Adaptive cruise control with on-ramp detection

• US 9,738,280 B2
• Filed: 10/03/2013
• Issued: 08/22/2017
• Est. Priority Date: 10/03/2013
• Status: Active Grant

• Current Assignee: Robert Bosch GmbH, Robert Bosch LLC (Robert Bosch GmbH)
• Original Assignee: Robert Bosch GmbH
• Inventors: Rayes, Freddy
• Primary Examiner(s): Jos, Basil T
• Application Number:
  US14/045,319
• Publication Number:
  US 20150100216A1
• Time in Patent Office: 1,419 Days
• Field of Search: 701 96
• CPC Class Codes: B60K 2310/244 changing target speed or setting a new target speed, e.g. changing algorithms
• CPC Class Codes: B60W 30/143 Speed control B60W30/16 takes precedence
• CPC Class Codes: G01S 13/867 Combination of radar systems with cameras
• 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 2013/93271 in the front of the vehicles

Abstract

Methods and systems for controlling the speed of a host vehicle during an on-ramp merging situation. One method includes identifying a position of an upcoming on-ramp merging with a lane where the host vehicle is currently traveling based on lane markings identified in an image captured by a forward-facing image sensor mounted on the host vehicle, detecting a merging vehicle on the upcoming on-ramp, and determining a speed of the merging vehicle. The method also includes automatically, at a control unit, adjusting a speed of the host vehicle based on the speed of the merging vehicle.

Claims

1. A method of controlling a speed of a host vehicle, the method comprising:

detecting an upcoming merging lane based on a point where two lane marking lines converge followed by a missing lane marking line identified in an image of a road surface captured by a forward-facing image sensor mounted on the host vehicle;

receiving a merge location, the merge location being the location where the merging lane merges with a lane where the host vehicle is currently traveling based on the point where the two lane marking lines converge;

detecting a merging vehicle on the upcoming merging lane;

determining a speed of the merging vehicle; and

automatically, at a control unit, adjusting a speed of the host vehicle based on the speed of the merging vehicle.

2. The method of claim 1, further comprising receiving radar data and wherein detecting the merging vehicle includes analyzing the radar data to detect the merging vehicle.

3. The method of claim 1, further comprising determining a position of the merging vehicle and wherein the act of automatically adjusting the speed of the host vehicle includes automatically adjusting the speed of the host vehicle based on the speed of the merging vehicle and the position of the merging vehicle.

4. The method of claim 3, wherein automatically adjusting the speed of the host vehicle based on the speed of the merging vehicle and the position of the merging vehicle includes

determining an estimated time when the merging vehicle will reach the merge location based the speed of the merging vehicle and the position of the merging vehicle;

determining an estimated position of the host vehicle at the estimated time based on a current speed and a current position of the host vehicle; and

automatically adjusting a speed of the host vehicle when the estimated position of the host vehicle at the estimated time is within a threshold distance from the location.

5. The method of claim 4, wherein automatically adjusting the speed of the host vehicle includes increasing the speed of the host vehicle when the estimated position of the host vehicle at the estimated time is beyond the merge location.

6. The method of claim 4, wherein automatically adjusting the speed of the host vehicle includes decreasing the speed of the host vehicle when the estimated position of the host vehicle at the estimated time is before the merge location.

7. The method of claim 1, wherein automatically adjusting the speed of the host vehicle includes increasing the speed of the host vehicle when the host vehicle is closer to the merge location than the merging vehicle.

8. The method of claim 1, wherein automatically adjusting the speed of the host vehicle includes increasing the speed of the host vehicle when (i) the host vehicle is closer to the merge location than the merging vehicle and (ii) a distance between the host vehicle and the merging vehicle is less than a threshold distance.

9. The method of claim 1, wherein automatically adjusting the speed of the host vehicle includes increasing the speed of the host vehicle when

(i) the host vehicle is closer to the merge location than the merging vehicle,

(ii) a distance between the host vehicle and the merging vehicle is less than a threshold distance, and

(iii) a current speed of the host vehicle is less than a maximum speed.

10. The method of claim 9, wherein the maximum speed is a sum of a target speed of the host vehicle and a speed difference threshold.

11. The method of claim 1, wherein automatically adjusting the speed of the host vehicle includes decreasing the speed of the host vehicle when a first distance between the host vehicle and the merge location is greater than a second distance between the merging vehicle and the merge location.

12. The method of claim 1, wherein automatically adjusting the speed of the host vehicle includes decreasing the speed of the host vehicle when

(i) a first distance between the host vehicle and the merge is greater than a second distance between the merging vehicle and the merge location, and

(ii) a second distance between the host vehicle and the merging vehicle is less than a threshold distance.

13. The method of claim 1, wherein the automatically adjusting the speed of the host vehicle includes decreasing the speed of the host vehicle when

(i) a first distance between the host vehicle and the merge location is greater than a second distance between the merging vehicle and the merge location,

(ii) a third distance between the host vehicle and the merging vehicle is less than a threshold distance, and

(3) a current speed of the host vehicle is greater than a minimum speed.

14. The method of claim 13, wherein the minimum speed is a difference between a target speed of the host vehicle and a speed difference threshold.

15. A system for controlling a speed of a host vehicle, the system comprising:

a control unit;

at least one forward-facing image device mounted on the host vehicle and configured to capture an image of a road surface, identify lane marking lines in the image indicating an upcoming merging lane based on a point where two lane marking lines converge followed by a missing lane marking line, and identify a merge location where the upcoming merging lane merges with a lane where the host vehicle is currently traveling, based on the point where the two lane marking lines converge, and transmit a first signal to the control unit based on the identified upcoming merging lane and the merge location; and

at least one distance-sensing device mounted on the host vehicle and configured to detect a merging vehicle on the upcoming merging lane, determine a speed of the merging vehicle, determine a position of the merging vehicle, and transmit a second signal to the control unit based the speed of the merging vehicle and the position of the merging vehicle,

wherein the control unit is configured to automatically adjust a speed of the host vehicle based on the first and second signal.

16. The system of claim 15, wherein the control unit is configured to automatically adjust the speed of the host vehicle by

determining an estimated time when the merging vehicle will reach the merge location based the speed and the position of the merging vehicle;

determining an estimated position of the host vehicle at the estimated time based on a current speed and a current position of the host vehicle; and

automatically adjusting a speed of the host vehicle when the estimated position of the host vehicle at the estimated time is within a threshold distance from the merge location.

17. The system of claim 16, wherein the control unit is configured to automatically adjust the speed of the host vehicle by increasing the speed of the host vehicle when the estimated position of the host vehicle at the estimated time is beyond the merge location.

18. The system of claim 16, wherein the control unit is configured to automatically adjust the speed of the host vehicle by decreasing the speed of the host vehicle when the estimated position of the host vehicle at the estimated time is before the merge location.

19. The system of claim 15, wherein the control unit is configured to automatically adjust the speed of the host vehicle based on a position of a vehicle detected ahead of the host vehicle in the lane where the host vehicle is currently traveling.

20. A method of controlling a speed of a vehicle, the method comprising:

when a first vehicle is traveling in a merging lane, identifying a merge location of a lane of travel into which the merging lane merges based on a point where two lane marking lines converge followed by a missing lane marking line identified in an image of a road surface captured by a forward-facing image sensor mounted on the first vehicle;

detecting a second vehicle traveling in the lane of travel;

determining a speed of the second vehicle traveling in the upcoming lane of travel; and

automatically, at a control unit, adjusting a speed of the first vehicle based on the speed of the second vehicle traveling in the upcoming lane of travel.