Method for speed regulation of a motor vehicle in a complex traffic situation
First Claim
1. A method of controlling the speed of a subject vehicle in a complex traffic situation,wherein the subject vehicle is equipped with a sensor system for recording surroundings,wherein for said controlling, at least one object which is at least partially hidden and/or at least one object on an adjacent traffic lane is observed,wherein an intention to change lanes of the subject vehicle is detected,wherein a camera sensor is used to monitor an activity of the object, and an intention of the object to change lanes is inferred from the monitored activity,wherein a lower threshold value for a nominal acceleration of the speed of the subject vehicle is assigned to the object,wherein the threshold value depends on:
- whether the object is hidden, andwhether the object is on the subject vehicle'"'"'s own traffic lane or on the adjacent traffic lane, andwhether there is a detectable intention of the subject vehicle or of the object to change lanes, andwherein the speed of the subject vehicle is controlled according to the lower threshold value of the nominal acceleration.
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Accused Products
Abstract
A method for regulating the velocity of a motor vehicle in a complex traffic situation is presented. The motor vehicle is equipped with a sensor system for recording the environment. In order to regulate the velocity, an at least partially covered object and/or at least one object on an adjacent lane is viewed.
20 Citations
25 Claims
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1. A method of controlling the speed of a subject vehicle in a complex traffic situation,
wherein the subject vehicle is equipped with a sensor system for recording surroundings, wherein for said controlling, at least one object which is at least partially hidden and/or at least one object on an adjacent traffic lane is observed, wherein an intention to change lanes of the subject vehicle is detected, wherein a camera sensor is used to monitor an activity of the object, and an intention of the object to change lanes is inferred from the monitored activity, wherein a lower threshold value for a nominal acceleration of the speed of the subject vehicle is assigned to the object, wherein the threshold value depends on: -
whether the object is hidden, and whether the object is on the subject vehicle'"'"'s own traffic lane or on the adjacent traffic lane, and whether there is a detectable intention of the subject vehicle or of the object to change lanes, and wherein the speed of the subject vehicle is controlled according to the lower threshold value of the nominal acceleration. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 25)
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10. A method of controlling a driving speed of a vehicle in a complex traffic situation, comprising:
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a) using a sensor system, recording a surrounding environment of the vehicle including objects on a subject traffic lane on which the vehicle is driving and/or on an adjacent traffic lane that is adjacent to the subject traffic lane; b) assigning respective nominal accelerations to respective ones of the objects; c) determining and assigning to a respective one of the objects a respective lower threshold value for the respective nominal acceleration assigned to the respective one of the objects, wherein the lower threshold value is dependent on at least one of; whether the respective object is hidden from a viewpoint of the vehicle, whether the respective object is on the subject traffic lane or on the adjacent traffic lane, whether there is a detected intention of the vehicle or of the object to change lanes; d) selecting a selected object as most relevant among the objects; and e) controlling the driving speed of the vehicle in response to and dependent on the respective nominal acceleration assigned to the selected object. - View Dependent Claims (11, 12, 13, 14, 15, 16, 17, 18)
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19. A method of controlling a driving speed of a vehicle in a complex traffic situation, comprising:
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a) using a sensor system, recording a surrounding environment of the vehicle including objects on a subject traffic lane on which the vehicle is driving and/or on an adjacent traffic lane that is adjacent to the subject traffic lane; b) assigning respective nominal accelerations to respective ones of the objects; c) detecting whether there is a detected intention of the vehicle or of the respective objects to change lanes, wherein the detecting comprises detecting whether a turn signal blinker of the vehicle or of the respective object is activated or determining a transverse velocity of the vehicle or of the respective object, and dependent thereon concluding whether there is the detected intention of the vehicle or of the respective object to change lanes; d) adjusting values of the nominal accelerations in response to and dependent on whether there is a detected intention of the vehicle or of the respective objects to change lanes; e) selecting a selected object as most relevant among the objects based on the values of the nominal accelerations assigned to the objects; and f) controlling the driving speed of the vehicle in response to and dependent on the value of the respective nominal acceleration assigned to the selected object. - View Dependent Claims (20, 21, 22, 23, 24)
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Specification