Method and device for adapting driving speed along a route

Abstract

The invention describes a device for adapting the actual speed of a motor vehicle when driving along a route. The device is configured, when the route is being driven along, to carry out automated longitudinal guidance of the motor vehicle on the basis of a target speed determined for the route, so that the actual speed of the motor vehicle is changed to the target speed based on a set speed of a cruise control system. The device is furthermore configured to detect a deflection of the brake pedal or of the accelerator pedal of the motor vehicle and to adapt the target speed on the basis of the detected deflection of the brake pedal or accelerator pedal. The device is furthermore configured to carry out automated longitudinal guidance of the motor vehicle on the basis of the adapted target speed so that the actual speed of the motor vehicle is changed to the adapted target speed.

Description

[0001] Method and device for adjusting the driving speed along a route

[0002] The invention relates to a method and a corresponding device designed to assist the user of a vehicle when driving along a specific route which, for example, includes a curve or a turn.

[0003] A vehicle can have one or more driver assistance systems that are designed to automatically guide the vehicle longitudinally and / or laterally. The vehicle can, in particular, have a speed and / or distance controller (e.g., an Adaptive Cruise Control, ACC, assistance system) that is configured to set, in particular, regulate, the driving speed of the vehicle (when driving freely without a vehicle in front) to a set speed, and / or to set, in particular, regulate, the distance of the vehicle to a vehicle in front traveling directly in front of the vehicle to a set distance. The set speed and / or the set distance can be set by the user, in particular by the driver, of the vehicle via the user interface of the vehicle. The target speed set by the user of the vehicle can be used for certain driving situations, in particular for driving a certain route (e.g.,with a curve or a turn), which may impair the driving comfort and possibly the driving safety of the vehicle.

[0004] This document deals with the technical task of increasing the comfort and / or safety of the automated longitudinal guidance, in particular the speed control, of a vehicle.

[0005] The problem is solved by each of the independent claims. Advantageous embodiments are described, among other things, in the dependent claims. It should be noted that additional features of a patent claim dependent on an independent patent claim can form a separate invention, independent of the combination of all features of the independent patent claim, without the features of the independent patent claim or only in combination with a subset of the features of the independent patent claim, which invention can be made the subject of an independent claim, a divisional application, or a subsequent application. This applies equally to technical teachings described in the description, which can form an invention independent of the features of the independent patent claims.

[0006] According to one aspect, a device is provided for adapting the actual speed (i.e., the speed for short) of a motor vehicle when traveling along a route. The route may, for example, comprise a curve, a roundabout, a turn, etc. In particular, the route may be designed such that the actual speed of the motor vehicle should be reduced compared to the set speed (specified by the user of the vehicle) in order to ensure safe and comfortable travel along the route. The route may have a beginning and an end. The route can be recognized based on sensor data from one or more environmental sensors (e.g., at least one camera) of the vehicle and / or based on a digital map of the road network traveled by the vehicle. In particular, a route ahead for which the set speed is likely to be too high can be recognized.

[0007] The device can be configured to effect automated longitudinal guidance of the vehicle using a cruise control. The set speed can be used as the target speed (to be adjusted) for the cruise control by default. On the other hand, it may be necessary to reduce the target speed for the cruise control compared to the set speed to travel the detected route.

[0008] The device is configured to automatically guide the motor vehicle longitudinally as it travels along the route, depending on a target speed determined for the route, in order to change, in particular reduce, the actual speed of the motor vehicle from the set speed to the target speed. The automated longitudinal guidance can be implemented in such a way that the determined target speed is reached (exactly) at a specific target travel point along the route. The target speed is also referred to in this document as the peak speed.

[0009] The device can be configured to determine the target driving speed depending on one or more properties of the route, wherein the one or more properties of the route can be determined based on the sensor data of the one or more environmental sensors and / or based on the digital map. The one or more properties of the route can include the curvature (of the curve or turn) of the route.

[0010] As already explained above, the route extends from a beginning to an end, where the beginning can correspond to an initial travel progress and the end to a final travel progress. The travel progress can correspond to a point in time during the travel of the route and / or a position between the beginning and the end of the route.

