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EP2297720A1 - Method for the automatic open-loop and closed-loop control of a vehicle - Google Patents

Method for the automatic open-loop and closed-loop control of a vehicle

Info

Publication number
EP2297720A1
EP2297720A1 EP09710283A EP09710283A EP2297720A1 EP 2297720 A1 EP2297720 A1 EP 2297720A1 EP 09710283 A EP09710283 A EP 09710283A EP 09710283 A EP09710283 A EP 09710283A EP 2297720 A1 EP2297720 A1 EP 2297720A1
Authority
EP
European Patent Office
Prior art keywords
vehicle
driver assistance
assistance system
driver
detection
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
EP09710283A
Other languages
German (de)
French (fr)
Inventor
Ulrich STÄHLIN
Adam Swoboda
Thomas Grotendorst
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Continental Teves AG and Co OHG
Original Assignee
Continental Teves AG and Co OHG
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Continental Teves AG and Co OHG filed Critical Continental Teves AG and Co OHG
Publication of EP2297720A1 publication Critical patent/EP2297720A1/en
Ceased legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/167—Driving aids for lane monitoring, lane changing, e.g. blind spot detection
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/14—Adaptive cruise control
    • B60W30/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
    • G08G1/096708—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control
    • G08G1/096725—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control where the received information generates an automatic action on the vehicle control
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
    • G08G1/096733—Systems involving transmission of highway information, e.g. weather, speed limits where a selection of the information might take place
    • G08G1/096741—Systems involving transmission of highway information, e.g. weather, speed limits where a selection of the information might take place where the source of the transmitted information selects which information to transmit to each vehicle
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
    • G08G1/096766—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission
    • G08G1/096775—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission where the origin of the information is a central station
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
    • G08G1/096766—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission
    • G08G1/096783—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission where the origin of the information is a roadside individual element
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2556/00—Input parameters relating to data
    • B60W2556/45—External transmission of data to or from the vehicle
    • B60W2556/50—External transmission of data to or from the vehicle of positioning data, e.g. GPS [Global Positioning System] data
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2556/00—Input parameters relating to data
    • B60W2556/45—External transmission of data to or from the vehicle
    • B60W2556/65—Data transmitted between vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/10—Path keeping
    • B60W30/12—Lane keeping

Definitions

  • the invention relates to a method for increasing the traffic flow by means of automatic adoption of the longitudinal guidance by a driver assistance system according to the preamble of claim 1.
  • LKS systems Lane Keeping Support
  • Known LKS systems include a lane detection system such.
  • B a video system with which the curvature of the lane and the relative position of the vehicle in the lane, the so-called filing and orientation, can be determined.
  • a steering actuator such as a steering wheel.
  • a servomotor artificial steering forces exerted on the steering of the vehicle. These steering forces are so strong that they can be haptically detected by the driver and inform the driver how he would have to operate the steering to keep the vehicle in its lane.
  • the lane recognition system can be realized, for example, as a video system whose video signals are from a signal converter. processing software that provides the desired geometric data (storage, orientation, lane curvature).
  • Other lane detection systems include, for example, a magnetic sensor that determines the vehicle position in conjunction with in-road magnets, or optionally, radar sensors.
  • a reference steering angle is then calculated by means of a mathematical reference model (algorithm), which would have to be taken at the steering in order to keep the vehicle optimally in its lane.
  • a deviation of the driver steering angle from the reference steering angle support torque is then applied to the steering with the aid of a steering actuator.
  • the assist torque is calculated based on a given characteristic curve.
  • Distance sensors are known which report to the driver an object located in front of or behind the vehicle. Such sensors could also be used laterally on the vehicle. However, such sensors would respond constantly, if objects, especially curbs, are located on the side of the vehicle, although when driving straight ahead there is no danger of rolling over them. If an indication or warning were issued to the driver in such an obstacle, he would lose his attention and additionally endanger the traffic.
  • DE 101 25 966 A1 discloses a curve warning system for motor vehicles, in particular for motor vehicles of great length.
  • a sensor device detects the steering angle of the front axle of the motor vehicle and - with several steerable axles - and their steering angle.
  • a recognition device knows obstacles in the lateral environment of the motor vehicle. If the detection device detects an obstacle, calculates a calculation means based on the steering angle and the vehicle speed of the vehicle ahead of whether a collision with the obstacle threatens, and generates a warning signal for the driver in case of collision.
  • a method for warning the driver of a vehicle in front of a vehicle driving on the instantaneous track is known.
  • the traffic environment is monitored in front of the vehicle by means of a radar device for the presence of a preceding vehicle and the distance of the own vehicle to a detected vehicle ahead, and determines its relative speed.
  • a safety distance between the two vehicles is calculated, which is then compared with the measured distance. If the measured distance is less than the safety margin, a warning signal is generated and the risk of collision is displayed on an optical display panel.
  • the surroundings detection is also extended to the respective rear space of adjacent lanes, so that even in the run-up to a planned lane change the expected accident risk can be determined.
  • From DE 195 07 957 Cl discloses a vehicle that is equipped with a system for sleep alarm.
  • the vehicle has a side-mounted optical scanning device for non-contact detection of lane markers. on the lane of the vehicle to the side limit.
  • the sensor data provided by the scanning device are supplied to an evaluation unit for determining a distance present between the vehicle and the detected lane markings.
