Method for operating a speed control system, computing device, and speed control system

Abstract

The invention relates to a method for operating a speed control system of a vehicle, the speed control system comprising a standard operating mode and a progressive operating mode comprising a plurality of progressivity levels. The method comprises an activation of the progressive operating mode of the speed control system. In addition, it comprises a monitoring of driver attentiveness during the operation of the speed control system in the progressive operating mode. The method additionally comprises operation of the speed control system in dependence on driver attentiveness, the speed control system being operated either in the standard operating mode if the monitoring of driver attentiveness characterises the driver as unattentive, or continuing to be operated in the progressive operating mode if the monitoring of driver attentiveness characterises the driver as attentive. The method further comprises actuation of a brake pedal or accelerator pedal whilst the speed control system continues to be operated in the progressive operating mode. Lastly, the method comprises reducing or increasing the progressivity level depending on the brake pedal or accelerator pedal actuation.

Description

[0001] METHOD FOR OPERATING A SPEED CONTROL SYSTEM,

[0002] COMPUTING DEVICE, SPEED CONTROL SYSTEM

[0003] The present invention relates to a method for operating a cruise control system of a vehicle, wherein the cruise control system comprises a standard operating mode and a progressive operating mode having multiple progressiveness levels. Furthermore, the present invention relates to a computing device for a vehicle for implementing such a method.

[0004] Furthermore, the present invention relates to a cruise control system for a vehicle.

[0005] The majority of vehicles registered today are equipped with a cruise control system. This is generally a device that automatically regulates the engine speed so that the vehicle maintains a speed specified by the driver. However, there are now numerous variants and additional functions. Examples include automatic distance control to the vehicle in front, traffic light assistance, and lane change assistance. The term "cruise control system" is used synonymously in this document for these and similar driver assistance systems.

[0006] One focus in the development of such cruise control systems is on customization, i.e., taking individual customer preferences and driving behavior into account. Especially with automatic distance control to the vehicle in front, the driver's individual sense of safety and behavior patterns are playing an increasingly important role.

[0007] For example, document DE 10 2021 123 233 A1 discloses a device for controlling a cruise control system of a vehicle. The device is configured to detect that a brake of the vehicle is manually applied while the cruise control system is active. The device is further configured to determine whether or not the manual application of the brake is to be interpreted as a shutdown request to deactivate the cruise control system. Furthermore, the device is configured to deactivate or continue the cruise control system depending on the determination. Furthermore, document DE 10 2006 015 491 A1 discloses a method for automatically braking a vehicle, in which the surroundings of the vehicle are monitored by sensors, and automatic braking control is performed upon detection of a dangerous situation.To prevent the vehicle from accelerating relatively quickly if the driver depresses the foot brake pedal during control, the setpoint is maintained when the driver depresses the foot brake pedal, and control continues until the driver reduces their braking effort. Braking control is preferably interrupted only if the driver depresses the foot brake pedal for longer than a specified minimum time.

[0008] Furthermore, the document DE 102014208 185 A1 describes an ACC system and method for controlling the driving speed of a vehicle, which is kept active even when the driver detects that a vehicle brake has been applied, if a critical approach of the vehicle to another object in front of it is detected by a proximity detection unit of the ACC system.

[0009] Finally, US 2011 027 6246 A1 also describes a device for controlling the driving behavior of a vehicle, which controls the speed of a vehicle depending on a preset inter-vehicle distance or a preset vehicle speed according to a detection state of a preceding vehicle. When an accelerator or brake pedal of the vehicle is depressed and the vehicle in front is present, the set distance between the vehicles is updated. When the accelerator or brake pedal of the vehicle is depressed and the vehicle in front is not present, the set vehicle speed is updated.

[0010] It is the object of the present invention to show a solution how a speed control system can be further improved.

[0011] This object is achieved by the features of the independent claims. Further advantageous embodiments of the invention are specified in the dependent claims.

[0012] One aspect of the invention relates to a method for operating a

[0013] Cruise control system of a vehicle, wherein the cruise control system comprises a standard operating mode and a progressive operating mode having a plurality of progressivity levels. The method comprises activating the progressive operating mode of the cruise control system. It also comprises monitoring driver attention while operating the cruise control system in the progressive operating mode. The method further comprises operating the cruise control system as a function of the driver attention, wherein the cruise control system is either operated in the standard operating mode if the monitoring of the driver attention characterizes the driver as inattentive, or continues to operate in the progressive operating mode if the monitoring of the driver attention characterizes the driver as attentive. Furthermore, the method comprises detecting a braking oran accelerator pedal actuation while the cruise control system continues to operate in the progressive mode. Finally, the method includes reducing or increasing the progressiveness level depending on the brake or accelerator pedal actuation.