[0011] The device can be configured to reduce the desired speed gradually or smoothly from the set speed to the target speed starting at the beginning of the route, in order to achieve automated longitudinal guidance of the vehicle while traveling along the route. The transition from the set speed to the target speed can be effected according to a speed profile (possibly determined in advance). The speed profile can indicate the desired speed for the cruise control for a sequence of driving steps (from the initial driving step to the target driving step).

[0012] The target travel progress (also referred to in this document as the apex travel progress) can be located at the apex of a curve or a turn on the route to be traveled.

[0013] After reaching the target travel progress, the vehicle can be accelerated again to automatically accelerate from the target travel speed (at the target travel progress) to the set speed (at the final travel progress). For this purpose, the set speed of the cruise control can be increased according to a specific speed profile. The device can thus be configured to automatically guide the motor vehicle longitudinally to ensure that the actual speed of the motor vehicle is returned to the set speed following the target travel progress (so that from the end of the route, the set speed is again used as the default set speed for the cruise control).

[0014] The target speed determined by the device may be perceived by the user, particularly by the driver, as too high or too low. The device may be configured to detect a deflection of the brake pedal or accelerator pedal of the motor vehicle (while driving the route, and particularly before reaching the target speed).

[0015] The brake pedal can be configured to apply a braking torque to the vehicle (to decelerate the vehicle). The accelerator pedal can be configured to apply a driving torque to the vehicle (to accelerate the vehicle).

[0016] The device is further configured to adjust the target speed depending on the detected deflection of the brake pedal or accelerator pedal. Furthermore, the extent, in particular the duration and / or angle, of the deflection of the brake pedal or accelerator pedal of the motor vehicle can be determined. The target driving speed can be adjusted according to the determined extent of the deflection of the brake pedal or accelerator pedal of the motor vehicle. The target driving speed can be increased in response to an actuation of the accelerator pedal. On the other hand, the target driving speed can be reduced in response to an actuation of the brake pedal.

[0017] In addition, the device is designed to automatically guide the motor vehicle longitudinally (following the detected actuation of the brake pedal or the accelerator pedal) depending on the adjusted target speed in order to cause the actual speed of the motor vehicle to be changed, in particular reduced, to the adjusted target speed.

[0018] This allows the user to adjust (increase or decrease) the target speed to be achieved at the target driving progress. This allows for particularly safe and comfortable driving along a route (especially one with a curve or turn).

[0019] The device can be configured to detect the deflection of the brake pedal or accelerator pedal of the motor vehicle based on an intervention driving progress. The intervention driving progress typically lies (along the direction of travel of the vehicle) following the initial driving progress and before the target driving progress. The target speed can be adjusted depending on the intervention driving progress, in particular depending on the distance between the intervention driving progress and the target driving progress. The extent of the adjustment of the target speed that can be brought about by actuating the brake pedal or accelerator pedal can be reduced as the distance between the intervention driving progress and the target driving progress decreases, in particular such that the target speed can no longer be adjusted by actuating the brake pedal or accelerator pedal if the target driving progress has already been reached.This can further increase safety and comfort when driving along a specific route (with a curve or a turn).

[0020] The device can be configured to increase the target driving speed in such a way that a permissible maximum value (for the target speed) is not exceeded, or to reduce it in such a way that a permissible minimum value (for the target speed) is not undercut. The maximum value and / or the minimum value can be defined relative to the target speed (e.g., as a percentage of the target speed). The device can be configured to prevent a further increase in the target driving speed beyond the permissible maximum value, even if the accelerator pedal continues to be operated, and / or to prevent a further reduction in the target driving speed below the permissible minimum value, even if the brake pedal continues to be operated.

[0021] By limiting the possible adjustment of the target speed, the comfort and safety of driving along the route can be further increased.

[0022] As already explained above, the device can be configured to automatically guide the motor vehicle longitudinally while traveling along the route, in order to cause the actual speed of the motor vehicle along the route to be set by the cruise control according to a (predetermined) speed profile (before adjusting the target speed) or according to an adjusted speed profile (after adjusting the target speed). The speed profile and the adjusted speed profile can each indicate the target speed for the cruise control for a sequence of travel steps along the route. The speed profile and, if applicable, the adjusted speed profile can each have the set speed as the target speed at the initial travel step, which is located at the beginning of the route.Furthermore, the speed curve at the target driving progress can include the target speed. On the other hand, the adjusted speed curve at the target driving progress can include the adjusted target speed.

