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GB2265241A - Method for controlling the distance between moving vehicles - Google Patents

Method for controlling the distance between moving vehicles Download PDF

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Publication number
GB2265241A
GB2265241A GB9305325A GB9305325A GB2265241A GB 2265241 A GB2265241 A GB 2265241A GB 9305325 A GB9305325 A GB 9305325A GB 9305325 A GB9305325 A GB 9305325A GB 2265241 A GB2265241 A GB 2265241A
Authority
GB
United Kingdom
Prior art keywords
distance
vehicle
speed
driving situation
driver
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.)
Withdrawn
Application number
GB9305325A
Other versions
GB9305325D0 (en
Inventor
Gerhard Nocker
Georg Geduld
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.)
Daimler Benz AG
Original Assignee
Daimler Benz AG
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 Daimler Benz AG filed Critical Daimler Benz AG
Publication of GB9305325D0 publication Critical patent/GB9305325D0/en
Publication of GB2265241A publication Critical patent/GB2265241A/en
Withdrawn legal-status Critical Current

Links

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
    • 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
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W2050/0001—Details of the control system
    • B60W2050/0043—Signal treatments, identification of variables or parameters, parameter estimation or state estimation
    • B60W2050/0057—Frequency analysis, spectral techniques or transforms
    • 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
    • B60W2530/00—Input parameters relating to vehicle conditions or values, not covered by groups B60W2510/00 or B60W2520/00
    • 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
    • B60W2540/00—Input parameters relating to occupants
    • B60W2540/30—Driving style
    • 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
    • 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
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/08—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to drivers or passengers
    • B60W40/09—Driving style or behaviour
    • 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

Landscapes

  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Automation & Control Theory (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
  • Control Of Vehicle Engines Or Engines For Specific Uses (AREA)
  • Traffic Control Systems (AREA)