[0014] The method can be carried out, for example, by means of a computing device. The computing device can be embodied, for example, as at least one electronic control unit of the vehicle, which comprises one or more programmable processors. It is conceivable that the computing device receives, for example, image data from an interior camera of the vehicle, by means of which the driver's attention can be monitored—for example, based on the driver's line of sight. Furthermore, it is conceivable that the computing device receives environmental data from an environmental sensor of the vehicle and / or map data, by means of which a driving situation can be detected. Finally, it is also conceivable that the computing device receives signals from a brake or accelerator pedal sensor and can thus detect the brake or accelerator pedal actuation while the cruise control system continues to operate in the progressive operating mode.In addition, the computing device can have a computer-readable storage medium on which a computer program is stored. To carry out the corresponding method steps, the computer program can be executed on the computing device.

[0015] In principle, it is conceivable that the method could also be used in conjunction with other driver assistance systems that comprise a standard operating mode and a progressive operating mode with multiple progressivity levels. The method according to the invention is intended to enable individual adaptability of the cruise control system. The development and design of cruise control systems often assumes a rather conservative driving style, without taking different driver types and driving styles into account. However, in particular, in predetermined driving situations, a control system tailored to a driver's wishes can be advantageous. This can be implemented using the different progressivity levels of the progressive operating mode.

[0016] The driver can initially activate the cruise control system's progressive operating mode. This can be done, for example, by pressing a button, using voice commands, or using gestures. However, it is also conceivable that the progressive operating mode could be activated when the vehicle is started, if the driver so desires.

[0017] While the progressive operating mode is activated, driver attention can be monitored. This can be achieved, for example, via an interior camera and detection of the driver's gaze direction. This generally does not require additional hardware, as modern vehicles must be able to monitor driver attention anyway, as the degree of automation increases.

[0018] The cruise control system can only be operated in progressive mode if the driver attention monitoring indicates the driver is attentive. If the driver attention monitoring indicates the driver is inattentive, the cruise control system will revert to standard mode. In other words, the cruise control system switches from progressive mode to standard mode as soon as the driver is inattentive. It is also conceivable that progressive mode cannot be activated at all if the driver is not attentive. Because the cruise control system can only be operated in progressive mode if the driver is sufficiently attentive, it can be ensured that the driver is actively involved in the driving process.On the one hand, this allows the driver to achieve a progressive driving style, while on the other hand, it also increases safety.

[0019] If the driver is attentive and the cruise control system continues to operate in progressive mode, the brake or accelerator pedal actuation can be detected and monitored during this time. To enable control tailored to the driver's preferences, the progressiveness level can be reduced or increased depending on the brake or accelerator pedal actuation.

[0020] If the cruise control system is operating in progressive mode and the driver is paying attention, the progressiveness level can be increased, for example, by tapping the accelerator pedal. Depending on the specific model, the increased progressiveness level can result in a change in the cruise control system's control. In the simplest case, this can, for example, reduce or increase the distance to a vehicle ahead while following.

[0021] One possible embodiment of the method provides for a predetermined driving situation to be additionally detected, and for the cruise control system to continue operating in the progressive operating mode such that a modified cruise control system control compared to the standard mode is executed exclusively during the predetermined driving situation. As already indicated, control tailored to the driver's wishes can be advantageous, particularly in predetermined driving situations. A predetermined driving situation can be, for example, a merging maneuver, a pedestrian crossing ahead of the vehicle, following a vehicle, an intersection ahead of the vehicle, or the like.

[0022] The predetermined driving situation can be detected, for example, using the vehicle's environmental sensors. However, it is also conceivable that the predetermined driving situation is detected using the current position and a map. Furthermore, it is conceivable that the predetermined driving situation is determined using an external system and the vehicle is informed of this via Car2X communication. The latter is particularly conceivable in the case of a pedestrian crossing or intersection ahead of the vehicle.