[0023] Preferably, the speed curve transitions smoothly and / or continuously into the adjusted speed curve at the intervention time point (at which the actuation of the brake pedal or accelerator pedal is detected). The speed curve or the adjusted speed curve can also be used for automated longitudinal guidance from the target travel progress to the final travel progress. The speed curve and the adjusted speed curve can each have the set speed as the target speed at the final travel progress, which is located at the end of the route.

[0024] The speed profile and the adjusted speed profile can each exhibit essentially continuous curves of the target speed along the route. By specifying a speed profile for driving along the route, comfort and safety can be further increased.

[0025] According to a further aspect, a (road) motor vehicle (in particular a passenger car or a truck or a bus or a motorcycle) is described which comprises the device described in this document.

[0026] According to a further aspect, a method for adjusting the actual speed of a motor vehicle while traveling along a route is described. The method comprises, while traveling along the route, the automated longitudinal guidance of the motor vehicle depending on a target speed determined for the route, in order to change the actual speed of the motor vehicle from the set speed of the cruise control to the target speed.

[0027] The method further comprises detecting a deflection of the brake pedal or accelerator pedal of the motor vehicle and adjusting the target speed depending on the detected deflection of the brake pedal or accelerator pedal. The method further comprises automatically longitudinally guiding the motor vehicle depending on the adjusted target speed in order to change the actual speed of the motor vehicle to the adjusted target speed.

[0028] According to another aspect, a software (SW) program is described. The SW program can be configured to be executed on a processor (e.g., on a vehicle control unit) and thereby to carry out the method described in this document.

[0029] According to a further aspect, a storage medium is described. The storage medium can comprise a software program configured to be executed on a processor and thereby to carry out the method described in this document.

[0030] It should be noted that the methods, devices, and systems described in this document can be used both alone and in combination with other methods, devices, and systems described in this document. Furthermore, any aspects of the methods, devices, and systems described in this document can be combined in a variety of ways. In particular, the features of the claims can be combined in a variety of ways. Furthermore, features listed in parentheses are to be understood as optional features.

[0031] The invention will be described in more detail below using exemplary embodiments.

[0032] Figure 1a shows exemplary components of a vehicle;

[0033] Figure 1b shows an exemplary route with a curve;

[0034] Figure 2 shows exemplary speed curves for driving through a route (with a curve or turn); and

[0035] Figure 3 shows a flowchart of an exemplary method for adjusting the driving speed when driving along a route (with a curve or turn). As stated at the beginning, this document deals with increasing the comfort and / or safety of a vehicle's cruise control. In this context, Fig. 1a shows an exemplary vehicle 100 with one or more environmental sensors 102, each configured to acquire sensor data (also referred to as environmental data) relating to the surroundings of the vehicle 100. Exemplary environmental sensors 102 are a camera, a radar sensor, a lidar sensor, an ultrasonic sensor, etc.

[0036] A (control) device 101 of the vehicle 100 can be configured to evaluate the environmental data, e.g., to detect one or more objects (e.g., other vehicles) in the environment of the vehicle 100. The device 101 can further be configured to effect automated longitudinal and / or lateral guidance of the vehicle 100 based on the environmental data, in particular based on the one or more detected objects. For this purpose, one or more longitudinal and / or lateral guidance actuators 103 (e.g., a drive motor, a braking device, and / or a steering device) of the vehicle can be controlled.

[0037] The automatic longitudinal guidance of the vehicle 100 can be effected by a speed and / or distance controller. Based on the surroundings data, the actual distance between the vehicle 100 and a vehicle in front traveling directly behind the vehicle 100 can be determined. Furthermore, the actual distance can be set, in particular regulated, to a predefined set distance by the distance controller. During free travel (without a vehicle in front), the actual driving speed of the vehicle 100 can be set to a specific set speed. The set distance and / or the set speed can be set by the user, e.g., via a user interface 104 of the vehicle 100.The set speed specified by the driver of the vehicle 100 can be used by the cruise control as the target speed, and the cruise control can be configured to automatically adjust, in particular to regulate, the actual speed of the vehicle 100 to the target speed.

