Method and control unit for adjusting a time gap

• US 10,293,821 B2
• Filed: 01/28/2016
• Issued: 05/21/2019
• Est. Priority Date: 01/28/2015
• Status: Active Grant

• Current Assignee: Scania CV AB (Volkswagen AG)
• Original Assignee: Scania CV AB (Volkswagen AG)
• Inventors: Andersson, Hakan, Oremus, Bas
• Primary Examiner(s): Beaulieu, Yonel
• Application Number:
  US15/535,442
• Publication Number:
  US 20170349177A1
• Time in Patent Office: 1,209 Days
• CPC Class Codes: B60W 2400/00 Indexing codes relating to detected, measured or calculated conditions or factors
• CPC Class Codes: B60W 2420/408 Radar; Laser, e.g. lidar
• CPC Class Codes: B60W 2552/15 Road slope, i.e. the inclination of a road segment in the longitudinal direction
• CPC Class Codes: B60W 2552/20 Road profile, i.e. the change in elevation or curvature of a plurality of continuous road segments
• CPC Class Codes: B60W 2554/00 Input parameters relating to objects
• CPC Class Codes: B60W 2554/4041 Position
• CPC Class Codes: B60W 2556/50 of positioning data, e.g. GPS [Global Positioning System] data
• CPC Class Codes: B60W 2754/30 Longitudinal distance
• CPC Class Codes: B60W 30/16 Control of distance between vehicles, e.g. keeping a distance to preceding vehicle

Abstract

A method (400) and a control unit (310) in a vehicle (100) having an ACC system (500) for adjusting a variable time gap (t) to be kept to a preceding vehicle (110), based on a road slope (α). In the method (400): determining (401) geographical position of the vehicle (100); determining (402) driving direction (105) of the vehicle (100); determining (403) the road slope (α) of the road (120) in front of the vehicle (100) in the determined (402) driving direction (105); and adjusting (408) the variable time gap (t) based on the determined (403) road slope (α) of the road (120) in front of the vehicle (100) by: increasing the variable time gap (t) when the road slope (α) is negative, indicating downhill; or decreasing the variable time gap (t) when the road slope (α) is positive, indicating uphill.

Claims

1. A method for use in an adaptive cruise control, ACC, system of a first vehicle, for adjusting a variable time gap (t) to be kept to a second vehicle, the second vehicle preceding the first vehicle, based on a road slope (α

), wherein the method comprises;

determining a geographical position of the first vehicle;

determining a driving direction of the first vehicle;

determining the road slope (α

) of a road in front of the first vehicle in the determined driving direction;

adjusting the variable time gap (t) based on the determined road slope (α

) of the road in front of the first vehicle by;

increasing the variable time gap (t) when the road slope (α

) is negative, which indicates downhill;

or

decreasing the variable time gap (t) when the road slope (α

) is positive, which indicates uphill;

determining a determined road slope (β

) of the road at the determined geographical position of the first vehicle; and

further adjusting the variable time gap (t), based on a difference between the determined road slope (β

) at the first vehicle and the determined road slope (α

) in front of the first vehicle, by;

increasing the variable time gap (t) when the determined road slope (α

) in front of the first vehicle is smaller than the determined road slope (β

) at the first vehicle;

or

decreasing the variable time gap (t) when the determined road slope (α

) in front of the first vehicle exceeds the determined road slope (β

) at the first vehicle.

2. The method according to claim 1, further comprising determining the road slope (α

) of the road in front of the first vehicle by extracting from a database road slope data associated with at least one geographical position of the road in front of the determined geographical position of the first vehicle in the determined driving direction.

3. The method according to claim 1, further comprising determining the road slope (α

) of the road in front of the first vehicle by extracting from a database road slope data associated with a set of geographical positions of the road in front of the determined geographical position of the first vehicle in the determined driving direction, and computing an average road slope (α

).

4. The method according to claim 1, further comprising:

determining the road slope (α

) of the road in front of the first vehicle at a geographical position of the road situated at a distance in front of the first vehicle and, corresponding at least to the time gap (t) at a current velocity of the first vehicle.

5. The method according to claim 1, further comprising:

estimating if the second vehicle has a higher or a lower weight than the first vehicle; and

wherein

the adjustment of the variable time gap (t) further comprises;

further increasing the variable time gap (t) in downhill when the second vehicle has a lower weight than the first vehicle;

or

further decreasing the variable time gap (t) in downhill when the second vehicle has a higher weight than the first vehicle.

