Speed regulator with distance regulating function

• US 7,373,237 B2
• Filed: 09/17/2002
• Issued: 05/13/2008
• Est. Priority Date: 10/05/2001
• Status: Expired due to Fees

• Current Assignee: Robert Bosch GmbH
• Original Assignee: Robert Bosch GmbH
• Inventors: Wagner, Klaus-Peter, Winner, Hermann
• Primary Examiner(s): To; Tuan C
• Application Number:
  US10/491,469
• Publication Number:
  US 20050010351A1
• Time in Patent Office: 2,065 Days
• Field of Search: 701/96, 701/300, 701/301, 340/425.5, 340/903, 340/435, 340/436, 180/170, 342/107, 342/109
• US Class Current: 701/96
• CPC Class Codes: B60K 31/0008 including means for detecting potential obstacles in vehicle path
• CPC Class Codes: B60T 7/22 initiated by contact of vehicle, e.g. bumper, with an external object, e.g. another vehicle , or by means of contactless obstacle detectors mounted on the vehicle
• CPC Class Codes: B60W 2050/143 Alarm means
• 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 2552/30 Road curve radius
• CPC Class Codes: B60W 2554/4041 Position
• CPC Class Codes: B60W 2554/4043 Lateral speed
• CPC Class Codes: B60W 2554/801 Lateral distance
• CPC Class Codes: B60W 2554/803 Relative lateral 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: G01S 13/931 of land vehicles
• CPC Class Codes: G01S 2013/9319 Controlling the accelerator
• CPC Class Codes: G01S 2013/932 using own vehicle data, e.g. ground speed, steering wheel direction
• CPC Class Codes: G01S 2013/9321 Velocity regulation, e.g. cruise control
• CPC Class Codes: G01S 2013/9322 using additional data, e.g. driver condition, road state or weather data
• CPC Class Codes: G01S 2013/9325 for inter-vehicle distance regulation, e.g. navigating in platoons

Abstract

A speed controller for motor vehicles is provided, the vehicle having a distance regulating function, a locating system for detecting locating data for objects that are in front of the vehicle, and an evaluation device for determining whether a located object needs to be treated as a relevant target object in the vehicle'"'"'s lane. The speed controller includes a monitoring module that is designed to detect, by reference to the locating data, a situation in which objects not detected by the locating system are within close range and, in this situation, issue a takeover prompt to the driver.

Claims

1. A speed controller for a motor vehicle, comprising:

a locating system for detecting locating data for an object that is in front of the vehicle;

an evaluation device for determining whether a detected object needs to be treated as a relevant target object in the vehicle'"'"'s traffic lane;

a monitoring module configured to detect, with the aid of the locating data, a situation in which a danger exists that an object not detected by the locating system is within a predetermined range, wherein, in this situation, the monitoring module triggers a takeover prompt to a driver of the vehicle; and

a control arrangement configured to act on at least one of a drive system and a braking system of the vehicle, when a stationary target object is detected, so that the vehicle is automatically decelerated to a standstill;

wherein the evaluation device is configured to calculate, with the aid of the locating data, at least two evaluation numbers that specify the probability that the target object is in the vehicle'"'"'s traffic lane, and wherein, in the event of one of an imminent loss and actual loss of the target object from the detection range of the locating system, the monitoring module determines, with the aid of the two evaluation numbers, whether the target object has one of left the vehicle'"'"'s traffic lane and is still in the vehicle'"'"'s traffic lane, and if the target object is still in the vehicle'"'"'s traffic lane, triggers the takeover prompt;

wherein the calculation of the at least two evaluation numbers includes;

a) calculating for each detected object, using the locating data with the aid of trigonometric functions, a lateral offset in a direction perpendicular to the direction of travel of the vehicle, wherein the locating data includes measured distance to the detected object and azimuth angle of the detected object relative to the direction of travel of the vehicle; and

b) comparing the lateral offset to a known, typical width of a lane, whereby the at least two evaluation numbers are derived, the at least two evaluation numbers including a first probability value corresponding to the detected object being in the lane of the vehicle and a second probability value corresponding to the detected object being outside of the lane of the vehicle.

2. The speed controller according to claim 1, wherein the monitoring module only triggers the takeover prompt if a distance of the target object from the vehicle is smaller than a specified threshold value.

3. The speed controller according to claim 2, wherein the evaluation device determines, with the aid of an output signal of at least one sensor, whether the vehicle is traveling along a curve, and if the vehicle is traveling along a curve, calculates a curve radius, and wherein the monitoring module also evaluates the curve radius in addition to the locating data in detecting a situation in which danger exists.

4. The speed controller according to claim 3, wherein the monitoring module varies the threshold value as a function of the curve radius.

5. The speed controller according to claim 3, wherein the monitoring module triggers the takeover prompt independent of whether a target object has been detected, if the curve radius is smaller than a predefined value.

6. The speed controller according to claim 1, wherein the locating system is a radar sensor.

7. The speed controller according to claim 1, wherein the takeover prompt is an acoustic signal generated by a speaker.