[0038] The set speed specified by the driver of the vehicle 100 may be unsuitable, in particular too high, as the target speed of the cruise control for traveling a specific route, which may lead to reduced comfort and / or reduced safety of the vehicle 100. The (control) device 101 may be configured to detect a route ahead for which a target speed corresponding to the set speed is unsuitable. Furthermore, one or more properties of the route ahead may be determined. The route ahead and / or the one or more properties of the route ahead may be detected or determined, for example, based on

[0039] • the sensor data of the one or more environmental sensors 102; and / or

[0040] • a digital map of the road network used by the vehicle 100.

[0041] The one or more properties of the route ahead may include, in particular, the radius of curvature of an upcoming curve or turn.

[0042] Fig. 1a shows an exemplary driving situation in which the vehicle 100 is approaching a curve ahead (as an example of an upcoming route 110). The route 110 can have a specific beginning 111 and a specific end 112. The device 101 can be configured (as shown by way of example in Fig. 2) to determine a speed profile 201 for traveling along the upcoming route 110 based on one or more properties of the upcoming route 110. The speed profile 201 can indicate the target speed 200 for the cruise control as a function of the driving progress 210 when traveling along the route 110. The driving progress 210 can include the position along the route 110 and / or the time when traveling along the route 110, in particular correspond to the position or the time.

[0043] The speed curve 201 is typically determined in such a way that

[0044] • the target speed 200 at an initial travel progress 211 (at the beginning 111 of the route 110) corresponds to the set speed 203; and / or

[0045] • the target speed 200 at a final travel progress 212 (at the end 112 of the travel route 110) corresponds to the set speed 203.

[0046] Between the initial travel progress 211 and the final travel progress 212, the target speed 200 of the speed curve 201 can deviate from the set speed 203 at least in sections. In particular, the target speed 200 can be reduced starting from the initial travel progress 211 until a peak of the speed curve 201 is reached, wherein the target speed 200 at the peak corresponds to a peak speed 202 (also referred to as the target speed in this document). The peak can be reached at a peak travel progress 214. The peak travel progress 214 can, for example, correspond to the peak of a curve being negotiated. Starting from the apex travel progress 214, the target speed 200 can be increased again until the set speed 203 is reached at the final travel progress 212.

[0047] The cruise control of the vehicle 100 can be operated for traveling the route 110 depending on the determined speed profile 201. At each of the individual travel stages 210 while traveling the route 110, the target speed specified by the speed profile 201 can be used as a target specification for the cruise control in order to adjust the actual speed of the vehicle 100, in particular to regulate it to the respective target speed.

[0048] It may happen that the speed profile 201 determined by the control device 101 is perceived as inappropriate. A user, in particular the driver, of the vehicle 100 can be enabled to make a user input while traveling the route 110 in order to adjust the speed profile 201. In particular, the actuation of a pedal 105, 106 of the vehicle 100, in particular the brake pedal 105 or the accelerator pedal 106, can be interpreted as a user input.

[0049] In particular, the user can be enabled to change the peak speed 202 of the speed curve 201, in particular to reduce it (indicated by the downward arrow) or increase it (indicated by the upward arrow). The possible extent of the change in the peak speed 202 can be limited to a minimum value 207 (for the reduction) and / or to a maximum value 208 (for the increase). For example, a certain percentage increase or reduction (approximately a maximum of 10% or a maximum of 20%) in the peak speed 202 can be enabled. The actuation, in particular the deflection, of the brake pedal 105 can lead to a reduction in the peak speed 202. On the other hand, the actuation, in particular the deflection, of the accelerator pedal 106 can lead to an increase in the peak speed 202.The extent of the change in the peak speed 202 can be adjusted by the extent of the deflection of the respective pedal 105, 106. This allows for a particularly convenient adjustment of the peak speed 202 and the speed curve 201.

[0050] Fig. 2 shows exemplary adjusted speed profiles 205, 206 for a reduction of the peak speed 202 or for an increase of the peak speed 202. The speed profile 205, 206 can each be adjusted such that the adjusted speed profile 205, 206 at the final travel progress 212 also corresponds to the set speed 203.

[0051] The user may be enabled to effect an adjustment of the speed profile 202 within a specific driving progress range 215. At driving progresses 210 outside the driving progress range 215, no adjustment of the speed profile 202 (by actuating a pedal 105, 106) may be effected and / or enabled. The driving progress range 215, in which an adjustment of the speed profile 202 is possible, may begin at or after the initial driving progress 211 and / or end at or before the apex driving progress 214. In the example shown in Fig. 2, a user input from the user (via a pedal 105, 106 of the vehicle) occurs at an intervention driving progress 213.

