Classifications

• • 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
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B60—VEHICLES IN GENERAL
  • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
  • B60K31/00—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator
  • B60K31/0008—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator including means for detecting potential obstacles in vehicle path
• • G—PHYSICS
  • G01—MEASURING; TESTING
  • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
  • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
  • G01S13/88—Radar or analogous systems specially adapted for specific applications
  • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
  • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land 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
  • B60W2555/00—Input parameters relating to exterior conditions, not covered by groups B60W2552/00, B60W2554/00
  • B60W2555/20—Ambient conditions, e.g. wind or rain
• • 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
  • B60W2754/00—Output or target parameters relating to objects
  • B60W2754/10—Spatial relation or speed relative to objects
  • B60W2754/30—Longitudinal distance
• • G—PHYSICS
  • G01—MEASURING; TESTING
  • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
  • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
  • G01S13/88—Radar or analogous systems specially adapted for specific applications
  • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
  • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
  • G01S2013/9318—Controlling the steering
• • G—PHYSICS
  • G01—MEASURING; TESTING
  • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
  • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
  • G01S13/88—Radar or analogous systems specially adapted for specific applications
  • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
  • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
  • G01S2013/93185—Controlling the brakes
• • G—PHYSICS
  • G01—MEASURING; TESTING
  • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
  • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
  • G01S13/88—Radar or analogous systems specially adapted for specific applications
  • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
  • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
  • G01S2013/9321—Velocity regulation, e.g. cruise control
• • G—PHYSICS
  • G01—MEASURING; TESTING
  • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
  • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
  • G01S13/88—Radar or analogous systems specially adapted for specific applications
  • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
  • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
  • G01S2013/9322—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles using additional data, e.g. driver condition, road state or weather data
• • G—PHYSICS
  • G01—MEASURING; TESTING
  • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
  • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
  • G01S13/88—Radar or analogous systems specially adapted for specific applications
  • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
  • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
  • G01S2013/9325—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles for inter-vehicle distance regulation, e.g. navigating in platoons

