Method for regulating the distance between a vehicle and another vehicle traveling ahead and a distance-regulating system

• US 6,805,216 B2
• Filed: 12/20/2002
• Issued: 10/19/2004
• Est. Priority Date: 06/20/2000
• Status: Expired due to Fees

• Current Assignee: Daimler AG (Mercedes-Benz Group AG)
• Original Assignee: Daimler Chrysler Company LLC (Stellantis NV)
• Inventors: Noecker, Gerhard
• Primary Examiner(s): Johnson, Brian L.
• Assistant Examiner(s): SWENSON, BRIAN L
• Application Number:
  US10/324,086
• Publication Number:
  US 20030173127A1
• Time in Patent Office: 669 Days
• Field of Search: 180/170, 180/171, 701/93, 701/96, 701/116, 701/117, 701/119
• US Class Current: 180/170
• CPC Class Codes: B60K 31/0008 including means for detecting potential obstacles in vehicle path
• CPC Class Codes: B60W 2554/00 Input parameters relating to objects
• CPC Class Codes: B60W 2554/4041 Position
• CPC Class Codes: B60W 2554/802 Longitudinal distance
• CPC Class Codes: B60W 2556/50 of positioning data, e.g. GPS [Global Positioning System] data
• CPC Class Codes: B60W 30/16 Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
• CPC Class Codes: G01S 13/726 Multiple target tracking
• CPC Class Codes: G01S 2013/9321 Velocity regulation, e.g. cruise control
• 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

In a method for regulating the distance between a vehicle and another vehicle traveling ahead, vehicle state variables, vehicle characteristic variables are determined together with the distance from and velocity of at least one other vehicle in the vicinity. The distance from the other vehicle and the vehicle'"'"'s own velocity are set to permitted limiting values. To increase driving safety, the vehicle'"'"'s own velocity or the setpoint distance from the other vehicle traveling directly ahead are determined as a function of the vehicle velocity of at least one other vehicle traveling to the side, or of the distance between a plurality of other vehicles traveling to the side.

Claims

1. A method for regulating the distance between a controlled vehicle and a first vehicle traveling directly ahead of the controlled vehicle in proximity thereto, said method comprising:

sensing vehicle state and characteristic variables of the controlled vehicle, as well as its distance from, and the velocity of, at least the first vehicle and

controlling a velocity of the controlled vehicle and its distance from the first vehicle to permitted setpoint values as a function of sensed values;

wherein, at least one of the velocity of the controlled vehicle and the setpoint distance value from the first vehicle determined as a function of a distance between at least a second vehicle and a third vehicle which are traveling to the side of the controlled vehicle.

2. The method according to claim 1, wherein:

position of the controlled vehicle is determined in absolute coordinates; and

relative position of other vehicles are measured with respect to the vehicle.

3. The method according to claim 1, wherein:

distance from the vehicle traveling directly ahead is determined; and

if the actual distance is greater than a minimum distance to be maintained between the controlled vehicle and the vehicle traveling directly ahead, the distance is shortened automatically to minimum distance.

4. The method according to claim 1, wherein if the distance between the second and third vehicles is greater than a current setpoint distance between the controlled vehicle and the first, the setpoint distance is increased to the distance between the second and third vehicles.

5. The method according to claim 4, wherein the increase of the setpoint distance is limited to a predefinable maximum value.

6. The method according to claim 1, wherein in the case of a lane change, the velocity of the controlled vehicle is limited to a predefined value.

7. The method according to claim 6, wherein in the case of a lane change, the velocity of the controlled vehicle is limited to a velocity value at which the controlled vehicle is driven directly before the lane change.

8. The method according to claim 1, wherein if the distance between the second and third vehicles is smaller than a currently set setpoint distance between the controlled vehicle and the first vehicle the setpoint distance is reduced to the distance between the second and third vehicles.

9. The method according to claim 8, wherein the setpoint distance is reduced only to a predefinable minimum value.

10. The method according to claim 8, wherein the setpoint distance is changed only if relative velocity between the controlled vehicle and at least one other vehicle in proximity to the controlled vehicle is below a predefinable limiting value.

11. The method according to claim 1, wherein the velocity of the controlled a vehicle is limited to the velocity of one of said vehicles traveling to its side.

12. The method according to claim 11, wherein the velocity of one of said vehicles which are traveling to the side of the controlled vehicle and ahead of it, is determined and is predefined as a maximum velocity (v_max) for the vehicle'"'"'s own velocity.

13. The method according to claim 11, wherein:

a lane change of the controlled vehicle is detected;

at a time when the lane change occurs, the velocity of the vehicle traveling ahead in the same lane is determined and is stored as a maximum velocity (v_max); and

after the lane change has been completed, the controlled vehicle'"'"'s velocity is limited to the maximum velocity (v_max).

14. The method according to claim 13, wherein the controlled vehicle'"'"'s velocity is limited only when there is a lane change in a single, specified direction.

15. The method according to claim 13, wherein limitation of the controlled vehicle'"'"'s velocity to the maximum velocity (v_max) is canceled after expiration of a minimum time period which is predefined or is to be determined.

16. A distance-regulating system for a controlled vehicle, comprising:

a measuring device for sensing vehicle state and characteristic variables of the controlled vehicle, and for sensing position and velocity of at least one other vehicle in proximity to the controlled vehicle; and

a regulating and control unit for generating and providing to actuator devices in the vehicle, actuating signals for setting one of a permitted distance from a first vehicle traveling directly ahead of the controlled vehicle and a permitted velocity of the controlled vehicle, as a function of the sensed vehicle state variables and distance from and velocity of the first vehicle, in accordance with a stored regulating strategy;

wherein one of the controlled vehicle'"'"'s velocity and the setpoint distance from the first vehicle is determined as a function of distance between at least second and third vehicles traveling in a lane adjacent the controlled vehicle.

17. The distance-regulating system according to claim 16, wherein the measuring device comprises a position-determining device for determining an absolute position of the vehicle.

18. The distance-regulating system according to claim 17, wherein the measuring device comprises one of a radar measuring device, an infrared measuring device and a video camera with an image-processing system for measuring at least one of relative velocity and relative distance with respect to other vehicles.