  • the evaluation unit determines the vehicle lateral velocity relative to the detected lane markings, wherein a fall alert in the form of an acoustic signal is triggered when, due to the present distance and the vehicle lateral velocity, it appears that a departure from the traffic lane is imminent.
  • driver assistance systems are known, such as a Göholassistent, as well as the automatic adoption of a speed limit. If a driver assistance system such as ACC is activated, the driver can increase the current speed by pressing the accelerator pedal without switching off the ACC function. However, the brake pedal leads to a shutdown of the ACC, as well as a manual shutdown. A possibility to be in control of the vehicle in free situations and to be automatically guided by the ACC as soon as the driving possibilities are limited (and thus also less fun), is currently not available for the driver.
  • the object of the invention is to provide a vehicle longitudinal control in the manner that allows a safe and economical lead a vehicle with a driver assistance.
  • Driver assistance systems are implemented as electronic ancillary devices in vehicles to assist the driver in certain driving situations. Here are often safety aspects, but especially the increase in ride comfort in the foreground. These systems partly autonomously or autonomously intervene in drive, control (eg gas, brake) or signaling devices of the vehicle or warn the driver shortly before or during critical situations by means of suitable man-machine interfaces.
  • control eg gas, brake
  • signaling devices of the vehicle or warn the driver shortly before or during critical situations by means of suitable man-machine interfaces.
  • driver assistance systems are for example parking aid (sensor arrays for obstacle and distance detection), Brake Assist (BAS), Cruise Control, Adaptive Cruise Control or Adaptive Cruise Control (ACC), distance warning, turn assistant, congestion assistant, Lane change assistance, lane departure assistance / lane departure assistance (lane departure warning), lane keeping support), lane change assistance, lane change support, intelligent speed adaptation (ISA), adaptive cornering light, Tire pressure monitoring system, driver status recognition, traffic sign recognition, platooning, automatic emergency braking (ANB), headlight dipping and dipping lights, night vision system.
  • a driver assistance system such as the ACC automatically takes over the longitudinal guidance of the vehicle. If this situation is over, the driver gets back the control that existed before the ACC was activated.
  • Special situations can be the passing of speed limit areas in traffic or intersections and traffic lights. The list should not be taken as a limitation. A special situation is to be understood as meaning all possible events which cause a change in the vehicle speed.
  • the key point of the invention is thus the automatic takeover of the longitudinal guidance by driver assistance system, such as an ACC in special situations, the return of the longitudinal guidance to the driver after the end of the special situation and the driver an intervention option, whether the ACC should take over in a particular situations , receives.
  • a particular situation can occur, for example, in the case of speed reductions of road traffic, if road signs on or on a road point to this or structural conditions require such a speed reduction.
  • Such special situations can occur on all categories of roads, thus on dirt roads, country roads and highways as well as highways.
  • the evaluated for detection road course can be done in urban areas as well as overland.
  • the detection of a particular situation is based on an analysis of the safety systems installed in the vehicle.
  • Safety systems can be described as Electronic Break System (EBS), Engine Management System (EMS), Antilock Braking System (ABS), Traction Control (ASR), Electronic Stability Program (ESP), Electronic Differential Lock (EDS), Traction Control System (TCS), Electronic brake force distribution (EBV) and / or engine drag torque control (MSR) are executed.
  • EBS Electronic Break System
  • EMS Engine Management System
  • ABS Antilock Braking System
  • ASR Traction Control
  • ESP Electronic Stability Program
  • EDS Electronic Differential Lock
  • TCS Traction Control System
  • EVS Electronic brake force distribution
  • MSR engine drag torque control
  • the detection checks, for example, the function of the safety systems and accesses an alternative safety system in the event of a non-operational safety system, which is to be actuated as part of triggering the driver assistance function.
  • control and regulation of the traffic flow by means of automatic takeover of the longitudinal guidance by a driver assistance system takes place in that after recognition and the occurrence of a particular situation tion, a driver assistance system automatically takes over the longitudinal guidance and / or lateral guidance of the vehicle, wherein at the end of the special situation, the driver regains control of the vehicle, which existed before the activation of the driver assistance system.
  • a further advantageous embodiment is characterized in that the particular situations are determined from digital map information and / or dynamic information and / or environment sensors and / or car-to-X communication and / or mobile radio communication connection, wherein the mobile radio communication connection by means of 2G and / or 2.5 G and / or 3 G and / or 4 G mobile networks.
  • the recognition of the special situation and the activation of the driver assistance system is carried out by a traffic light phase assistant, and / or by an overtaking assistant.
  • Another particularly advantageous embodiment is characterized by a recognition of the particular situation and activation of the driver assistance system by a construction site assistant.
  • the method for controlling and regulating the traffic flow by means of automatic transfer of the longitudinal guidance by a driver assistance system is characterized in that after detection and entry In a special situation, a driver assistance system automatically takes over the longitudinal guidance of the vehicle, whereby at the end of the situation the driver regains control of the vehicle which existed before the activation of the driver assistance system.
  • the recommended speed is activated by a traffic light phase assistant to activate the ACC, which adjusts to the recommended speed. Once the traffic light has passed and crossed, the ACC is deactivated again.
  • an overtaking assistant signals that overtaking is not possible for a certain time.
  • the driver assistance system such as ACC takes over the longitudinal guidance with e.g. the currently valid speed limit or top speed and hands back to the driver as soon as overtaking is possible again.
