Intelligent gap setting for adaptive cruise control

• US 9,969,393 B2
• Filed: 03/02/2016
• Issued: 05/15/2018
• Est. Priority Date: 04/14/2015
• Status: Active Grant

• Current Assignee: Honda Research Institute Europe GmbH (Honda Motor Company)
• Original Assignee: Honda Research Institute Europe GmbH (Honda Motor Company)
• Inventors: Rebhan, Sven, Kleinehagenbrock, Marcus
• Primary Examiner(s): CHEUNG, CALVIN K
• Application Number:
  US15/058,564
• Publication Number:
  US 20160304092A1
• Time in Patent Office: 804 Days
• CPC Class Codes: B60W 2540/215 Selection or confirmation of options
• CPC Class Codes: B60W 2552/00 Input parameters relating to infrastructure
• CPC Class Codes: B60W 2552/15 Road slope, i.e. the inclination of a road segment in the longitudinal direction
• CPC Class Codes: B60W 2552/30 Road curve radius
• CPC Class Codes: B60W 2552/40 Coefficient of friction
• CPC Class Codes: B60W 2554/00 Input parameters relating to objects
• CPC Class Codes: B60W 2554/4042 Longitudinal speed
• CPC Class Codes: B60W 2554/406 Traffic density
• CPC Class Codes: B60W 2554/801 Lateral distance
• CPC Class Codes: B60W 2554/802 Longitudinal distance
• CPC Class Codes: B60W 2554/804 Relative longitudinal speed
• CPC Class Codes: B60W 2555/00 Input parameters relating to exterior conditions, not covered by groups B60W2552/00, B60W2554/00
• CPC Class Codes: B60W 2555/20 Ambient conditions, e.g. wind or rain
• CPC Class Codes: B60W 2556/10 Historical data
• CPC Class Codes: B60W 2556/65 Data transmitted between vehicles
• CPC Class Codes: B60W 2754/30 Longitudinal distance
• CPC Class Codes: B60W 30/16 Control of distance between vehicles, e.g. keeping a distance to preceding vehicle

Abstract

The present invention relates to a method for assisting a driver in driving a vehicle, in which sensor data are produced by at least one sensor physically sensing the environment of a host vehicle or by obtaining data conveying information about the environment of a host vehicle, an object in a path of the host vehicle is detected based on the sensor data, a distance between the host vehicle and the detected object is controlled based on a preset gap (t_GAP), environmental conditions of the host vehicle are estimated based on the sensor data, gap adaption indicators associated to the estimated environmental conditions are determined, wherein each of the gap adaption indicators indicates an extension or a reduction of the preset gap (t_GAP) and the preset gap (t_GAP) is adjusted based on the gap adaption indicators.

Claims

1. A method for assisting a driver in driving a vehicle, comprising the steps of:

producing sensor data by at least one sensor physically sensing the environment of a host vehicle or by obtaining data conveying information about the environment of a host vehicle;

detecting an object in a path of the host vehicle based on the sensor data;

controlling a distance between the host vehicle and the detected object based on a preset gap (t_GAP);

estimating environmental conditions of the host vehicle based on the sensor data;

determining gap adaption indicators associated to the estimated environmental conditions, wherein each of the gap adaption indicators indicates an extension or a reduction of the preset gap (t_GAP); and

adjusting the preset gap (t_GAP) based on the gap adaption indicators;

wherein

in the estimating step, an ego-distance between the ego-vehicle and the detected object and distances between other vehicles are estimated;

in the determining step, at least one of the gap adaption indicators indicates whether or not the ego-distance fits the associated environmental condition; and

a gap adaption indicator is determined based on the difference between the ego-vehicle time gap and an average of the time gaps between the other vehicles, minimum of the time gaps between the other vehicles and/or maximum of the time gaps between the other vehicles.

2. The method according to claim 1, wherein

in the determining step, a plurality of the gap adaption indicators based on a plurality of the estimated environmental conditions is determined;

and

in the adjusting step, the preset gap (t_GAP) is adjusted based on an overall gap adaption indicator determined from the plurality of the gap adaption indicators.