[0023] In a further possible embodiment of the method, the predetermined driving situation describes following travel with another road user merging, and the reducing or increasing of the progressivity level as a result of the brake or accelerator pedal actuation reduces or increases the distance to a vehicle ahead in order to enable the merging in front of the vehicle or to enable the merging behind the vehicle. Merging often requires increased attention and a certain degree of coordination between the person merging and the driver of the vehicle. Depending on the situation and the driver's wishes, it can therefore be advantageous if the control of the cruise control system in such a predetermined driving situation is designed to be either cooperative or progressive. It should be noted that a progressive design does not preclude cooperative behavior.

[0024] An increased level of progressiveness, such as pressing or tapping the accelerator pedal, can, for example, result in a reduced distance to the vehicle in front. This can potentially increase the distance behind the vehicle, providing the vehicle behind the vehicle merging with enough space to merge. In other words, a progressive design can also represent cooperative behavior.

[0025] In a further possible embodiment of the method, the predetermined driving situation describes a pedestrian crossing ahead of the vehicle, and reducing or increasing the progressiveness level as a result of applying the brake or accelerator pedal increases or decreases the negative acceleration of the vehicle in front of the pedestrian crossing. Especially when the driver demonstrates increased attention, the predetermined driving situation can be perceived better by the driver than by the driver assistance system or the vehicle itself. Anticipatory behavior during the predetermined driving situation can therefore also allow for more progressive driving behavior.

[0026] For example, if the standard operating mode of a driver assistance system or cruise control system is designed to always brake or at least reduce the vehicle's speed at a pedestrian crossing ahead, operation in the progressive operating mode and a corresponding progressiveness level may be more in line with the driver's wishes. Provided the driver demonstrates the necessary attention.

[0027] It can be advantageous here if the cruise control system has a progressivity level assigned to the accelerator pedal actuation, and as a result of the accelerator pedal actuation, the negative acceleration of the vehicle before the pedestrian crossing is prevented. For example, by tapping the accelerator pedal, an explicit progressivity level can be selected, which prevents the negative acceleration of the vehicle before the pedestrian crossing, even if the explicit progressivity level does not correspond to the next higher progressivity level. In other words, a preferred progressivity level can be selected by actuating the accelerator pedal. Such an implementation is also conceivable for other predetermined driving situations, for example, intersection situations or the like.

[0028] In another possible embodiment of the method, as already described above, the predetermined driving situation describes a following vehicle, and reducing or increasing the progressivity level as a result of the brake or accelerator pedal actuation reduces or increases the distance to a vehicle ahead. This represents a very simple variant for implementing different progressivity levels and thus allows the driver to individually adapt the cruise control system for one of the most common applications of the cruise control system, namely following vehicle.

[0029] In a further possible embodiment of the method, the predetermined driving situation describes an intersection ahead of the vehicle, and reducing or increasing the progressivity level as a result of applying the brake or accelerator pedal increases or decreases the negative acceleration of the vehicle ahead of the intersection. Here, too, the following applies: If the driver demonstrates increased attention, the predetermined driving situation, i.e., the intersection ahead of the vehicle, may be perceived better by the driver than by the driver assistance system or the vehicle itself. Anticipatory behavior during the predetermined driving situation can therefore enable more progressive driving behavior. On the one hand, this can meet the driver's desire for a progressive driving style, and on the other hand, safety can also be increased because the driver demonstrates increased attention.

[0030] In another possible embodiment of the method, the predetermined driving situation describes a roundabout ahead of the vehicle, and reducing or increasing the progressiveness level as a result of applying the brake or accelerator pedal increases or decreases the negative acceleration of the vehicle ahead of the roundabout. Here, too, the following applies: If the driver demonstrates increased attention, the predetermined driving situation, i.e., the intersection ahead of the vehicle, may be perceived better by the driver than by the driver assistance system or the vehicle itself. Anticipatory behavior during the predetermined driving situation can therefore enable more progressive driving behavior.The same applies to the roundabout in front of the vehicle: on the one hand, the driver's desire for a progressive driving style can be met and, on the other hand, safety can be increased because the driver shows increased attention.

[0031] In general, it can be advantageous if the progressivity level is saved so that when the driver activates the progressive operating mode, the progressive operating mode is executed according to the last set progressivity level. It is also conceivable for the method to be executed for a plurality of predetermined driving situations. In this context, it can be advantageous if the progressivity level can be selected differently for each predetermined driving situation or can also be saved. In this way, a driver assistance system or the cruise control system can correspond to the driver's wishes as best as possible. In other words, the driver assistance system or the cruise control system can be operated according to an optimal progressivity level, which may also most closely correspond to the driver's driving behavior.