Description

2265241 1 Method for controlling the distance between moving vehicles The
invention relates to a method for controlling the distance between moving vehicles.
When automatically maintaining the distance between motor vehicles, a speed-dependent set distance is usually observed which is determined by means of a fixed reaction time of the driver. For example, US 5,014,200 describes such system.
In general, driving takes place in accordance with fixed control rule while the control behaviour of the driver depends on the driving situation present at the time. The distance S between a vehicle in front and the vehicle behind is generally controlled to a set distance SS, by means of ultrasonic, infrared or mm-wave radar, it being possible for example also to detect the relative speed of the two vehicles with respect to one another by means of the Doppler effect.
Then, S = f {v:,. v 2. a -1, a 2, T.._} where V-, = speed of the vehicle in front v 2 vehicle's speed a a 2 T 3- = maximum deceleration capacity of the vehicle in front maximum deceleration capacity of the vehicle behind instantaneous reaction time of the motorist It is also known to select S Vs> T.]t Furthermore, the distance error dS = SES - S is determined by comparison; the relative speed calculated from the kinematics of the two vehicles:
V = V3- - V2 When maintaining a distance control, the set relative speed ideally becomes zero; a negative relative 2 speed also constitutes to this extent a control deviation. In order to minimise the control deviation, an accelerating or braking drive f orce is generated by means of a control device which acts on the vehicle behind to the ef f ect of controlling it. Usually, the drive force is influenced as a function of control deviations and amplification factors.
In this context, reference is also made to the German Offenlegungsschrift, DE-OS 41 23 110 which deals with a dif f erent system in which current values are also transferred to the vehicle from the respective local travel environment, thus for example in order to characterise the grip of the road, speed limits, etc.
However, control behaviours achieved in this way meet with a low level of acceptance by the motorist since, on the one hand, he is accustom ed to adapting his driving behaviour to different peripheral conditions such as weather, state of the traf f ic and personal State of the driver and, on the other hand, would not like continuously to feed his own value inputs into a control system.
The present invention therefore proposes a method for controlling the distance between vehicles which, on the one hand, permits the distance between vehicles to be maintained automatically and yet, on the other hand, also leads to a considerable improvement in the level of acceptance by the motorist.
According to the present invention there is provided a method for controlling the distance between moving motor vehicles, the vehicle behind being equipped with any desired distance detection means and a device for controlling distance with respect to a vehicle in f ront, the said device being adapted to act on the driving speed, comprising at least the following steps:
(a) the driving situation is divided up into at least two, generally i, classes by evaluating at least the vehicle's own speed V- 2; classification functions ki which overlap at least at the edges in terms of their speed ranges are (b) 3 assigned to the i classes; (c) the selection of a control rule R j for the dimensioning of the drive f orce takes place as a function of the classified driving situation R,i = f {dS, V..., amplification factors} where dS = distance error V = relative speed from a number of rules, at least 2, generally i, in which case each rule is valid in each case for a quite specific driving situation or class of driving situation; (d) the situation-dependent control rule for the overall drive force P -- with which the vehicle is to be SL, controlled to set distance S..
is f ormed as the sum of the i individual control rules R- L weighted with the corresponding classification functions k:L:
Fa = kg_ R-, + k2 R2 + k3 R3 + k,l R.4 +...
According to the invention, in the course of a distance control by evaluating at least the vehicle's own speed V2 and the steering angle B of the vehicle behind, the driving situation is divided up into i classes, as a function of the classified driving situation a control rule Ri is selected for the dimensioning of the drive force from a number of i rules and the situation-dependent control rule for the overall drive force F,,, with which the vehicle is to be controlled to the set distance S,,,, is formed as the sum of the i individual control rules R-i weighted with classifying functions ki which at least overlap at the edges in terms of their speed ranges. It is advantageous that an automatic adaptation of the control behaviour to the current driving situation and, consequently, a considerably improved level of acceptance of a corresponding control with the motorist is achieved.
Preferably, the weather and the driving behaviour of the motorist is also sensed, a situation-dependent reaction time T, is calculated as a function of the classified driving situation, the weather and the driver's behaviour 4 and a situation-modif ied set distance from the vehicle in front is calculated from the said reaction time T,,, and at least the vehicle's own speed and the said set distance is specified to the control rule, respectively effective as a function of the driving situation, for the drive force F- El : IL Here, the degree of attentiveness of the motorist is also advantageously included in the adaptation of the distance control and, to this extent, the protection against collisions is thus optimized.
Further advantages are obtained according to the invention by influencing the calculated reaction time T., as 7 a function of speed and/or weather and by measuring the lateral acceleration when going round a bend and limiting the drive force in such a way that a set lateral acceleration is not exceeded.
An embodiment of a system suitable for carrying out the method will now be described by way of example with reference to the drawings in which:
Figure 1 shows a diagrammatic block functional diagram of a distance control system suitable for carrying out the method; Figure 2 shows an exemplary and diagrammatic illustration of classifying functions ki_ which overlap at the edges in terms of their speed ranges; Figure 3 shows an illustration of two vehicles, one following the other at the distance S; Figure 4 shows a diagrammatic block functional diagram of a conventional distance control system.
According to Figure 3, a vehicle 2 behind follows, at the distance S and at the speed V.., a vehicle 1 in front which is travelling ahead at the speed V,,. Here, a distance S is achieved which is smaller than the set distance S..
Assuming the constancy of V-,, a negative drive force, i.e. a braking force must therefore be exerted on the vehicle 2 in order to achieve a reduction in the control deviation of the distance controller.