3. A method for assisting a driver in driving a vehicle, comprising the steps of:

producing sensor data by at least one sensor physically sensing the environment of a host vehicle and/or by obtaining data conveying information about the environment of a host vehicle;

detecting an object in a path of the host vehicle based on the sensor data;

controlling a distance between the host vehicle and the detected object based on a preset gap (t_GAP);

estimating environmental conditions of the host vehicle based on the sensor data;

determining gap adaption indicators associated to the estimated environmental conditions, wherein each of the gap adaption indicators indicates an extension or a reduction of the preset gap (t_GAP); and

adjusting the preset gap (t_GAP) based on the gap adaption indicators;

wherein

in the estimating step, at least one of the environmental conditions of oscillation in velocity of the detected object, traffic density, gap size between other vehicles, distance to successor of ego-vehicle, a curve, road surface state, construction site and time of day is estimated;

each of an increased oscillation in velocity of the detected object, an increased traffic density, a gap size between other vehicles larger that the preset gap (t_GAP), a distance to the successor of the ego-vehicle larger that the preset gap (t_GAP), beginning of a curve, deterioration in the road surface state, beginning of a construction site and beginning of night-time period is associated to a respective gap adaption indicator indicating an extension of the preset gap (t_GAP); and

each of a decreased oscillation in velocity of the detected object, a decreased traffic density, the gap size between other vehicles smaller that the preset gap (t_GAP), a distance to the successor of the ego-vehicle smaller that the preset gap (t_GAP), an end of a curve, an improved road surface state, an end of construction site and end of night-time period is associated to a respective gap adaption indicator indicating a reduction of the preset gap (t_GAP).

4. A method for assisting a driver in driving a vehicle, comprising the steps of:

producing sensor data by at least one sensor physically sensing the environment of a host vehicle and/or by obtaining data conveying information about the environment of a host vehicle;

detecting an object in a path of the host vehicle based on the sensor data;

controlling a distance between the host vehicle and the detected object based on a preset gap (t_GAP);

estimating environmental conditions of the host vehicle based on the sensor data;

determining gap adaption indicators associated to the estimated environmental conditions, wherein each of the gap adaption indicators indicates an extension or a reduction of the preset gap (t_GAP); and

adjusting the preset gap (t_GAP) based on the gap adaption indicators;

wherein

the preset gap (t_GAP) corresponds to one of gap settings selectable by a user; and

in the adjusting step, current gap setting nϵ

[n_min, . . . ;

n_max] is switched to gap setting n−

1, if n>

n_min and the gap adaption indicators indicate to reduce the preset gap (t_GAP); and

current gap setting nϵ

[n_min, . . . ;

n_max] is switched to gap setting n+1, if n<

n_max and the gap adaption indicators indicate to enlarge the preset gap (t_GAP).

5. A method for assisting a driver in driving a vehicle, comprising the steps of:

producing sensor data by at least one sensor physically sensing the environment of a host vehicle and/or by obtaining data conveying information about the environment of a host vehicle;

detecting an object in a path of the host vehicle based on the sensor data;

controlling a distance between the host vehicle and the detected object based on a preset gap (t_GAP);

estimating environmental conditions of the host vehicle based on the sensor data;

determining gap adaption indicators associated to the estimated environmental conditions, wherein each of the gap adaption indicators indicates an extension or a reduction of the preset gap (t_GAP); and

adjusting the preset gap (t_GAP) based on the gap adaption indicators;

wherein

the preset gap (t_GAP) corresponds to one of gap settings n_min to n_max selectable by a user; and

in the adjusting step, gap size associated to each gap setting n>

n_min is reduced if the gap adaption indicators indicate to reduce the preset gap (t_GAP); and

gap size associated to each gap setting n<

n_max is increased if the gap adaption indicators indicate to enlarge the preset gap (t_GAP).

6. A method for assisting a driver in driving a vehicle, comprising the steps of:

producing sensor data by at least one sensor physically sensing the environment of a host vehicle and/or by obtaining data conveying information about the environment of a host vehicle;

detecting an object in a path of the host vehicle based on the sensor data;

controlling a distance between the host vehicle and the detected object based on a preset gap (t_GAP);

estimating environmental conditions of the host vehicle based on the sensor data;

determining gap adaption indicators associated to the estimated environmental conditions, wherein each of the gap adaption indicators indicates an extension or a reduction of the preset gap (t_GAP); and

adjusting the preset gap (t_GAP) based on the gap adaption indicators, further comprising the steps of;

detecting a manual adjustment of the preset gap (t_GAP); and

storing current environmental conditions associated to the manual adjustment;

wherein

at least the current geographic location of the ego-vehicle and the current time of day associated to the manual adjustment are stored;

when a geographic location that corresponds to the stored geographic location or a time of day that corresponds to the stored time of day are estimated in the estimating step, in the determining step, a gap adaption indicator indicating an adjustment of the preset gap (t_GAP) that corresponds to the manual adjustment is determined.

7. The method according to claim 6, further comprising the steps of

receiving from other vehicles at least one of

the current gap size applied by a driver,

the current time of day, and

the current geographical location;

storing all received gap sizes categorized by time and location; and

calculating the average gap size applied for each time and location.

