Method and apparatus for controlling the velocity of a vehicle

• US 5,999,874 A
• Filed: 09/15/1997
• Issued: 12/07/1999
• Est. Priority Date: 09/13/1996
• Status: Expired due to Term

• Current Assignee: Robert Bosch GmbH
• Original Assignee: Robert Bosch GmbH
• Inventors: Lichtenberg, Bernd, Winner, Hermann, Uhler, Werner, Witte, Stefan
• Primary Examiner(s): Nguyen, Tan
• Application Number:
  US08/929,430
• Time in Patent Office: 813 Days
• Field of Search: 701/93, 701/96, 701/300, 701/301, 340/903, 340/435, 340/436, 180/170, 180/169, 342/455, 342/458
• US Class Current: 701/93
• CPC Class Codes: B60K 31/0008 including means for detecting potential obstacles in vehicle path
• CPC Class Codes: B60W 2520/14 Yaw
• CPC Class Codes: B60W 2540/18 Steering angle
• CPC Class Codes: B60W 2540/20 Direction indicator values
• CPC Class Codes: B60W 2554/00 Input parameters relating to objects
• CPC Class Codes: B60W 2554/802 Longitudinal distance
• CPC Class Codes: B60W 2554/804 Relative longitudinal speed
• CPC Class Codes: B60W 30/16 Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
• CPC Class Codes: B60W 30/18145 Cornering
• CPC Class Codes: G08G 1/166 for active traffic, e.g. moving vehicles, pedestrians, bikes
• CPC Class Codes: G08G 1/167 Driving aids for lane monitoring, lane changing, e.g. blind spot detection

Abstract

A method and an apparatus based thereon for automatically controlling the velocity of a vehicle (14) under consideration of preceding vehicles (15, 16, 17) are described. To select a preceding vehicle as the control target, an area of the possible future travel (18) is determined. When the controlled vehicle is about to and/or is beginning to change lanes, the determined area of future travel is expanded (19).

Claims

1. A method for automatically controlling a velocity of a vehicle based on consideration of preceding vehicles, said method comprising:

selecting one of said preceding vehicles from an area of possible future travel and of the vehicle to be controlled to serve as a control target for determining the velocity of the vehicle to be controlled;

determining said area of possible future travel courses of lanes for the controlled vehicle and at least one land adjacent thereto, each of the preceding vehicles being assigned to one of said area of possible future travel or said lane or lanes

adjusting the velocity of the controlled vehicle, responsive to an indication that the controlled vehicle is going to move from a lane in which it is traveling to another of said lanes, based on a preceding vehicle traveling in the lane to which the controlled vehicle is going to move, such that when the indication of lane change in a direction is detected, the area assigned to the vehicle or vehicles considered for said selection is expanded in the direction of the lane change wherein the selection of a preceding vehicle as the control target is accomplished, first, based on whether the preceding vehicle is in the considered area of possible future travel and, second, based on which of the preceding vehicles still available for selection requires the least nominal acceleration of the controlled vehicle and further wherein, said expansion of the considered area is reversed when it is recognized that the lane change has been completed or after the indication of lane change has been present for a period which exceeds a selectable, predetermined time limit.

2. Method according to claim 1, wherein, when the indication of lane change in a direction is detected, the area assigned to the vehicle or vehicles considered for said selection is expanded in the direction of the lane change.

3. Method according to claim 1, wherein the selection of a preceding vehicle as the control target is accomplished, first, based on whether the preceding vehicle is in the considered area of possible future travel and, second, based on which of the preceding vehicles still available for selection requires the least nominal acceleration of the controlled vehicle.

4. Method according to claim 1, wherein the considered area is expanded by the width of one lane when said indication of a change of lane is detected.

5. Method according to claim 1, wherein the indication of a lane change is recognized on the basis of values characterizing the driving dynamics, on the basis of the directional indicator, and/or on the basis of video image processing.

6. Method according to claim 2, wherein said expansion of the considered area is reversed when it is recognized that the lane change has been completed and/or after the indication of lane change has been present for a period which exceeds a selectable, predetermined time limit.

7. Method according to claim 1, wherein the selection of a preceding vehicle as the control target includes consideration of the distance and relative velocity of the respective preceding vehicle with respect to the controlled vehicle.

8. Method according to claim 1, wherein the indication of lane change is the activation of a turn signal.

9. An apparatus for controlling the speed of a vehicle travelling in one of a plurality of lanes, said apparatus comprising:

means for recognizing an indication that the vehicle to be controlled is about to change lanes or is beginning to change lanes;

means for determining an area of assumed future travel for the vehicle to be controlled and at least one lane adjacent thereto;

means for selecting one of said preceding vehicles within the area of assumed future travel as the control target as the control target;

means for expanding the considered area responsive to recognition by said means for recognizing that the controlled vehicle intends to change or is beginning to change lanes

wherein said expansion of the considered area is reversed when it is recognized that the lane change has been completed or after the indication of lane change has been present for a period which exceeds a selectable, predetermined time limit; and

means for controlling the speed of the vehicle to be controlled thereon.

10. Apparatus according to claim 9, wherein, responsive to the recognition of lane change in a direction, the means for expanding expands the area considered for said selection in the direction of the lane change.

11. Apparatus according to claim 9, wherein the means for selecting selects a preceding vehicle as the control target, first, based on whether the preceding vehicles is in the considered area and, second, based on which of the preceding vehicles still available for selection requires the least nominal acceleration of the controlled vehicle.

12. Apparatus according to claim 9, wherein the means for expanding expands the considered area by the width of one lane when said indication of a change of lane is detected.

13. Apparatus according to claim 9, wherein the indication of a lane change is recognized on the basis of values characterizing the driving dynamics, on the basis of the directional indicator, and/or on the basis of video image processing.

14. Apparatus according to claim 9, wherein said expansion of the considered lane is reversed when it is recognized that the lane change has been completed.

15. Apparatus according to claim 9, wherein said expansion of the considered lane is reversed after the indication of lane change has been present for a period which exceeds a selectable, predetermined time limit.

16. Apparatus according to claim 9, wherein the selection of a preceding vehicle as the control target includes consideration of the distance and relative velocity of the respective preceding vehicle with respect to the controlled vehicle.

17. Apparatus according to claim 9, wherein the indication of lane change is the activation of a turn signal.