Conventionally, according to Figure 4 a speed measuring device outputs the speed V2 of the vehicle. behind. From this.. the set distance S... is calculated. The latter is fed to a comparator. The (momentary) distance S is also fed to this comparator from a measuring device, for example a radar unit. The control deviation is formed by comparison. The relative speed V,,- between the two vehicles is fed to the comparator from the said measuring device. The said speed can also influence in the comparator, in the amplifying or attenuating direction, the control deviation dS which arises. In the case illustrated in the f igure, the relative speed is however passed on to the controller and a control device for influencing the drive force, and corresponding influencing is brought about, for example only in the controller to which the distance error dS is fed from the comiDarator. The control device can be the throttle valve, injection pump, if appropriate with characteristic diagram connected upstream, or a brake actuation valve for example of an electric brake system or one which acts with pressure medium and is equipped with pressure medium reservoir.
In a system according to Figure 1 which is suitable f or carrying out the method, the steering angle B and the speed V2 obtained from a speed measuring device are subjected to a function for classifying the driving situation. The resulting driving situation class is input on the one hand into a function block for calculating the set distance and into the controller with control device for the drive force F_ which influences the distance. The set CER- distance calculation can take place via the calculation of a driving s ituation- dependent reaction time T.. for the motorist.
The function block for calculating the set distance is also fed at least one variable which characterises the driver's behaviour and one variable which characterises the weather. A measuring device transmits the distance S to the vehicle in front and the relative speed between the two 6 vehicles. The set distance S,,, and distance S are compared with one another and the resulting distance error dS and the relative speed V,:, are f ed to the controller with control device. The control device can also here be the throttle valve, injection pump, if appropriate with characteristic diagram connected upstream, or a brake actuation valve, for example of an electric brake or ASR system or one which acts with pressure medium and is equipped with a pressure medium reservoir. Furthermore, the controller can also be fed the detected lateral acceleration. The drive force which is effected or influenced in this way acts on the vehicle 2 with the effect of controlling the distance from the vehicle 1 in front.
Figure 2 shows classification functions ki which overlap at the edges in terms of their speed ranges for the weighting, in terms of the speed ranges, of individual cont-rol rules Rj- for the drive force F,-,,,- such as are used in the method.
The method according to the invention for controlling the distance between moving motor vehicles is not tied to a special distance detection system; to this extent, it can be carried out f or example by means of an optical radar or an m-wave radar of any kind, provided it is suitable for emitting a distance and relative speed signal.
The method comprises the following steps:
a. By evaluating at least the vehicle's own speed V.2 and z the steering angle B, the driving situation is divided up into at least two, generally i classes.
b. Classification functions ki which overlap at least at the edges in terms of their speed ranges are assigned to the i classes.
c. The selection of a control rule Ri for the dimensioning of the drive f orce takes place as a function of the classified driving situation 7 Rj_ = f {dS, V,,-, amplification factors) where dS is the distance error V:tT is the relative speed from a number of rules, at least 2, generally i, in which case each rule is valid in each case for a quite specific driving situation or driving situation class.
d. The situation-dependent control rule f or the overall drive force F-,, with which the vehicle is to be controlled to set distance S,,... is formed as the sum of the i individual control rules R-- weighted with the corresponding classification functions k-1, as follows:
Fa = k R -3- + k 2 R 2 + k:3 R 3 + k -41 R l + An even better level of acceptance by the motorist of such a control is achieved if the weather and the instantaneous driver's behaviour is also included in the set distance specification for the controller, as follows:
e. The weather and the driver's behaviour are sensed.
f. A situation-dependent reaction time T.,,. is calculated as a function of the classified driving situation, the weather and the driver's behaviour.
g. A reaction-modified set distance S,,- from the vehicle in front is calculated as a control variable, for example according to the following minimum specification:
S- = V T.
tS 2 h. The distance S from the vehicle in front is controlled to this reaction time-modified set distance.
8 A further ref inement of the method is achieved in that i. the reaction time TE; is selected to be smaller in a typical in-town driving situation and/or at low speeds than at high speeds on a motorway.
A further improvement of the method is achieved if k. the reaction time T,,> is increased in bad weather and/or when the driver is inattentive, and reduced when the opposite is true.
A further refinement of the method is achieved in that 1. the lateral acceleration is measured and the drive f orce is restricted when going round a bend in such a way that a set limit lateral acceleration is not exceeded.
9 claims A method for controlling the distance between moving motor vehicles, the vehicle behind being equipped with any desired distance detection means and a device for controlling distance with respect to a vehicle in front, the said device being adapted to act on the driving speed, comprising at least the following steps:
(a) (c) (d) the driving situation is divided up into at least two, generally i, classes by evaluating at least the vehicle's own speed V2; classification functions ki which overlap at least at the edges in terms of their speed ranges are assigned to the i classes; the selection of a control rule Ri for the dimensioning of the drive force takes place as a function of the classified driving situation Rj_ = f {dS, V,,,-, amplification factors) where dS = distance error VI- = relative speed from a number of rules, at least 2, generally i, in which case each rule is valid in each case for a quite specific driving situation or class of driving situation; the situation-dependent control rule for the overall drive force F-, with which the vehicle is to be controlled to set distance S,,, is formed as the sum of the i individual control rules Ri weighted with the corresponding classification functions ki Fa = kjL R_j_ + k,2 R2 + k3 R3 + k4 R.l +