  • a further embodiment of the invention is characterized in that when the vehicle enters a zone having a speed limit deviating from the road type, e.g. Due to poor road surface on a highway or construction sites, the driver assistance system takes over the longitudinal guidance for this route, or section or driving range.
  • special situations are detected, for example, from digital map information, dynamic information, environment sensors, car-to-X communication, etc.
  • the driver can set whether the automatic transfer is possible, possibly even for each function individually.
  • cruise control or extensions of the ACC can also be used.
  • Example here would be the activation of a tracking in a construction site.
  • the signals for the yaw rate difference or the steering angle signals present in an ESP control device are evaluated together with the imaging distance signals eg of the radar scanner and, when exceeding or falling below certain preset target values, by the additional evaluation of the distance signals obtained from the image recognition and the point of interest (POI) determined therefrom is checked and made plausible between the desired lane and the actual lane of the vehicle, which then make it possible to detect the beginning of a special situation.
  • the imaging distance signals eg of the radar scanner and, when exceeding or falling below certain preset target values, by the additional evaluation of the distance signals obtained from the image recognition and the point of interest (POI) determined therefrom is checked and made plausible between the desired lane and the actual lane of the vehicle, which then make it possible to detect the beginning of a special situation.
  • POI point of interest

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Atmospheric Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Traffic Control Systems (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)

Abstract

The invention relates to a method for the open-loop and closed-loop control of traffic flow by means of the automatic takeover of the longitudinal control by a driver assistance system, wherein, after a detection and the incipience of a particular situation, a driver assistance system automatically takes over the longitudinal control of the vehicle, wherein when the particular situation ends, the driver regains the control over the vehicle as existed before the activation of the driver assistance system.

Description

VERFAHREN ZUR AUTOMATISCHEN STEUERUNG UND REGELUNG EINES FAHRZEUGSMETHOD FOR THE AUTOMATIC CONTROL AND REGULATION OF A VEHICLE
Die Erfindung betrifft ein Verfahren zur Erhöhung des Verkehrsflusses mittels automatischer Übernahme der Längsführung durch ein Fahrerassistenzsystem gemäß dem Oberbegriff des Anspruch 1.The invention relates to a method for increasing the traffic flow by means of automatic adoption of the longitudinal guidance by a driver assistance system according to the preamble of claim 1.
Stand der TechnikState of the art
Aus dem Stand der Technik sind verschiedene Systeme bekannt, die den Fahrer eines Fahrzeuges darin unterstützen, das Fahrzeug z.B. in seiner Fahrspur zu halten. Diese Systeme werden auch als LKS-Systeme (LKS: Lane Keeping Support) bezeichnet. Bekannte LKS-Systeme umfassen ein Fahrspurerkennungssystem, wie z. B. einem Videosystem, mit der die Krümmung der Fahrspur und die relative Position des Fahrzeugs in der Fahrspur, die sogenannte Ablage und Orientierung, bestimmt werden können. Wenn der vom Fahrer gewählte Lenkwinkel von dem durch den Fahrspurverlauf vorgegebenen Soll-Lenkwinkel zu stark abweicht, werden mit Hilfe eines Lenkstellers, wie z.B. eines Servomotors, künstliche Lenkkräfte auf die Lenkung des Fahrzeugs ausgeübt. Diese Lenkkräfte sind so stark, dass sie vom Fahrer haptisch erfasst werden können und den Fahrer darauf hinweisen, wie er die Lenkung betätigen müsste, um das Fahrzeug in seiner Fahrspur zu halten.Various systems are known in the art which assist the driver of a vehicle in driving the vehicle e.g. to keep in his lane. These systems are also referred to as LKS systems (LKS: Lane Keeping Support). Known LKS systems include a lane detection system such. B. a video system with which the curvature of the lane and the relative position of the vehicle in the lane, the so-called filing and orientation, can be determined. If the steering angle selected by the driver deviates too much from the target steering angle given by the lane course, steering is effected by means of a steering actuator, such as a steering wheel. a servomotor, artificial steering forces exerted on the steering of the vehicle. These steering forces are so strong that they can be haptically detected by the driver and inform the driver how he would have to operate the steering to keep the vehicle in its lane.
Das Fahrspurerkennungssystem kann beispielsweise als Videosystem realisiert sein, dessen Videosignale von einer Signalver- arbeitungssoftware verarbeitet werden, die die gewünschten geometrischen Daten (Ablage, Orientierung, Fahrspurkrümmung) liefert. Andere Fahrspurerkennungssysteme umfassen z.B. einen Magnetsensor, der die Fahrzeugposition in Verbindung mit in der Fahrbahn integrierten Magneten bestimmt, oder wahlweise auch Radarsensoren. Aus den geometrischen Ablagedaten und einer Information über die Fahrspurkrümmung wird dann mittels eines mathematischen Referenzmodells (Algorithmus) ein Referenz-Lenkwinkel berechnet, der an der Lenkung eingeschlagen werden müsste, um das Fahrzeug optimal in seiner Fahrspur zu halten. Bei einer Abweichung des Fahrer-Lenkwinkels vom Referenzlenkwinkel wird dann mit Hilfe eines Lenkstellers ein Unterstützungsmoment auf die Lenkung aufgebracht. Das Unterstützungsmoment wird dabei anhand einer vorgegebenen Kennlinie berechnet .The lane recognition system can be realized, for example, as a video system whose video signals are from a signal converter. processing software that provides the desired geometric data (storage, orientation, lane curvature). Other lane detection systems include, for example, a magnetic sensor that determines the vehicle position in conjunction with in-road magnets, or optionally, radar sensors. From the geometric storage data and information about the lane curvature, a reference steering angle is then calculated by means of a mathematical reference model (algorithm), which would have to be taken at the steering in order to keep the vehicle optimally in its lane. In a deviation of the driver steering angle from the reference steering angle support torque is then applied to the steering with the aid of a steering actuator. The assist torque is calculated based on a given characteristic curve.