8. A method for assisting a driver in driving a vehicle, comprising the steps of:

producing sensor data by at least one sensor physically sensing the environment of a host vehicle and/or by obtaining data conveying information about the environment of a host vehicle;

detecting an object in a path of the host vehicle based on the sensor data;

controlling a distance between the host vehicle and the detected object based on a preset gap (t_GAP);

estimating environmental conditions of the host vehicle based on the sensor data;

determining gap adaption indicators associated to the estimated environmental conditions, wherein each of the gap adaption indicators indicates an extension or a reduction of the preset gap (t_GAP); and

adjusting the preset gap (t_GAP) based on the gap adaption indicators;

wherein

when the preset gap (t_GAP) is adjusted in the adjusting step and a manual correction of the adjusted preset gap (t_GAP) is detected, said gap adaption indicator is updated according to the manual correction.

9. A driver assistance system, designed for being mounted on a host vehicle and executing a method comprising the steps of:

producing sensor data by at least one sensor physically sensing the environment of a host vehicle or by obtaining data conveying information about the environment of a host vehicle;

detecting an object in a path of the host vehicle based on the sensor data;

controlling a distance between the host vehicle and the detected object based on a preset gap (t_GAP);

estimating environmental conditions of the host vehicle based on the sensor data;

determining gap adaption indicators associated to the estimated environmental conditions, wherein each of the gap adaption indicators indicates an extension or a reduction of the preset gap (t_GAP); and

adjusting the preset gap (t_GAP) based on the gap adaption indicators;

wherein

in the estimating step, an ego-distance between the ego-vehicle and the detected object and distances between other vehicles are estimated;

in the determining step, at least one of the gap adaption indicators indicates whether or not the ego-distance fits the associated environmental condition; and

a gap adaption indicator is determined based on the difference between the ego-vehicle time gap and an average of the time gaps between the other vehicles, minimum of the time gaps between the other vehicles and/or maximum of the time gaps between the other vehicles.

10. The driver assistance system according to claim 9, comprising:

at least one sensor configured to physically sense the environment of a host vehicle;

means for receiving user input to switch on/off automatic gap adaptation; and

means for receiving user input indicating additive or multiplicative offset to the automatically determined gap.

11. A computer program product embodied on a non-transitory computer-readable medium, said product including computer-executable code which, when executed on a computer, controls the computer to carry out a method comprising the steps of:

producing sensor data by at least one sensor physically sensing the environment of a host vehicle or by obtaining data conveying information about the environment of a host vehicle;

detecting an object in a path of the host vehicle based on the sensor data;

controlling a distance between the host vehicle and the detected object based on a preset gap (t_GAP);

estimating environmental conditions of the host vehicle based on the sensor data;

determining gap adaption indicators associated to the estimated environmental conditions, wherein each of the gap adaption indicators indicates an extension or a reduction of the preset gap (t_GAP); and

adjusting the preset gap (t_GAP) based on the gap adaption indicators;

wherein

in the estimating step, an ego-distance between the ego-vehicle and the detected object and distances between other vehicles are estimated;

in the determining step, at least one of the gap adaption indicators indicates whether or not the ego-distance fits the associated environmental condition; and

a gap adaption indicator is determined based on the difference between the ego-vehicle time gap and an average of the time gaps between the other vehicles, minimum of the time gaps between the other vehicles and/or maximum of the time gaps between the other vehicles.

12. A vehicle including a driver assistance system executing a method comprising the steps of:

producing sensor data by at least one sensor physically sensing the environment of a host vehicle or by obtaining data conveying information about the environment of a host vehicle;

detecting an object in a path of the host vehicle based on the sensor data;

controlling a distance between the host vehicle and the detected object based on a preset gap (t_GAP);

estimating environmental conditions of the host vehicle based on the sensor data;

determining gap adaption indicators associated to the estimated environmental conditions, wherein each of the gap adaption indicators indicates an extension or a reduction of the preset gap (t_GAP); and

adjusting the preset gap (t_GAP) based on the gap adaption indicators;

wherein

in the estimating step, an ego-distance between the ego-vehicle and the detected object and distances between other vehicles are estimated;

in the determining step, at least one of the gap adaption indicators indicates whether or not the ego-distance fits the associated environmental condition; and

a gap adaption indicator is determined based on the difference between the ego-vehicle time gap and an average of the time gaps between the other vehicles, minimum of the time gaps between the other vehicles and/or maximum of the time gaps between the other vehicles,

wherein the driver assistance system comprises;

at least one sensor configured to physically sense the environment of a host vehicle;

means for receiving user input to switch on/off automatic gap adaptation; and

means for receiving user input indicating additive or multiplicative offset to the automatically determined gap.