Speed assistant for a motor vehicle

• US 9,561,796 B2
• Filed: 08/27/2014
• Issued: 02/07/2017
• Est. Priority Date: 08/27/2013
• Status: Active Grant

• Current Assignee: Robert Bosch GmbH
• Original Assignee: Robert Bosch GmbH
• Inventors: Mielenz, Holger
• Primary Examiner(s): Tran, Khoi
• Assistant Examiner(s): PECHE, JORGE O
• Application Number:
  US14/469,836
• Publication Number:
  US 20150066329A1
• Time in Patent Office: 895 Days
• Field of Search: 701/93, 701/96, 701/301
• US Class Current: 1/1
• CPC Class Codes: B60W 2420/403 Image sensing, e.g. optical camera
• CPC Class Codes: B60W 2420/408 Radar; Laser, e.g. lidar
• CPC Class Codes: B60W 2554/00 Input parameters relating to objects
• CPC Class Codes: B60W 2554/20 Static objects
• CPC Class Codes: B60W 2554/802 Longitudinal distance
• CPC Class Codes: B60W 30/143 Speed control B60W30/16 takes precedence
• 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: B60W 30/18154 Approaching an intersection
• CPC Class Codes: B60W 50/14 Means for informing the driver, warning the driver or prompting a driver intervention
• CPC Class Codes: G01S 13/931 of land vehicles
• 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 2013/93271 in the front of the vehicles
• CPC Class Codes: G01S 2013/93276 in the windshield area
• CPC Class Codes: G08G 1/00 Traffic control systems for road vehicles arrangement of road signs or traffic signals E01F9/00 ; automatic vehicle control B62D
• CPC Class Codes: G08G 1/165 for passive traffic, e.g. including static obstacles, trees
• 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

A method for controlling a motor vehicle includes steps of controlling a longitudinal speed of the motor vehicle to a predetermined value and scanning an upcoming driving route with the aid of a sensor on board the motor vehicle. One end of a section of the driving route which is visible with the aid of the sensor is determined. Assuming that there is an obstacle on the driving route beyond the visible section, it is determined that a deceleration which would be required to maintain a predetermined minimum distance from the assumed obstacle exceeds a predetermined threshold value, and a signal is output to a driver of the motor vehicle.

Claims

1. A method for controlling a motor vehicle, comprising:

controlling a longitudinal speed of the motor vehicle to a predetermined value;

scanning an upcoming driving route with a sensor on board the motor vehicle;

determining one end of a section of the driving route which is visible with the sensor;

determining, via the sensor, a shadowed section of the driving route;

determining a distance up to the shadowed section;

determining whether the distance is smaller than a predetermined threshold value, wherein the threshold value is a function of a speed of the vehicle;

presuming a presence of an obstacle on the driving route beyond a visible section if the distance is not smaller than the threshold value, wherein the presence of the obstacle is presumed even though it cannot be viewed;

determining another distance up to the obstacle;

determining, based on the another distance, a deceleration value for maintaining a predetermined minimum distance between the motor vehicle and the obstacle;

checking whether the deceleration value exceeds a predetermined maximum deceleration; and

outputting a signal to a driver of the motor vehicle to inform the driver to take longitudinal control of the motor vehicle.

2. The method as recited in claim 1, wherein the obstacle is presumed to be a preceding vehicle on the driving route having a predetermined speed.

3. The method as recited in claim 1, wherein it is presumed that the obstacle is stationary on the driving route.

4. The method as recited in claim 1, wherein it is determined that an object is situated in a scanning range of the sensor which shadows a section of the driving route in the scanning range, and wherein an end of the visible section corresponds to a beginning of the shadowed section.

5. The method as recited in claim 4, wherein the driving route includes a curve and the object is situated on an inner side of the curve next to the driving route.

6. The method as recited in claim 1, wherein the control of the longitudinal speed is ended if a distance from the obstacle falls below a predetermined distance.

7. The method as recited in claim 1, wherein the signal is output before an actual obstacle is detected on the driving route.

8. The method as recited in claim 1, wherein the control of the longitudinal speed is suspended as long as the deceleration required for maintaining a minimum distance from the obstacle beyond the visible section exceeds the predetermined threshold value.

9. The method as recited in claim 1, wherein the longitudinal speed of the motor vehicle is reduced until the deceleration required for maintaining a predetermined minimum distance from the obstacle maintains the predetermined threshold value.

10. The method as recited in claim 1, wherein multiple alternative upcoming driving routes are determined and the determination of the signal is carried out for all driving routes.

11. A computer program product having a program code that one of runs on a processing device and is stored in a computer-readable data carrier, for carrying out a method, comprising:

controlling a longitudinal speed of the motor vehicle to a predetermined value;

scanning an upcoming driving route with a sensor on board the motor vehicle;

determining one end of a section of the driving route which is visible with the sensor;

determining, via the sensor, a shadowed section of the driving route;

determining a distance up to the shadowed section;

determining whether the distance is smaller than a predetermined threshold value, wherein the threshold value is a function of a speed of the vehicle;

presuming a presence of an obstacle on the driving route beyond a visible section if the distance is not smaller than the threshold value, wherein the presence of the obstacle is presumed even though it cannot be viewed;

determining another distance up to the obstacle;

determining, based on the another distance, a deceleration value for maintaining a predetermined minimum distance between the motor vehicle and the obstacle;

checking whether the deceleration value exceeds a predetermined maximum deceleration; and

outputting a signal to a driver of the motor vehicle to inform the driver to take longitudinal control of the motor vehicle.

12. A device for controlling a motor vehicle, comprising:

a speed controller for controlling a longitudinal speed of the motor vehicle to a predetermined value;

a sensor on board the motor vehicle for scanning an upcoming driving route, and

a signaling device for outputting a signal to a driver,

a determining arrangement for performing the following;

determining one end of a section of the driving route which is visible with the sensor;

determining, via the sensor, a shadowed section of the driving route;

determining a distance up to the shadowed section;

determining whether the distance is smaller than a predetermined threshold value, wherein the threshold value is a function of a speed of the vehicle;

presuming a presence of an obstacle on the driving route beyond a visible section if the distance is not smaller than the threshold value, wherein the presence of the obstacle is presumed even though it cannot be viewed;

determining another distance up to the obstacle;

determining, based on the another distance, a deceleration value for maintaining a predetermined minimum distance between the motor vehicle and the obstacle;

checking whether the deceleration value exceeds a predetermined maximum deceleration; and

an output arrangement to output a signal to the driver of the motor vehicle with the signaling device to inform the driver to take longitudinal control of the motor vehicle.