[0052] As already explained, the perception of an identified

[0053] The speed profile 201 for a curve, a roundabout, and / or a turn (i.e., for a recognized route 110) may vary for different users. Furthermore, depending on the map quality or individual driving style, the speed profiles 202 may be perceived as too slow or too fast.

[0054] This document describes measures that enable the target speed (i.e., the apex speed 202) of a speed curve 201 to be influenced by actuating the accelerator pedal and brake pedal. By actuating the accelerator pedal, the driver can increase the target speed 202 up to a maximum value 208. By actuating the brake pedal, the driver can reduce the target speed 202 down to a minimum value 207. The adjustment of the target speed 202 can be effected until the driver intervention (i.e., the pedal actuation) ends and / or as long as the target event (e.g., the apex of the curve or the apex driving progress 214) is in a specific accessibility range 215 in front of the vehicle 100. When the brake pedal is actuated,Regardless of the activity of the cruise control, the target speed 202 must be adjusted so that it can be adopted by the control system upon reactivation.

[0055] Fig. 3 shows a flowchart of a (possibly computer-implemented) method 300 for adjusting the actual speed of a motor vehicle 100 when traveling along a route 110 (e.g., a curve or a roundabout). When traveling along the route 110, the method 300 comprises automated longitudinal guidance 301 of the motor vehicle 100 as a function of a target speed 202 determined for the route 110, in order to change the actual speed of the motor vehicle 100 from the set speed 203 of the cruise control to the target speed 202. Before the start 111 of the route 110, the longitudinal guidance of the motor vehicle 100 may have been effected using the cruise control, which used the set speed 203 as the target speed. From the initial driving progress 211 of the route 110, the target speed of the cruise control (if applicable) can then be set.The speed can be transferred (in a gradual or continuous manner) from the set speed 220 to the target speed 202 to cause the motor vehicle 100 (at the target travel progress 214) to have the target speed 202. The target travel speed 202 is typically lower than the set speed 203.

[0056] In connection with Fig. 2, the target speed 202 is referred to as the peak speed and the target travel progress 214 is referred to as the peak travel progress.

[0057] The method 300 further comprises (before reaching the target driving progress 214), detecting 302 a deflection of the brake pedal 105 or the accelerator pedal 106 of the motor vehicle 100. Furthermore, the method 300 comprises adjusting 303 the target speed 202 depending on the detected deflection of the brake pedal 105 or the accelerator pedal 106. In this case, a reduction in the target speed 202 can be effected by actuating the brake pedal 105 and an increase in the target speed 202 can be effected by actuating the accelerator pedal 106.

[0058] Furthermore, the method 300 (following the adjustment of the target speed 202) includes the automated longitudinal guidance 304 of the motor vehicle 100 as a function of the adjusted target speed, in order to cause the actual speed of the motor vehicle 100 (at the target travel progress 214) to be changed to the adjusted target speed. For this purpose, the adjusted target speed can be used as the desired speed of the distance controller instead of the original target speed 202.

[0059] After reaching the target driving progress 214, the motor vehicle 100 can be accelerated again from the adjusted target speed to the set speed 203, so that at the end 112 of the route 110 the actual speed of the motor vehicle 100 corresponds to the set speed 103.

[0060] The measures described in this document can ensure particularly comfortable and safe operation of a speed controller.

[0061] The present invention is not limited to the embodiments shown. In particular, it should be noted that the description and figures are intended only to illustrate the principle of the proposed methods, devices, and systems by way of example.