6. The method according to claim 1, further comprising:

estimating if the second vehicle has a higher or a lower weight/power ratio than the first vehicle; and

wherein the adjustment of the variable time gap (t) further comprises;

further decreasing the variable time gap (t) in uphill when the second vehicle has a higher weight/power ratio than the first vehicle;

or

further increasing the variable time gap (t) in uphill when the second vehicle has a lower weight/power ratio than the first vehicle.

7. The method according to claim 6, wherein the estimation of the weight/power ratio of the second vehicle is made by analyzing a previous hill behavior of the second vehicle.

8. The method according to claim 1, further comprising:

transmitting a request for obtaining at least one of road slope (α

), weight and weight/power ratio to the second vehicle over a wireless communication interface, and wherein the adjustment of the variable time gap (t) is further based on at least one of the obtained value of the road slope (α

) at the second vehicle, the weight of the second vehicle, and the weight/power ratio of the second vehicle.

9. The method according to claim 1, further comprising:

adjusting the variable time gap (t) linearly with the size of the road slope (α

), within predetermined limits.

10. The method according to claim 1, further comprising:

detecting slippery road conditions; and

then adjusting the variable time gap (t) by prolongation when slippery road conditions are detected.

12. A computer program product comprising a computer program stored on a non-transitory program storage medium, the computer program comprising program code for performing a method according to claim 1 when the computer program is executed in a control unit of an adaptive cruise control, ACC, system in a first vehicle, for adjusting a variable time gap (t) to be kept to a second vehicle, the second vehicle preceding the first vehicle, based on a road slope (α

), wherein the control unit is configured for;

determining a geographical position of the first vehicle via a positioning unit;

determining a driving direction of the first vehicle;

determining the road slope (α

) of the road in front of the first vehicle in the determined driving direction;

adjusting the variable time gap (t) based on the determined road slope (α

) of the road in front of the first vehicle, the adjusting of the variable time gap (t) comprising;

increasing the variable time gap (t) when the road slope (α

) is negative, indicating downhill;

or

decreasing the variable time gap (t) when the road slope (α

) is positive, indicating uphill, and

determining the road slope (β

) of the road at the determined geographical position of the first vehicle;

wherein the variable time gap (t) in the control unit is further adjusted, based on the difference between the determined road slope (β

) at the first vehicle and the determined road slope (α

) in front of the first vehicle, by;

increasing the variable time gap (t) when the determined road slope (α

) in front of the first vehicle is smaller than the determined road slope (β

) at the first vehicle;

or

decreasing the variable time gap (t) when the determined road slope (α

) in front of the first vehicle exceeds the determined road slope (β

) at the first vehicle.

15. The method according to claim 5, wherein the estimation of the weight of the second vehicle is made by analyzing previous hill behavior of the second vehicle.

11. A control unit of an adaptive cruise control, ACC, system in a first vehicle, for adjusting a variable time gap (t) to be kept to a second vehicle, the second vehicle preceding the first vehicle, based on a road slope (α

), wherein the control unit is configured for;

determining a geographical position of the first vehicle via a positioning unit;

determining a driving direction of the first vehicle;

determining the road slope (α

) of the road in front of the first vehicle in the determined driving direction;

adjusting the variable time gap (t) based on the determined road slope (α

) of the road in front of the first vehicle, the adjusting of the variable time gap (t) comprising;

increasing the variable time gap (t) when the road slope (α

) is negative, indicating downhill;

or

decreasing the variable time gap (t) when the road slope (α

) is positive, indicating uphill, and

determining the road slope (β

) of the road at the determined geographical position of the first vehicle;

wherein the variable time gap (t) in the control unit is further adjusted, based on the difference between the determined road slope (β

) at the first vehicle and the determined road slope (α

) in front of the first vehicle, by;

increasing the variable time gap (t) when the determined road slope (α

) in front of the first vehicle is smaller than the determined road slope (β

) at the first vehicle;

or

decreasing the variable time gap (t) when the determined road slope (α

) in front of the first vehicle exceeds the determined road slope (β

) at the first vehicle.

13. An adaptive cruise control, ACC, system in a first vehicle, for adjusting a variable time gap (t) to be kept by the first vehicle to a second vehicle, the second vehicle preceding the first vehicle, based on a road slope (α

), wherein the system comprises;

a control unit according to claim 11;

a radar unit, configured for emitting radio waves and receiving reflections of the emitted radio waves, reflected by the second vehicle;

a positioning unit, configured for determining a geographical position of the first vehicle; and

a database configured for storing road slope data associated with geographical positions.

14. A first vehicle comprising an ACC system according to claim 13.