Method and device for regulating the speed of a motor vehicle

• US 8,751,134 B2
• Filed: 10/01/2007
• Issued: 06/10/2014
• Est. Priority Date: 11/15/2006
• Status: Active Grant

• Current Assignee: Robert Bosch GmbH
• Original Assignee: Robert Bosch GmbH
• Inventors: Dorenkamp, Stephan, Gruber, Thomas, Urban, Werner, Boecker, Juergen
• Primary Examiner(s): SUAREZ, ERNESTO A
• Application Number:
  US12/308,531
• Publication Number:
  US 20100299043A1
• Time in Patent Office: 2,444 Days
• Field of Search: 701/300, 701/301, 701/70, 701/93, 701/96
• US Class Current: 701/96
• CPC Class Codes: B60W 2510/20 Steering systems
• CPC Class Codes: B60W 2520/14 Yaw
• CPC Class Codes: B60W 2540/20 Direction indicator values
• CPC Class Codes: B60W 2554/4041 Position
• CPC Class Codes: B60W 30/16 Control of distance between vehicles, e.g. keeping a distance to preceding vehicle

Abstract

For regulating the speed of a motor vehicle, a control apparatus is equipped with an object detection system, and the reference speed is determined as a function of at least one preceding vehicle in the evaluation region of the object detection system, such that upon recognition of an imminent lane change by the regulated vehicle, vehicles in the adjacent destination lane are additionally taken into consideration for calculation of the reference speed by expanding the evaluation region in the direction of the destination lane, and consideration is given only to vehicles in the destination lane whose distance from the regulated vehicle is less than a predetermined distance value.

Claims

1. A method for regulating the speed of a controlled motor vehicle equipped with an object detection system, a computer processor, and a lane change recognition arrangement via which to determine whether a lane change by the controlled motor vehicle is imminent, the method comprising:

calculating, by the computer processor, a target speed for the controlled motor vehicle as a function of at least one preceding target vehicle in an evaluation region of the object detection system;

wherein;

when it is determined by the lane change recognition arrangement that the lane change is imminent, the evaluation region includes both at least a portion of a current lane of the controlled motor vehicle and at least a portion of an adjacent destination lane that is adjacent to the current lane in which the controlled motor vehicle is presently traveling, consideration, with respect to the adjacent destination lane, being given only to vehicles in a region of the adjacent destination lane within a threshold distance from the controlled motor vehicle defined by a boundary line drawn between a first point that is on a first boundary of the adjacent destination lane and a second point that is on a second boundary of the adjacent destination lane, the second point being farther forward of the controlled motor vehicle than the first point, the first boundary of the adjacent destination lane being farther from the current lane than the second boundary; and

when a lane change is not determined by the lane change recognition arrangement to be imminent, the evaluation region is limited to the at least the portion of the current lane of the controlled motor vehicle and not any of adjacent lanes of the controlled motor vehicle.

2. The method as recited in claim 1, wherein the evaluation region is substantially the lane in which the controlled motor vehicle is presently traveling.

3. The method as recited in claim 1, wherein the threshold distance region is predefined.

4. The method as recited in claim 1, wherein the threshold distance is variable.

5. The method as recited in claim 4, wherein the threshold distance region is dependent on the speed of the controlled motor vehicle.

6. The method as recited in claim 1, wherein the threshold distance is dependent on a relative speed of a detected vehicle in the adjacent destination lane with respect to the controlled motor vehicle.

7. The method as recited in claim 1, further comprising:

responsive to a determination that the lane change is imminent, reducing an initial evaluation region in a lateral region opposite the adjacent destination lane.

8. The method as recited in claim 7, wherein the reduction of the initial evaluation region in the lateral region opposite the adjacent destination lane occurs only within a zone extending along a direction of travel of the controlled motor vehicle, and wherein the inclusion of the at least a portion of an adjacent destination lane in the evaluation region occurs within the zone extending along the direction of travel.

9. The method as recited in claim 1, wherein the determination of whether a lane change is imminent includes at least one of (a) evaluation of a directional indicator signal, (b) evaluation of a present yaw rate, and (c) evaluation of a steering wheel angle signal.

10. The method as recited in claim 7, wherein at least one of (a) the inclusion of the at least a portion of an adjacent destination lane in the evaluation region and (b) the reduction of the initial evaluation region in the lateral region opposite the adjacent destination lane is canceled after a predetermined time span has elapsed.

11. The method as recited in claim 7, wherein at least one of (a) the inclusion of the at least a portion of an adjacent destination lane in the evaluation region and (b) the reduction of the initial evaluation region in the lateral region opposite the adjacent destination lane is canceled after a determination of the end of the lane change operation, wherein the determination of the end of the lane change operation includes at least one of (a) evaluation of a directional indicator signal, (b) evaluation of a present yaw rate, and (c) evaluation of a steering wheel angle signal.

12. An apparatus for regulating the speed of a controlled motor vehicle, comprising:

an object detection system;

a computer processor configured to calculate a target speed for the controlled motor vehicle as a function of at least one preceding target vehicle in an evaluation region of the object detection system; and

a lane change recognition unit configured to determine whether a lane change by the controlled motor vehicle is imminent;

wherein;

when it is determined by the lane change recognition unit that the lane change is imminent, the evaluation region includes both at least a portion of a current lane of the controlled motor vehicle and at least a portion of an adjacent destination lane that is adjacent to the current lane in which the controlled motor vehicle is presently traveling, consideration, with respect to the adjacent destination lane, being given only to vehicles in a region of the adjacent destination lane within a threshold distance from the controlled motor vehicle defined by a boundary line drawn between a first point that is on a first boundary of the adjacent destination lane and a second point that is on a second boundary of the adjacent destination lane, the second point being farther forward of the controlled motor vehicle than the first point, the first boundary of the adjacent destination lane being farther from the current lane than the second boundary; and

when a lane change is not determined by the lane change recognition unit to be imminent, the evaluation region is limited to the at least the portion of the current lane of the controlled motor vehicle and not any of adjacent lanes of the controlled motor vehicle.

13. The apparatus as recited in claim 12, wherein the computer processor is configured to, responsive to a determination that the lane change is imminent, reduce an initial evaluation region in a lateral region opposite the adjacent destination lane.

14. A method for regulating the speed of a controlled motor vehicle equipped with an object detection system, a computer processor, and a lane change recognition arrangement via which to determine whether a lane change by the controlled motor vehicle is imminent, the method comprising:

calculating, by the computer processor, a target speed for the controlled motor vehicle as a function of at least one preceding target vehicle in an evaluation region of the object detection system;

wherein;

when it is determined by the lane change recognition arrangement that the lane change is imminent, the evaluation region includes both at least a portion of a current lane of the controlled motor vehicle and at least a portion of an adjacent destination lane that is adjacent to the current lane in which the controlled motor vehicle is presently traveling, consideration, with respect to the adjacent destination lane, being given only to vehicles in a region of the adjacent destination lane within less than a threshold distance from the controlled motor vehicle defined by at least two lines that are each perpendicular to the current lane, are at different respective predefined distances forward of the controlled motor vehicle, and that define components of the threshold distance, the components being at different lateral distances from the controlled motor vehicle; and

when a lane change is not determined by the lane change recognition arrangement to be imminent, the evaluation region is limited to the at least the portion of the current lane of the controlled motor vehicle and not any of adjacent lanes of the controlled motor vehicle.

15. The method as recited in claim 14, further comprising:

responsive to a determination that the lane change is imminent, reducing an initial evaluation region in a lateral region opposite the adjacent destination lane.