Es sind Abstandssensoren bekannt, die dem Fahrer ein vor oder hinter dem Fahrzeug befindliches Objekt melden. Solche Sensoren könnten auch seitlich am Fahrzeug verwendet werden. Allerdings würden solche Sensoren ständig ansprechen, wenn sich Objekte, insbesondere Bordsteine, seitlich am Fahrzeug befinden, obwohl bei Geradeausfahrt keinerlei Gefahr besteht, diese zu überrollen. Würde bei solchen Hindernissen eine Anzeige oder Warnung an den Fahrer ausgegeben, würde er die Aufmerksamkeit verlieren und den Verkehr zusätzlich gefährden.Distance sensors are known which report to the driver an object located in front of or behind the vehicle. Such sensors could also be used laterally on the vehicle. However, such sensors would respond constantly, if objects, especially curbs, are located on the side of the vehicle, although when driving straight ahead there is no danger of rolling over them. If an indication or warning were issued to the driver in such an obstacle, he would lose his attention and additionally endanger the traffic.
Aus der DE 101 25 966 Al ist ein Kurvenwarnsystem für Kraftfahrzeuge, insbesondere für Kraftfahrzeuge mit großer Länge, bekannt. Eine Sensoreinrichtung erfasst den Lenkwinkel der Vorderachse des Kraftfahrzeugs und - bei mehreren lenkbaren Achsen - auch deren Lenkwinkel. Eine Erkennungseinrichtung er- kennt Hindernisse in der seitlichen Umgebung des Kraftfahrzeuges. Wenn die Erkennungseinrichtung ein Hindernis erkennt, berechnet eine Berechnungseinrichtung anhand des Lenkwinkels sowie der Fahrgeschwindigkeit des Fahrzeuges voraus, ob eine Kollision mit dem Hindernis droht, und erzeugt bei Kollisionsgefahr ein Warnsignal für den Fahrer.DE 101 25 966 A1 discloses a curve warning system for motor vehicles, in particular for motor vehicles of great length. A sensor device detects the steering angle of the front axle of the motor vehicle and - with several steerable axles - and their steering angle. A recognition device knows obstacles in the lateral environment of the motor vehicle. If the detection device detects an obstacle, calculates a calculation means based on the steering angle and the vehicle speed of the vehicle ahead of whether a collision with the obstacle threatens, and generates a warning signal for the driver in case of collision.
Aus der DE 30 28 077 C2 ist ein Verfahren zur Warnung des Führers eines Fahrzeuges vor einem auf dessen Momentanspur fahrenden Fahrzeug bekannt. Hierbei wird das Verkehrsumfeld vor dem Fahrzeug mittels eines Radargerätes nach dem Vorhandensein eines vorausfahrenden Fahrzuges überwacht und der Abstand des eigenen Fahrzeuges zu einem detektierten vorausfahrenden Fahrzeug, sowie dessen Relativgeschwindigkeit bestimmt. Abhängig von diesen Parametern und der eigenen Fahrzeuggeschwindigkeit, sowie gegebenenfalls weiteren Parametern, wie Fahrbahn und Bremszustand, wird ein Sicherheitsabstand zwischen den beiden Fahrzeugen berechnet, der dann mit dem gemessenen Abstand verglichen wird. Wenn der gemessene Abstand geringer als der Sicherheitsabstand ist, wird ein Warnsignal erzeugt und das Risiko eines Zusammenstosses auf einem optischen Anzeigefeld dargestellt. In einer Variante des bekannten Verfahrens wird die Umfelderfassung auch auf den jeweiligen Rückraum benachbarter Fahrbahnen ausgedehnt, so dass auch im Vorfeld eines geplanten Fahrspurwechsels das zu erwartende Unfallrisiko bestimmt werden kann.From DE 30 28 077 C2 a method for warning the driver of a vehicle in front of a vehicle driving on the instantaneous track is known. Here, the traffic environment is monitored in front of the vehicle by means of a radar device for the presence of a preceding vehicle and the distance of the own vehicle to a detected vehicle ahead, and determines its relative speed. Depending on these parameters and the vehicle's own speed, and possibly other parameters such as road surface and braking condition, a safety distance between the two vehicles is calculated, which is then compared with the measured distance. If the measured distance is less than the safety margin, a warning signal is generated and the risk of collision is displayed on an optical display panel. In a variant of the known method, the surroundings detection is also extended to the respective rear space of adjacent lanes, so that even in the run-up to a planned lane change the expected accident risk can be determined.