Claims (1)

  1. 2. A method according to Claim 1, including the following further steps:
    (e) (f) ( g) (h) the weather and the driver's behaviour are sensed; a situation-dependent reaction time T, is EE calculated as a function of the classified driving situation, the weather and the driver's behaviour; a reaction-modif ied set distance from the vehicle in front is calculated as a control variable at least according to the following minimum rule:
    S = V;:> T:-; the distance S f rom the vehicle in f ront is controlled to this reaction-modified set distance.
    3. A method according to Claim 2, including the following further step:
    (i) the reaction time T,,,,, is selected to be smaller in a typical in-town driving situation and/or at low speeds than at high speeds on the motorway.
    4. A method according to Claim 2, including the following further step:
    (k) the reaction time T.- is increased in bad weather and/or when the driver is inattentive and reduced when the opposite is true.
    5. A method according to Claim 1, including the following further step:
    by measuring the lateral acceleration, the drive force is limited when going round a bend in such a way that a set limit lateral acceleration is not exceeded.
    6. A method for controlling the distance between moving motor vehicles,substantially as described herein with reference to, and as illustrated in, the accompanying drawings.
    z
GB9305325A 1992-03-20 1993-03-16 Method for controlling the distance between moving vehicles Withdrawn GB2265241A (en)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE4209047A DE4209047C1 (en) 1992-03-20 1992-03-20

Publications (2)

Publication Number Publication Date
GB9305325D0 GB9305325D0 (en) 1993-05-05
GB2265241A true GB2265241A (en) 1993-09-22

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GB9305325A Withdrawn GB2265241A (en) 1992-03-20 1993-03-16 Method for controlling the distance between moving vehicles

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DE (1) DE4209047C1 (en)
GB (1) GB2265241A (en)

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JP3518424B2 (en) * 1999-06-23 2004-04-12 日産自動車株式会社 Inter-vehicle distance control device
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DE102007035026B4 (en) 2007-07-26 2021-05-12 Adc Automotive Distance Control Systems Gmbh Driver assistance system and method for operating a driver assistance system
DE102010055373A1 (en) 2010-12-21 2012-06-21 Daimler Ag Method for controlling longitudinal dynamics of motor car to adjust target speed of motor car at idle travel, involves determining target acceleration depending on weighting factor for lowering sensitivity of controlling process
DE102011113908A1 (en) 2011-09-21 2012-03-15 Daimler Ag Longitudinal regulating system for vehicle for regulating target distance to ahead driving vehicle or for regulation of target velocity of vehicle, has sensor system, with which layer thickness of water layer is determined on roadway
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Also Published As

Publication number Publication date
DE4209047C1 (en) 1993-08-26
GB9305325D0 (en) 1993-05-05

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