Method and Device for Regulating the Speed of a Motor Vehicle

• US 20100299043A1
• Filed: 10/01/2007
• Published: 11/25/2010
• Est. Priority Date: 11/15/2006
• Status: Active Grant

• Current Assignee: Robert Bosch GmbH
• Original Assignee: Robert Bosch GmbH
• Inventors: Gruber, Thomas, Urban, Werner, Boecker, Juergen, Dorenkamp, Stephan
• Granted Patent: US 8,751,134 B2
• Time in Patent Office: Days
• US Class Current: 701/96
• CPC Class Codes: B60W 2510/20 Steering systems
• CPC Class Codes: B60W 2520/14 Yaw
• CPC Class Codes: B60W 2540/20 Direction indicator values
• CPC Class Codes: B60W 2554/4041 Position
• CPC Class Codes: B60W 30/16 Control of distance between vehicles, e.g. keeping a distance to preceding vehicle

Abstract

For regulating the speed of a motor vehicle, a control apparatus is equipped with an object detection system, and the reference speed is determined as a function of at least one preceding vehicle in the evaluation region of the object detection system, such that upon recognition of an imminent lane change by the regulated vehicle, vehicles in the adjacent destination lane are additionally taken into consideration for calculation of the reference speed by expanding the evaluation region in the direction of the destination lane, and consideration is given only to vehicles in the destination lane whose distance from the regulated vehicle is less than a predetermined distance value.

Claims

1-12. -12. (canceled)

13. A method for regulating the speed of a controlled motor vehicle equipped with an object detection system, comprising:

calculating a reference speed as a function of at least one preceding target vehicle in an initial evaluation region of the object detection system;

determining an imminent lane change by the controlled vehicle into an adjacent destination lane; and

upon determination of the imminent lane change, additionally taking into consideration vehicles in the adjacent destination lane for the calculation of the reference speed by expanding the initial evaluation region of the object detection system in the direction of the adjacent destination lane, wherein consideration is given only to vehicles in the adjacent destination lane whose distance from the controlled vehicle is less than a threshold distance value.

14. The method as recited in claim 13, wherein the initial evaluation region is substantially the lane in which the controlled vehicle is presently traveling.

15. The method as recited in claim 13, wherein the threshold distance value is a fixed, predefined value.

16. The method as recited in claim 13, wherein the threshold distance value is a variable value.

17. The method as recited in claim 16, wherein the threshold distance value is dependent on the speed of the controlled vehicle.

18. The method as recited in claim 13, wherein the threshold distance value is dependent on a relative speed of a detected vehicle in the adjacent destination lane with respect to the controlled vehicle.

19. The method as recited in claim 13, wherein the initial evaluation region is reduced in a lateral region opposite the adjacent destination lane during the lane change.

20. The method as recited in claim 19, wherein the reduction of the initial evaluation region in the lateral region opposite the adjacent destination lane occurs only within a zone extending along a direction of travel of the controlled vehicle, and wherein the expansion of the initial evaluation region in the direction of the adjacent destination lane occurs within the zone extending along the direction of travel.

21. The method as recited in claim 13, wherein the determination of the imminent lane change includes at least one of (a) evaluation of the directional indicator signal, (b) evaluation of the present yaw rate, and (c) evaluation of a steering wheel angle signal.

22. The method as recited in claim 19, wherein at least one of (a) the expansion of the initial evaluation region in the direction of the adjacent destination lane and (b) the reduction of the initial evaluation region in the lateral region opposite the adjacent destination lane is canceled after a predetermined time span has elapsed.

23. The method as recited in claim 19, wherein at least one of (a) the expansion of the initial evaluation region in the direction of the adjacent destination lane and (b) the reduction of the initial evaluation region in the lateral region opposite the adjacent destination lane is canceled after a determination of the end of the lane change operation, wherein the determination of the end of the lane change operation is includes at least one of (a) evaluation of the directional indicator signal, (b) evaluation of the present yaw rate, and (c) evaluation of a steering wheel angle signal.

24. An apparatus for regulating the speed of a controlled motor vehicle, comprising:

an object detection system;

a calculation unit configured to calculate a reference speed as a function of at least one preceding target vehicle in an initial evaluation region of the object detection system; and

a lane change recognition unit configured to determine an imminent lane change by the controlled vehicle into an adjacent destination lane;

wherein, upon determination of the imminent lane change, the calculation unit additionally takes into consideration vehicles in the adjacent destination lane for the calculation of the reference speed by expanding the initial evaluation region of the object detection system in the direction of the adjacent destination lane, wherein consideration is given only to vehicles in the adjacent destination lane whose distance from the controlled vehicle is less than a threshold distance value.