Aus der Druckschrift DE 195 07 957 Cl geht ein Fahrzeug hervor, das mit einem System zur Einschlafwarnung ausgestattet ist. Das Fahrzeug weist eine seitlich angebrachte optische Abtasteinrichtung zur berührungslosen Erfassung von Fahrspurmar- kierungen auf, die die Fahrspur des Fahrzeugs zur Seite hin begrenzen. Die von der Abtasteinrichtung bereitgestellten Sensordaten werden einer Auswerteeinheit zur Ermittlung eines zwischen dem Fahrzeug und den erfassten Fahrspurmarkierungen vorliegenden Abstands zugeführt. Zusätzlich ermittelt die Auswerteeinheit die Fahrzeugquergeschwindigkeit relativ zu den erfassten Fahrspurmarkierungen, wobei eine Einschlafwarnung in Form eines akustischen Signals ausgelöst wird, wenn sich aufgrund des vorliegenden Abstands und der Fahrzeugquergeschwindigkeit ergibt, dass ein Verlassen der Fahrspur droht.From DE 195 07 957 Cl discloses a vehicle that is equipped with a system for sleep alarm. The vehicle has a side-mounted optical scanning device for non-contact detection of lane markers. on the lane of the vehicle to the side limit. The sensor data provided by the scanning device are supplied to an evaluation unit for determining a distance present between the vehicle and the detected lane markings. In addition, the evaluation unit determines the vehicle lateral velocity relative to the detected lane markings, wherein a fall alert in the form of an acoustic signal is triggered when, due to the present distance and the vehicle lateral velocity, it appears that a departure from the traffic lane is imminent.
Um Unfällen vorzubeugen, die entstehen, wenn man während der Fahrt von der eigentlichen Fahrspur abweicht, sind heutzutage Systeme im Einsatz, die die von der Fahrspur abweichenden Fahrer warnen (ASIL - Spurassistent bei Citroen) . Diese Systeme erkennen die Linien auf der Straßenoberfläche, seien es unterbrochene oder gezogene Linien und deren Farben und Breiten.In order to prevent accidents that arise when driving away from the actual lane, systems are nowadays in use that warn the driver deviating from the lane (ASIL - Lane Assistant at Citroen). These systems recognize the lines on the road surface, be it broken or drawn lines and their colors and widths.
Dabei ist es erforderlich, dass die Straßen mit Linien versehen sind, wie es auch der Gesetzgeber vorschreibt, da sonst solche Spurassistenten nicht eingesetzt werden können. Überquert das Fahrzeug eine solche Linie z.B. ohne die Betätigung eines Blinkersignals, wird ein Warnsignal durch ein Vibrieren des Sitzes ausgegeben. In diesem Zusammenhang sind Fahrerassistenzsysteme bekannt, wie z.B. ein Überholassistent, sowie die automatische Übernahme einer Geschwindigkeitsbeschränkung. Wird ein Fahrerassistenzsystem, wie ACC aktiviert, so kann der Fahrer über die Betätigung des Gaspedals die aktuelle Geschwindigkeit erhöhen, ohne die ACC-Funktion abzuschalten. Das Bremspedal jedoch führt zu einer Abschaltung des ACC, ebenso wie ein manuelles Abschalten. Eine Möglichkeit, in freien Situationen Herr über das Fahrzeug zu sein und sich automatisch vom ACC leiten zu lassen sobald die Fahrmöglichkeiten eingeschränkt sind (und somit auch weniger Spaß machen) , gibt es für den Fahrer zur Zeit nicht.It is necessary that the roads are provided with lines, as prescribed by law, otherwise such lane assistants can not be used. If the vehicle crosses such a line, for example, without the operation of a turn signal, a warning signal is emitted by a vibration of the seat. In this context, driver assistance systems are known, such as a Überholassistent, as well as the automatic adoption of a speed limit. If a driver assistance system such as ACC is activated, the driver can increase the current speed by pressing the accelerator pedal without switching off the ACC function. However, the brake pedal leads to a shutdown of the ACC, as well as a manual shutdown. A possibility to be in control of the vehicle in free situations and to be automatically guided by the ACC as soon as the driving possibilities are limited (and thus also less fun), is currently not available for the driver.
Aufgabe der Erfindung ist es eine Fahrzeuglängsregelung in der Art bereitzustellen, dass ein sicheres und wirtschaftliches führen eines Fahrzeuges mit einem Fahrerassistenz erlaubt.The object of the invention is to provide a vehicle longitudinal control in the manner that allows a safe and economical lead a vehicle with a driver assistance.
Die Aufgabe wird gelöst durch die Merkmale des Anspruchs 1. Vorteilhafte Ausgestaltungen werden in den abhängigen Ansprüchen wiedergeben.The object is solved by the features of claim 1. Advantageous embodiments are given in the dependent claims.