Claims

Claims 1) Device (101) for adapting an actual speed of a motor vehicle (100) when traveling along a route (110); wherein the device (101) is designed, when traveling along the route (110), - automatically guiding the motor vehicle (100) longitudinally as a function of a target speed (202) determined for the route (110) in order to cause the actual speed of the motor vehicle (100) to be changed to the target speed (202) starting from a set speed (203) of a cruise control; - to detect a deflection of a brake pedal (105) or an accelerator pedal (106) of the motor vehicle (100); - to adapt the target speed (202) depending on the detected deflection of the brake pedal (105) or the accelerator pedal (106); and - automatically guide the motor vehicle (100) longitudinally as a function of the adjusted target speed in order to cause the actual speed of the motor vehicle (100) to be changed to the adjusted target speed. 2) Device (101) according to claim 1, wherein the device (101) is configured to automatically guide the motor vehicle (100) longitudinally as a function of the target speed (202) or the adjusted target speed, in order to cause the actual speed of the motor vehicle (100) at a target travel progress (214) while traveling the route (110) to correspond to the target speed (202) or the adjusted target speed. 3) Device (101) according to claim 2, wherein the device (101) is designed to automatically guide the motor vehicle (100) longitudinally in order to cause the actual speed of the motor vehicle (100) to be transferred back to the set speed (203) following the target driving progress (214). 4) Device (101) according to one of claims 2 to 3, wherein the device (101) is arranged - to detect the deflection of the brake pedal (105) or the accelerator pedal (106) of the motor vehicle (100) by means of an intervention driving progress (213); and - to adapt the target speed (202) as a function of the intervention driving progress (213), in particular as a function of a distance between the intervention driving progress (213) and the target driving progress (214). 5) Device (101) according to one of the preceding claims, wherein the device (101) is arranged - to determine an extent, in particular a duration and / or an angle, of the deflection of the brake pedal (105) or the accelerator pedal (106) of the motor vehicle (100); and - to adapt the target driving speed (202) according to the determined extent of the deflection of the brake pedal (105) or the accelerator pedal (106) of the motor vehicle (100). 6) Device (101) according to one of the preceding claims, wherein the device (101) is configured to increase the target driving speed (202) such that a permissible maximum value (208) is not exceeded; or to reduce it such that a permissible minimum value (207) is not undershot. 7) Device (101) according to claim 6, wherein the device (101) is arranged - to prevent a further increase in the target driving speed (202) beyond the permissible maximum value (208), even if the accelerator pedal (106) continues to be actuated; and / or - to prevent a further reduction of the target driving speed (202) below the permissible minimum value (207), even if the brake pedal (105) continues to be operated. 8) Device (101) according to one of the preceding claims, wherein the device (101) is arranged - to increase the target driving speed (202) in response to an actuation of the accelerator pedal (106); and - to reduce the target driving speed (202) in response to an actuation of the brake pedal (105). 9) Device (101) according to one of the preceding claims, wherein - the device (101) is configured to determine the target driving speed (202) as a function of one or more properties of the route (110); and - the one or more properties of the route (110) include, in particular, a curvature of the route (110). 10) Device (101) according to one of the preceding claims, wherein - the device (101) is designed to automatically guide the motor vehicle (100) longitudinally when traveling along the route (110) in order to cause the actual speed of the motor vehicle (100) along the route (110) to be set by the speed controller according to a speed profile (201) or according to an adapted speed profile (205, 206); - the speed curve (201) and the adjusted speed curve (205, 206) for a sequence of specify a target speed for the cruise control as the vehicle progresses (201) along the route (110); - the speed curve (201) at an initial travel progress (211), which is arranged at a beginning (111) of the travel route (110), has the set speed (203) as the target speed (200); - the speed curve (201) at a target driving progress (214) has the target speed (202); and - the adjusted speed curve (205, 206) has the adjusted target speed (202) at the target driving progress (214). 11) Device (101) according to claim 10, wherein the speed profile (201) and the adjusted speed profile (205, 206) at a final travel progress (212) arranged at one end (112) of the travel path (110) each have the set speed (203) as the target speed (200). 12) Method (300) for adapting an actual speed of a motor vehicle (100) when driving through a route (110); wherein the method (300) comprises, when driving through the route (110), - automated longitudinal guidance (301) of the motor vehicle (100) as a function of a target speed (202) determined for the route (110), in order to cause the actual speed of the motor vehicle (100) to be changed to the target speed (202) starting from a set speed (203) of a cruise control; - detecting (302) a deflection of a brake pedal (105) or an accelerator pedal (106) of the motor vehicle (100); - adjusting (303) the target speed (202) depending on the detected deflection of the brake pedal (105) or the accelerator pedal (106); and - automated longitudinal guidance (304) of the motor vehicle (100) as a function of the adjusted target speed in order to cause the actual speed of the motor vehicle (100) to be changed to the adjusted target speed.

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