controlling the deceleration of the vehicle in accordance with said reduced minimum distance (24); A method (10) characterized by:

2. 2. The method (10) according to claim 1, characterized in that the stronger the manual manipulation that changes the actuation position (38) of the actuation element (16), the more the minimum distance (24) is reduced.

3. 2. The method (10) according to claim 1, characterized in that the actuation position (38) incorporates a displacement of the actuation element (16) and / or a gradient in time of the displacement of the actuation element (16).

4. 2. The method (10) of claim 1, wherein the actuating element (16) is a brake pedal (18) and the actuating position (38) is a brake pedal angle.

5. A distance adjuster (30) adapted to indirectly or directly carry out the method (10) of claim 1.

6. A computer program comprising at least one machine-readable, computer-executable instruction, the execution of which causes the method (10) of claim 1 to operate.

7. A memory unit embodied in a machine-readable and accessible manner by at least one computer and having stored thereon the computer program of claim 6.

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