Definitions

• the present invention relates to a device for distance control for a motor vehicle which, depending on the driving speed, maintains a target distance or a target time gap with respect to a vehicle in front, the distance control taking into account a predetermined minimum distance or a specifiable minimum time gap when determining the target distance or the target time gap ,
• Such a distance control for motor vehicles is apparent from DE 44 37 678 AI.
• the distance and / or the distance is measured by means of a measuring device operating on the radar or laser principle
• Relative speed to the preceding motor vehicle determined.
• the speed of the own vehicle is controlled by an intervention in the drive and / or the brake of the vehicle so that the distance to the vehicle in front corresponds to a predetermined target distance.
• this can also be done equivalent size, namely a target time gap between the two vehicles following one another can be regulated.
• the target distance usually corresponds to a defined speed-dependent safety distance.
• a defined safety distance or a predefined set time gap is often not compatible with a driver's personal driving style. Sporty drivers prefer a closer distance to the vehicle in front, while a driver with a more sedate driving style wants to follow a vehicle in front with a greater safety distance.
• the driver is given the option of setting a minimum distance or a minimum time gap that he desires via an operating element. This specification of the driver is taken into account by the distance control system when determining the target distance or the target time gap.
• the driver perceives a given distance to a vehicle in front to be shorter than in normal visibility conditions, such as those prevailing during the day and good weather conditions.
• the invention is therefore based on the object when determining the target distance or the target time gap by
• the stated object is achieved with the features of claim 1 in that the distance control in poor visibility conditions increases the target distance determined for normal visibility conditions or the target time gap. Then the driver no longer feels the target distance (target time gap) set by the distance control, taking into account the driver's request, in comparison to the target distance (target time gap) with good visibility.
• sensors are available for the detection of poor visibility, which detect signs of bad weather and / or darkness. These preferably include sensors that e.g. visibility, road conditions, windshield wiper activity, activation of
• Fog lights precipitation (rain, snow, fog), the ambient brightness, the activation of headlights.
• the distance control preferably increases the target time gap in poor visibility conditions by 20 to 30% compared to normal visibility conditions.
• the distance control system for a motor vehicle shown in the figure as a block diagram contains a known device based on the laser or radar principle for measuring the distance or the relative speed of one's own vehicle with respect to a vehicle in front.
• This device AR regulates the driving speed of the vehicle by intervening in the motor drive and / or the brake so that the distance or the time gap with respect to the preceding vehicle corresponds to a target distance or a target time gap.
• the target distance or the target time gap is determined in a block SW and supplied to the device AR.
• the target distance is determined as a function of the current speed of the vehicle.
• the target distance or the target time gap is selected so that in the event of extreme braking of the vehicle in front, the rear vehicle has sufficient distance or time reserves for a braking reaction so that there is no rear-end collision.
• the driver's personal driving style should also be taken into account.
• the driver is therefore provided with an operating element with which he can, depending on his driving style, specify a minimum distance or a minimum time gap.
• the block FW in the Drawing illustrates the specification of a minimum distance or a minimum time gap, which is taken into account in block SW when determining the target distance or target time gap.
• the target distance or the target time gap is increased in poor visibility.
• the desired distance or the desired time gap can be increased in one step or adaptively according to the degree of visibility. This means that the poorer the visibility, the more the target distance or the target time gap is increased in relation to the values of the target distance or the target time gap with good visibility. For this reason, a unit ES is provided, which recognizes the current visibility and the information about it
• Switch block SW for determining the target distance or the target time gap.
• sensors SI to S8 are provided to detect the visibility, the output signals of which are received by the unit ES and these are e.g. derives information about the visibility by linking and threshold value decisions of the individual sensor signals.
• the group of sensors SI to S5 detects e.g. those conditions that indicate impaired visibility due to bad weather. These states include, for example:
• the range of vision which can be detected, for example, by means of reflection measurements in the area in front of the vehicle.
• the state of the road for example, optically or by means of radar, to determine whether the road is wet or covered with snow.
• the sensors S6 and S8 are preferably of the type that they can detect darkness. Sensors are suitable for this, e.g. - Measure the ambient brightness (using photodiodes), record the switching status of the headlights.
• the changed target time gap SZ * can be formed by a percentage increase in the target time gap SZ, as it is calculated for good visibility.
• the parameter ISW describes the visibility due to the weather; in good weather the parameter ISW is 0 and in bad weather 1.
• the parameter IB describes the visibility due to the brightness; in the sunshine the parameter ID is 0 and in the dark it is 1.
• the factors XI and Yl can be applied and are of the order of 10 to 20%.
• the changed target time gap SZ * can also arise from equation (2) from a constant increase in the visibility SZ with good visibility.
• the factors X2 and Y23 can be applied and are between 0.1 and 0.3 seconds.
• the new setpoint distance SA * can also be formed from a percentage increase in the setpoint distance SA with good visibility according to equation (3) or by a constant increase in the setpoint distance SA according to equation (4).
• the factors X3 and Y3 in equation (3) are applicable parameters in the order of 3 to 5 m / s, and the factors X4 and Y4 in equation (4) are applicable parameters in the order of 5 to 10 m / s.
• the current vehicle speed is designated by v.
• the distance control increases the target time gap in poor visibility conditions by 20 to 30% compared to normal visibility conditions.
• the changed values SZ * or SA * for the target time gap or the target distance are therefore rather minor, so that there may be no negative effect for the distance control if the visibility is not correctly recognized.

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• Engineering & Computer Science (AREA)
• Radar, Positioning & Navigation (AREA)
• Remote Sensing (AREA)
• Physics & Mathematics (AREA)
• Mechanical Engineering (AREA)
• Transportation (AREA)
• Combustion & Propulsion (AREA)
• Chemical & Material Sciences (AREA)
• General Physics & Mathematics (AREA)
• Computer Networks & Wireless Communication (AREA)
• Electromagnetism (AREA)
• Automation & Control Theory (AREA)
• Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
• Controls For Constant Speed Travelling (AREA)
• Traffic Control Systems (AREA)
• Radar Systems Or Details Thereof (AREA)
• Regulating Braking Force (AREA)
• Control Of Vehicle Engines Or Engines For Specific Uses (AREA)
• Optical Radar Systems And Details Thereof (AREA)

Applications Claiming Priority (3)

Publications (1)

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ID=7921704

Family Applications (1)

Country Status (6)

Families Citing this family (19)

Family Cites Families (15)

• 1999
  • 1999-09-11 DE DE19943611A patent/DE19943611A1/de not_active Withdrawn
• 2000
  • 2000-08-03 WO PCT/DE2000/002585 patent/WO2001020362A1/de not_active Application Discontinuation
  • 2000-08-03 EP EP00954393A patent/EP1218773A1/de not_active Withdrawn
  • 2000-08-03 US US10/070,971 patent/US6789637B1/en not_active Expired - Fee Related
  • 2000-08-03 JP JP2001523893A patent/JP2003516892A/ja active Pending
  • 2000-08-03 CZ CZ2002816A patent/CZ2002816A3/cs unknown

Non-Patent Citations (1)

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