Fahrerassistenzsysteme sind als elektronische Zusatzeinrichtungen in Fahrzeugen zur Unterstützung des Fahrers in bestimmten Fahrsituationen implementiert. Hierbei stehen oft Sicherheitsaspekte, aber vornämlich die Steigerung des Fahrkomforts im Vordergrund. Diese Systeme greifen teilautonom oder autonom in Antrieb, Steuerung (z.B. Gas, Bremse) oder Signalisierungs- einrichtungen des Fahrzeuges ein oder warnen durch geeignete Mensch-Maschine-Schnittstellen den Fahrer kurz vor oder während kritischer Situationen. Solche Fahrassistenzsysteme sind beispielsweise Einparkhilfe (Sensorarrays zur Hinderniss- und Abstandserkennung) , Bremsassistent (BAS) , Tempomat, Adaptive Cruise Control oder Abstandsregeltempomat (ACC) , Abstandswarner, Abbiegeassistent, Stauassistent, Spurerkennungssystem, Spurhalteassistent/Spurassistent (Quer- führungsunterstützung, lane departure warning (LDW) ) , Spurhalteunterstützung (lane keeping support) ) , Spurwechselassistent (lane change assistance) , Spurwechselunterstützung (lane change support) , Intelligent Speed Adaption (ISA), Adaptives Kurvenlicht, ReifendruckkontrollSystem, FahrerzuStandserkennung, Verkehrszeichenerkennung, Platooning, Automatische Notbremsung (ANB) , Auf- und Abblendassistent für das Fahrlicht, Nachtsichtsystem (Night Vision) .Driver assistance systems are implemented as electronic ancillary devices in vehicles to assist the driver in certain driving situations. Here are often safety aspects, but especially the increase in ride comfort in the foreground. These systems partly autonomously or autonomously intervene in drive, control (eg gas, brake) or signaling devices of the vehicle or warn the driver shortly before or during critical situations by means of suitable man-machine interfaces. Such driver assistance systems are for example parking aid (sensor arrays for obstacle and distance detection), Brake Assist (BAS), Cruise Control, Adaptive Cruise Control or Adaptive Cruise Control (ACC), distance warning, turn assistant, congestion assistant, Lane change assistance, lane departure assistance / lane departure assistance (lane departure warning), lane keeping support), lane change assistance, lane change support, intelligent speed adaptation (ISA), adaptive cornering light, Tire pressure monitoring system, driver status recognition, traffic sign recognition, platooning, automatic emergency braking (ANB), headlight dipping and dipping lights, night vision system.
Die Kernüberlegung der Erfindung ist, dass bei nach einem Erkennen und dem Eintritten einer besondere Situation ein, ein Fahrerassistenzsystem wie das ACC automatisch die Längsführung des Fahrzeugs übernimmt. Ist diese Situation zu Ende, so erhält der Fahrer die Kontrolle zurück, die vor der Aktivierung des ACC vorlag. Sondersituationen können dabei sein das Passieren von Geschwindigkeitsbegrenzenten Bereichen im Straßenverkehr oder Kreuzungen und Ampelanlagen. Die Aufzählung ist nicht als Einschränkung aufzunehmen. Als Sondersituation sind alle möglichen Ereignisse zu verstehen, die eine Änderung der Fahrzeuggeschwindigkeit bedingen .The core idea of the invention is that, after recognizing and entering a particular situation, a driver assistance system such as the ACC automatically takes over the longitudinal guidance of the vehicle. If this situation is over, the driver gets back the control that existed before the ACC was activated. Special situations can be the passing of speed limit areas in traffic or intersections and traffic lights. The list should not be taken as a limitation. A special situation is to be understood as meaning all possible events which cause a change in the vehicle speed.
Der entscheidende Punkt der Erfindung ist somit die automatische Übernahme der Längsführung durch Fahrerassistenzsystem, wie z.B. ein ACC in Sondersituationen, wobei die Rückübergabe der Längsführung an den Fahrer nach Ende der Sondersituation erfolgt und der Fahrer eine Eingriffsmöglichkeit, ob das ACC in eine besondere Situationen übernehmen soll, erhält. Eine besondere Situation kann beispielweise auftreten bei Geschwindigkeitsreduktionen des Straßenverkehrs, wenn Straßenverkehrsschilder auf bzw. an einer Straße hierauf hinweisen oder bauliche Gegebenheiten eine solche Geschwindigkeitsreduktion bedingen. Solche besonderen Situationen können auftreten auf allen Kategorien von Straßen, somit auf Feldwegen, Land- und Bundesstraßen sowie Autobahnen. Der zur Erkennung ausgewertete Straßenverlauf kann Innerorts als auch über Land erfolgen .The key point of the invention is thus the automatic takeover of the longitudinal guidance by driver assistance system, such as an ACC in special situations, the return of the longitudinal guidance to the driver after the end of the special situation and the driver an intervention option, whether the ACC should take over in a particular situations , receives. A particular situation can occur, for example, in the case of speed reductions of road traffic, if road signs on or on a road point to this or structural conditions require such a speed reduction. Such special situations can occur on all categories of roads, thus on dirt roads, country roads and highways as well as highways. The evaluated for detection road course can be done in urban areas as well as overland.
Die Erkennung einer besonderen Situation erfolgt anhand einer Analyse der im Fahrzeug installierten Sicherheitssysteme.The detection of a particular situation is based on an analysis of the safety systems installed in the vehicle.
Sicherheitssysteme können als Electronic Break System (EBS), Engine Management System (EMS) , Antiblockiersystem (ABS) , Antriebs-Schlupf-Regelung (ASR) , Elektronisches Stabilitätsprogramm (ESP) , Elektronische Differentialsperre (EDS) , Traction Control System (TCS) , Elektronische Bremskraftverteilung (EBV) und/oder Motor-Schleppmomenten-Regelung (MSR) ausgeführt werden .Safety systems can be described as Electronic Break System (EBS), Engine Management System (EMS), Antilock Braking System (ABS), Traction Control (ASR), Electronic Stability Program (ESP), Electronic Differential Lock (EDS), Traction Control System (TCS), Electronic brake force distribution (EBV) and / or engine drag torque control (MSR) are executed.
Um bei deren Ausfall die Sicherheit zu erhöhen, überprüft die Erkennung bspw. die Funktion der Sicherheitssysteme und greift bei einem nicht betriebsbereiten Sicherheitssystem, welches im Rahmen der Auslösung der Fahrerassistenzfunktion betätigt werden soll, auf ein alternatives Sicherheitssystem zu.In order to increase safety in the event of failure, the detection checks, for example, the function of the safety systems and accesses an alternative safety system in the event of a non-operational safety system, which is to be actuated as part of triggering the driver assistance function.