[0032] A further aspect of the invention relates to a computing device for a vehicle, which is designed to carry out a method for operating a cruise control system of a vehicle and the advantageous embodiments thereof. The computing device can be designed, for example, as at least one electronic control unit of the vehicle, which comprises one or more programmable processors. As already described above, it is conceivable for the computing device to receive, for example, image data from an interior camera of the vehicle, by means of which the driver's attention can be monitored - for example, based on the driver's line of sight. Furthermore, it is conceivable for the computing device to receive environmental data from an environmental sensor of the vehicle and / or map data, by means of which a driving situation can be detected. Finally, it is also conceivable for the computing device to receive signals from a braking oran accelerator pedal sensor and can thus detect the brake or accelerator pedal actuation while the cruise control system continues to operate in the progressive mode. Furthermore, the computing device can have a computer-readable storage medium on which a computer program is stored. To carry out the corresponding method steps, the computer program can be executed on the computing device.

[0033] A further aspect of the invention relates to a cruise control system for a vehicle, wherein the cruise control system comprises a standard operating mode and a progressive operating mode having a plurality of progressivity levels, and is configured to monitor driver attention while the cruise control system is operating in the progressive operating mode. The cruise control system is further configured, depending on the driver attention, either to switch to the standard operating mode if the driver attention monitoring characterizes the driver as inattentive, or to remain in the progressive operating mode if the driver attention monitoring characterizes the driver as attentive. Finally, the cruise control system is also configured to brake orto detect an accelerator pedal operation while the cruise control system remains in the progressive operating mode and to reduce or increase the progressivity level depending on the brake or accelerator pedal operation.

[0034] A further aspect of the invention relates to a computer-readable storage medium comprising instructions which, when executed by a computing device, cause the computing device to carry out a method for operating a cruise control system of a vehicle and the advantageous embodiments thereof.

[0035] The present invention also relates to a computer program comprising instructions which, when the program is executed by a computing device, cause the computing device to carry out a method for operating a cruise control system of a vehicle and the advantageous embodiments thereof.

[0036] Finally, the present invention also relates to a vehicle comprising a cruise control system. The vehicle can be designed, in particular, as a passenger car.

[0037] The preferred embodiments presented with reference to the method according to the invention and their advantages apply accordingly to the computing device according to the invention and to the cruise control system according to the invention. Furthermore, the preferred embodiments presented with reference to the method according to the invention and their advantages also apply to the computer-readable storage medium according to the invention, the computer program according to the invention, and the vehicle according to the invention.

[0038] Further features of the invention emerge from the claims, the figures, and the description of the figures. The features and combinations of features mentioned above in the description, as well as the features and combinations of features mentioned below in the description of the figures and / or shown alone in the figures, can be used not only in the respective combinations specified, but also in other combinations or on their own, without departing from the scope of the invention.

[0039] The invention will now be explained in more detail using preferred embodiments and with reference to the accompanying drawings.

[0040] Fig. 1 is a schematic representation of a vehicle comprising a cruise control system; and

[0041] Fig. 2 shows a visual representation of the method in a flow chart, wherein a predetermined driving situation is additionally detected by means of an environmental sensor.

[0042] In the figures, identical or functionally identical elements are provided with the same reference symbols.

[0043] Fig. 1 shows a schematic representation of a vehicle 1 comprising a cruise control system 2. The cruise control system 2 comprises a computing device 3. The cruise control system 2 can be operated in a standard operating mode and a progressive operating mode having several progressivity levels.

[0044] The computing device 3 can, for example, be designed as at least one electronic control unit of the vehicle 1. The electronic control unit can comprise one or more programmable processors. The computing device 3 can receive image data from an interior camera 4 of the vehicle 1. Using the image data, driver attention can be monitored, for example based on the line of sight of a driver of the vehicle 1. The computing device 3 can receive environmental data from an environmental sensor 7 of the vehicle 1. A driving situation can be detected using the environmental data. The driving situation can be, for example, an intersection ahead of the vehicle 1, a roundabout, a pedestrian crossing, or the like. Furthermore, the driving situation can be following with or without merging.

[0045] The computing device 3 can receive signals from a brake pedal sensor 5 or an accelerator pedal sensor 6 and thus detect a brake or accelerator pedal actuation. The computing device 3 can have a computer-readable storage medium on which a computer program is stored.

