Method and apparatus for controlling the speed and spacing of a motor vehicle

• US 6,459,983 B1
• Filed: 12/21/1999
• Issued: 10/01/2002
• Est. Priority Date: 12/22/1998
• Status: Expired due to Fees

• Current Assignee: Robert Bosch GmbH
• Original Assignee: Robert Bosch GmbH
• Inventors: Lichtenberg, Bernd, Uhler, Werner
• Primary Examiner(s): Cuchlinski, Jr., William A.
• Assistant Examiner(s): TO, TUAN C
• Application Number:
  US09/468,671
• Time in Patent Office: 1,015 Days
• Field of Search: 701/96, 701/93, 180/169, 180/175, 180/168, 180/170, 180/178, 340/904, 340/903, 340/901, 340/902, 342/71, 367/99
• US Class Current: 701/96
• CPC Class Codes: B60K 31/0008 including means for detecting potential obstacles in vehicle path
• CPC Class Codes: B60W 2540/20 Direction indicator values
• CPC Class Codes: B60W 2720/106 Longitudinal acceleration
• 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 for controlling the speed and spacing of a motor vehicle taking into account the spacing from any preceding vehicles, such that in the event that a relevant preceding vehicle is detected, a spacing control system is superimposed onto the speed control system, and such that the spacing control system automatically decelerates the controlled vehicle if the spacing from a preceding vehicle falls below a set reference spacing, such that the fact that the decrease in spacing below the reference spacing was brought about by the driver of the controlled vehicle is recognized on the basis of at least one further indicator; and/or such that the fact that the motor vehicle is traveling in the outermost left lane of the lanes provided for one direction of travel is recognized on the basis of at least one further indicator; and that in this case, automatic deceleration is attenuated or omitted.

Claims

1. A method for controlling a speed and a spacing of a motor vehicle, comprising the steps of:

if a relevant preceding vehicle is detected, superimposing a spacing control system onto a speed control system;

using the spacing control system, automatically decelerating the motor vehicle if a spacing between the motor vehicle and the preceding vehicle falls below a predefined reference spacing;

recognizing, as a function of at least one indicator;

(a) a traveling of the motor vehicle in an outermost left lane of lanes provided for one direction of travel; and

if (a) is recognized, reducing the automatic deceleration of the motor vehicle.

2. The method according to claim 1, further comprising the step of controlling the spacing between the motor vehicle and the preceding vehicle to the predefined reference spacing when the at least one indicator is no longer present, the controlling of the spacing between the motor vehicle and the preceding vehicle being performed by the spacing control system.

3. The method according to claim 2, wherein the predefined reference spacing is established by way of a temporally increasing deceleration.

4. The method according to claim 3, wherein the temporally increasing deceleration is a temporally linear ramp function.

5. The method according to claim 2, wherein the predefined reference spacing is established with a constant reversion speed.

6. The method according to claim 2, wherein the predefined reference spacing is established within a predefined time.

7. The method according to claim 2, wherein the predefined reference spacing is established with a reversion speed that is a function of a current speed of the motor vehicle.

8. The method according to claim 2, further comprising the step of transitioning asymptotically to zero a relative speed between the motor vehicle and the preceding vehicle as the predefined reference spacing from the preceding vehicle is approached.

9. The method according to claim 1, further comprising the step of recognizing, as a function of the at least one indicator:

(b) a decrease in spacing below the reference spacing that was brought about by a driver of the motor vehicle; and

if at least one of (a) and (b) is recognized, reducing the automatic deceleration of the motor vehicle.

10. The method according to claim 9, wherein, if at least one of (a) and (b) is recognized, the automatic deceleration of the motor vehicle is eliminated.

11. The method according to claim 9, wherein the at least one indicator for recognizing (b) indicates an actuation of an accelerator pedal of the motor vehicle.

12. The method according to claim 1 or 9, wherein the at least one indicator includes at least one of a horn, a headlight flasher and a blinker of the motor vehicle.

13. The method according to claim 1 or 9, wherein the automatic deceleration is reduced only when the spacing does not fall below a predefined minimum spacing.

14. The method according to claim 9, further comprising the step of controlling the spacing between the motor vehicle and the preceding vehicle to the predefined reference spacing when the at least one indicator is no longer present, the controlling of the spacing between the motor vehicle and the preceding vehicle being performed by the spacing control system.

15. The method according to claim 14, wherein the predefined reference spacing is established with a constant reversion speed.

16. The method according to claim 14, wherein the predefined reference spacing is established within a predefined time.

17. The method according to claim 14, wherein the predefined reference spacing is established with a reversion speed that is a function of a current speed of the motor vehicle.

18. The method according to claim 14, further comprising the step of transitioning asymptotically to zero a relative speed between the motor vehicle and the preceding vehicle as the predefined reference spacing from the preceding vehicle is approached.

19. The method according to claim 14, wherein the predefined reference spacing is established by way of a temporally increasing deceleration.

20. The method according to claim 19, wherein the temporally increasing deceleration is a temporally linear ramp function.

21. An apparatus for controlling a speed and a spacing of a motor vehicle, comprising:

means for superimposing a spacing control system onto a speed control system if a relevant preceding vehicle is detected;

means for automatically decelerating the motor vehicle, using the spacing control system, if a spacing between the motor vehicle and preceding vehicle falls below a predefined reference spacing;

means for recognizing, as a function of at least one indicator;

(a) a traveling of the motor vehicle in an outermost left lane of lanes provided for one direction of travel; and

means for reducing the automatic deceleration of the motor vehicle if (a) is recognized.

22. The Apparatus according to claim 21, wherein the means for recognizing is adapted to further recognize, as a function of the at least one indicator:

(b) a decrease in spacing below the reference spacing that was brought about by a driver of the motor vehicle; and

wherein the means for reducing the automatic deceleration of the motor vehicle is adapted to reduce the automatic deceleration of the motor vehicle if at least one of (a) and (b) is recognized.

23. The apparatus according to claim 22, wherein, if at least one of (a) and (b) is recognized, the automatic deceleration of the motor vehicle is eliminated.