In einer vorteilhafte Ausgestaltung erfolgt die Steuerung und Regelung des Verkehrsflusses mittels automatischer Übernahme der Längsführung durch ein Fahrerassistenzsystem dadurch, dass nach einem Erkennen und dem Eintreten einer besonderen Situa- tion, ein Fahrerassistenzsystem automatisch die Längsführung und/oder Querführung des Fahrzeugs übernimmt, wobei bei Beendigung der besonderen Situation der Fahrer die Kontrolle über das Fahrzeug zurückerhält, die vor der Aktivierung des Fahrerassistenzsystem bestand.In an advantageous embodiment, the control and regulation of the traffic flow by means of automatic takeover of the longitudinal guidance by a driver assistance system takes place in that after recognition and the occurrence of a particular situation tion, a driver assistance system automatically takes over the longitudinal guidance and / or lateral guidance of the vehicle, wherein at the end of the special situation, the driver regains control of the vehicle, which existed before the activation of the driver assistance system.
Eine weitere vorteilhafte Ausgestaltung zeichnet sich aus, dass die besonderen Situationen aus digitalen Karteninformationen und/oder dynamischen Informationen und/oder Umfeldsensoren und/oder Car-to-X Kommunikation und/oder Mobilfunk Kommunikationsverbindung ermittelt werden, wobei die Mobilfunk Kommunikationsverbindung mittels 2G und/oder 2,5 G und/oder 3 G und/oder 4 G Mobilfunknetze erfolgt.A further advantageous embodiment is characterized in that the particular situations are determined from digital map information and / or dynamic information and / or environment sensors and / or car-to-X communication and / or mobile radio communication connection, wherein the mobile radio communication connection by means of 2G and / or 2.5 G and / or 3 G and / or 4 G mobile networks.
Bei einer weiteren Ausgestaltung des erfindungsgemäßen Verfahrens erfolgt die Erkennung der besonderen Situation und die Aktivierung des Fahrerassistenzsystems durch einen Ampelphasenassistenten, und/ oder durch einen Überholassistenten erfolgen .In a further embodiment of the method according to the invention, the recognition of the special situation and the activation of the driver assistance system is carried out by a traffic light phase assistant, and / or by an overtaking assistant.
Eine weitere besonders vorteilhafte Ausgestaltung ist gekennzeichnet durch eine Erkennung der besonderen Situation und eine Aktivierung des Fahrerassistenzsystems durch einen Baustellenassistent erfolgt.Another particularly advantageous embodiment is characterized by a recognition of the particular situation and activation of the driver assistance system by a construction site assistant.
Beschreibung und Vorteile der ErfindungDescription and advantages of the invention
In einer ersten Ausgestaltung zeichnet sich das Verfahren zur Steuerung und Regelung des Verkehrsflusses mittels automatischer Übernahme der Längsführung durch ein Fahrerassistenzsystem dadurch aus, dass nach einem Erkennen und dem Eintreten einer besondere Situation ein Fahrerassistenzsystem automatisch die Längsführung des Fahrzeugs übernimmt, wobei bei Beendigung der Situation der Fahrer die Kontrolle zurück über das Fahrzeug zurückerhält, die vor der Aktivierung des Fahrerassistenzsystem bestand.In a first embodiment, the method for controlling and regulating the traffic flow by means of automatic transfer of the longitudinal guidance by a driver assistance system is characterized in that after detection and entry In a special situation, a driver assistance system automatically takes over the longitudinal guidance of the vehicle, whereby at the end of the situation the driver regains control of the vehicle which existed before the activation of the driver assistance system.
In einer weiteren Ausführungsform wird die empfohlene Geschwindigkeit durch einen Ampelphasenassistenten zur Aktivierung des ACC, welches auf die empfohlene Geschwindigkeit einregelt, aktiviert. Sobald die Ampel passiert und überquert wurde, wird das ACC wieder deaktiviert.In another embodiment, the recommended speed is activated by a traffic light phase assistant to activate the ACC, which adjusts to the recommended speed. Once the traffic light has passed and crossed, the ACC is deactivated again.
In einer vorteilhaften Ausgestaltung der Erfindung signalisiert ein Überholassistent, dass für eine gewisse Zeit lang kein Überholen möglich ist. Das Fahrerassistenzsystem, wie z.B. ACC übernimmt die Längsführung mit z.B. der aktuell geltenden Geschwindigkeitsbeschränkung bzw. Richtgeschwindigkeit und übergibt wieder an den Fahrer, sobald Überholen wieder möglich ist.In an advantageous embodiment of the invention, an overtaking assistant signals that overtaking is not possible for a certain time. The driver assistance system, such as ACC takes over the longitudinal guidance with e.g. the currently valid speed limit or top speed and hands back to the driver as soon as overtaking is possible again.
Eine weitere Ausgestaltung der Erfindung zeichnet sich dadurch aus, dass wenn das Fahrzeug in eine Zone kommt mit einer vom Straßentyp abweichenden Geschwindigkeitsbeschränkung, wie z.B. durch schlechten Straßenbelag auf einer Autobahn oder Baustellen, so übernimmt das Fahrerassistenzsystem die Längsführung für diesen Strecke, bzw. Abschnitt oder Fahrbereich.A further embodiment of the invention is characterized in that when the vehicle enters a zone having a speed limit deviating from the road type, e.g. Due to poor road surface on a highway or construction sites, the driver assistance system takes over the longitudinal guidance for this route, or section or driving range.