[0046] The cruise control system 2 for the vehicle 1 is configured to monitor driver attention during operation of the cruise control system 2 in the progressive operating mode. The cruise control system 2 is further configured, depending on the driver attention, either to switch to the standard operating mode if the driver attention monitoring characterizes the driver as inattentive, or to remain in the progressive operating mode if the driver attention monitoring characterizes the driver as attentive. Finally, the cruise control system 2 is also configured to detect a brake or accelerator pedal actuation while the cruise control system 2 remains in the progressive operating mode and to reduce or increase the progressiveness level depending on the brake or accelerator pedal actuation.

[0047] Fig. 2 shows a visual representation of the method 8 in a flow chart, wherein a predetermined driving situation is additionally detected by means of an environmental sensor.

[0048] List of reference symbols Vehicle Cruise control system Computing device Interior camera Brake pedal sensor Accelerator pedal sensor Surroundings sensor Method

Claims

Claims 1. A method (8) for operating a cruise control system (2) of a vehicle (1), wherein the cruise control system (2) comprises a standard operating mode and a progressive operating mode having a plurality of progressivity levels, comprising the steps: - Activating the progressive operating mode of the cruise control system (2), - monitoring driver attention during operation of the cruise control system (2) in the progressive operating mode, - operating the cruise control system (2) depending on the driver's attention, wherein the cruise control system (2) either ■ operates in the standard operating mode if the driver attention monitoring characterises the driver as inattentive, or ■ continues to operate in the progressive mode if the driver attention monitoring characterises the driver as attentive, - detecting a brake or accelerator pedal actuation while the cruise control system (2) continues to operate in the progressive operating mode, and - Reducing or increasing the level of progressivity depending on the brake or accelerator pedal operation.

2. Method (8) according to claim 1, characterized in that a predetermined driving situation is additionally detected and the cruise control system (2) continues to operate in the progressive operating mode such that a control of the cruise control system (2) which is modified compared to the standard mode is carried out exclusively during the predetermined driving situation.

3. Method (8) according to claim 2, characterized in that the predetermined driving situation is a following drive with a cutting-in process of a another road user, and wherein the reduction or increase of the progressivity level as a result of the brake or accelerator pedal actuation reduces or increases a distance to a vehicle (1) in front in order to enable the merging process in front of the vehicle (1) or to enable the merging process behind the vehicle (1).

4. Method (8) according to one of claims 2 or 3, characterized in that the predetermined driving situation describes a pedestrian crossing located in front of the vehicle (1), and wherein the reduction or increase of the progressivity level as a result of the brake or accelerator pedal actuation increases or decreases a negative acceleration of the vehicle (1) in front of the pedestrian crossing.

5. Method (8) according to claim 4, characterized in that the speed control system (2) has a progressivity level associated with the accelerator pedal actuation, and as a result of the accelerator pedal actuation, the negative acceleration of the vehicle (1) before the pedestrian crossing is prevented.

6. Method (8) according to one of claims 2 to 5, characterized in that the predetermined driving situation describes a following journey, and wherein the reduction or increase of the progressivity level as a result of the brake or accelerator pedal actuation reduces or increases a distance to a vehicle (1) traveling ahead.

7. Method (8) according to one of claims 2 to 6, characterized in that the predetermined driving situation describes an intersection located in front of the vehicle (1), and wherein the reduction or increase of the progressivity level as a result of the brake or accelerator pedal actuation increases or decreases a negative acceleration of the vehicle (1) in front of the intersection.

8. Method (8) according to one of claims 2 to 7, characterized in that the predetermined driving situation is a roundabout in front of the vehicle (1) describes, and wherein the reduction or increase of the progressivity level as a result of the brake or accelerator pedal actuation increases or decreases a negative acceleration of the vehicle (1) before the roundabout.

9. Computing device (3) for a vehicle (1), which is designed to carry out a method (8) according to one of the preceding claims.

10. Cruise control system (2) for a vehicle (1), wherein the cruise control system (2) comprises a standard operating mode and a progressive operating mode having several levels of progressivity, and is designed to - to monitor driver attention during operation of the cruise control system (2) in the progressive operating mode, - depending on the driver’s attention either ■ to switch to the standard operating mode if the driver attention monitoring characterises the driver as inattentive, or ■ to remain in the progressive operating mode if the driver attention monitoring characterises the driver as attentive, - to detect a brake or accelerator pedal actuation while the cruise control system (2) remains in the progressive operating mode, and - to reduce or increase the level of progressivity depending on the brake or accelerator pedal operation.

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