Erfindungsgemäß werden Sondersituationen beispielsweise aus digitalen Karteninformationen, dynamischen Informationen, Umfeldsensoren, Car-to-X Communication, etc. erkannt. Der Fahrer kann einstellen, ob die automatische Übernahme möglich ist, evtl. sogar für jede Funktion einzeln.According to the invention, special situations are detected, for example, from digital map information, dynamic information, environment sensors, car-to-X communication, etc. The driver can set whether the automatic transfer is possible, possibly even for each function individually.
Anstelle eines ACC kann auch ein Tempomat oder Erweiterungen des ACC eingesetzt werden.Instead of an ACC, cruise control or extensions of the ACC can also be used.
Es versteht sich neben der Längsführung auch die Quereführung durch das erfindungsgemäßen Verfahren zeitlich begrenzt aktiviert werden kann. Beispiel hier wäre die Aktivierung einer Spurhaltung in einer Baustelle.It is understood that in addition to the longitudinal guide and the transverse guide can be activated by the inventive method limited in time. Example here would be the activation of a tracking in a construction site.
Als eine weitere bevorzugte Ausführungsform werden die in einem ESP-Regelgerät vorhandenen Signale für die Giergeschwindigkeitsdifferenz oder die Lenkwinkelsignale mit den bildgebenden Abstandssignalen bspw. des Radarscanners zusammen ausgewertet und bei über oder unterschreiten von bestimmtem vorgegeben Sollwerten durch die zusätzliche Auswertung der aus der Bilderkennung gewonnen Abstandssignalen und den hieraus ermittelten Point of Interest (POI) eine Überprüfung und Plau- sibilisierung zwischen der Sollfahrspur und der Ist-Fahrspur des Fahrzeugs durchgeführt werden, die dann eine Erkennung eines Beginnes einer Sondersituation ermöglichen. As a further preferred embodiment, the signals for the yaw rate difference or the steering angle signals present in an ESP control device are evaluated together with the imaging distance signals eg of the radar scanner and, when exceeding or falling below certain preset target values, by the additional evaluation of the distance signals obtained from the image recognition and the point of interest (POI) determined therefrom is checked and made plausible between the desired lane and the actual lane of the vehicle, which then make it possible to detect the beginning of a special situation.

Claims

Patentansprüche : Claims:
1. Verfahren zur Steuerung und Regelung des Verkehrsflusses mittels automatischer Übernahme der Längsführung durch ein Fahrerassistenzsystem dadurch kennzeichnet, dass nach einem Erkennen und dem Eintreten einer besonderen Situation, ein Fahrerassistenzsystem automatisch die Längsführung und/oder Querführung des Fahrzeugs übernimmt, wobei bei Beendigung der besonderen Situation der Fahrer die Kontrolle über das Fahrzeug zurückerhält, die vor der Aktivierung des Fahrerassistenzsystem bestand.1. A method for controlling and regulating the flow of traffic by automatically taking over the longitudinal guidance by a driver assistance system characterized in that after detection and the occurrence of a special situation, a driver assistance system automatically takes over the longitudinal guidance and / or lateral guidance of the vehicle, at the end of the particular situation the driver regains control of the vehicle that existed prior to activation of the driver assistance system.
2. Verfahren nach Anspruch 1 dadurch kennzeichnet, dass die besonderen Situationen aus digitalen Karteninformationen und/oder dynamischen Informationen und/oder Umfeldsensoren und/oder Car-to-X Kommunikation und/oder Mobilfunk Kommunikationsverbindung ermittelt werden.2. The method according to claim 1, characterized in that the special situations from digital map information and / or dynamic information and / or environment sensors and / or car-to-X communication and / or mobile communication connection are determined.
3. Verfahren nach einem der vorangegangenen Ansprüche dadurch kennzeichnet, dass die Mobilfunk Kommunikationsverbindung mittels 2G und/oder 2,5 G und/oder 3 G und/oder 4 G Mobilfunknetze erfolgt .3. The method according to any one of the preceding claims, characterized in that the mobile communication connection takes place by means of 2G and / or 2.5 G and / or 3G and / or 4G mobile networks.
4. Verfahren nach einem der vorangegangenen Ansprüche dadurch kennzeichnet, dass die Erkennung und die Aktivierung des Fahrerassistenzsystems durch einen Ampelphasenassistenten erfolgt. 4. The method according to any one of the preceding claims characterized in that the detection and activation of the driver assistance system is performed by a traffic light phase assistant.
5. Verfahren nach einem der vorangegangenen Ansprüche dadurch kennzeichnet, dass die Erkennung und die Aktivierung des Fahrerassistenzsystems durch einen Überholassistenten erfolgen.5. The method according to any one of the preceding claims characterized in that the detection and activation of the driver assistance system carried out by a Überholassistenten.
6. Verfahren nach einem der vorangegangenen Ansprüche dadurch kennzeichnet, dass die Erkennung und die Aktivierung des Fahrerassistenzsystems durch einen Baustellenassistent erfolgen. 6. The method according to any one of the preceding claims characterized in that the detection and activation of the driver assistance system carried out by a construction site assistant.
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US20110022247A1 (en) 2011-01-27
WO2009101114A1 (en) 2009-08-20
US8583341B2 (en) 2013-11-12

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