Distance regulating system, motor vehicle and computer program product

• US 9,969,394 B2
• Filed: 04/18/2016
• Issued: 05/15/2018
• Est. Priority Date: 04/17/2015
• Status: Active Grant

• Current Assignee: GM Global Technology Operations LLC (General Motors Company)
• Original Assignee: GM Global Technology Operations LLC (General Motors Company)
• Inventors: Maier, Oliver
• Primary Examiner(s): Khatib, Rami
• Assistant Examiner(s): Foster, Gerrad A
• Application Number:
  US15/131,508
• Publication Number:
  US 20160304093A1
• Time in Patent Office: 757 Days
• Field of Search: None
• CPC Class Codes: B60W 2050/0075 Automatic parameter input, automatic initialising or calibrating means
• CPC Class Codes: B60W 2420/403 Image sensing, e.g. optical camera
• CPC Class Codes: B60W 2520/125 Lateral acceleration
• CPC Class Codes: B60W 2552/30 Road curve radius
• CPC Class Codes: B60W 2554/801 Lateral distance
• CPC Class Codes: B60W 2556/65 Data transmitted between vehicles
• CPC Class Codes: B60W 2720/106 Longitudinal acceleration
• CPC Class Codes: B60W 2720/125 Lateral acceleration
• 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: G01C 21/34 Route searching; Route guidance

Abstract

A distance regulating system is disclosed for the automatic adjusting of a distance of a motor vehicle to a motor vehicle travelling ahead. At least one sensor detects the distance to the motor vehicle travelling ahead. A route detector detects a route section lying ahead. A control unit is equipped in order to transmit acceleration commands to a drive of the motor vehicle, to accelerate with a preset acceleration upon increasing distance to the motor vehicle travelling ahead or during open straight-ahead travel. The control unit can determine a transverse acceleration to be expected and adjust a longitudinal acceleration as a function of the transverse acceleration to be expected when a curve lying ahead is detected by the route detection.

Claims

1. A distance regulating system for automatically adjusting a distance of an own vehicle to another vehicle travelling ahead of the own vehicle, the distance regulating system comprising:

at least one sensor for detecting the distance to the other motor vehicle travelling ahead;

a route detection system for determining a route section that is lying ahead of the own vehicle; and

a control unit configured to communicate an acceleration command to a drive of the own vehicle;

wherein the acceleration command corresponds to a preset acceleration for accelerating the own vehicle with the preset acceleration up to a preset speed when the distance to the other vehicle is greater than a set distance;

wherein when the route section is straight, the preset acceleration is based on a longitudinal acceleration where the longitudinal acceleration is directed in a longitudinal direction of the own vehicle;

wherein when the route section includes a curve that is detected lying ahead of the own vehicle, a transverse acceleration is determined where the transverse acceleration is expected to result from the curve, and the acceleration command is based on the longitudinal acceleration as a function of the transverse acceleration;

wherein when the preset speed is not achieved prior to entering the curve, a total acceleration of the own vehicle, when reducing the distance to the set distance, is constant both when the route section is straight and when the route section includes the curve by reducing the longitudinal acceleration to account for the transverse acceleration when the route section includes the curve, where the total acceleration is the longitudinal acceleration when the route section is straight and the total acceleration is a vector sum of the longitudinal acceleration and the transverse acceleration when the route section includes the curve.

2. The distance regulating system according to claim 1, wherein the route detection system comprises a camera for capture a road image, and the control unit is configured to determine the route section from the road image.

3. The distance regulating system according to claim 1, wherein the control unit is configured to adjust the longitudinal acceleration in such a manner that upon commencement of the transverse acceleration, the longitudinal acceleration is reduced to zero.

4. The distance regulating system according to claim 1, wherein the control unit is configured to use a circle of forces model for adapting the longitudinal acceleration when the own vehicle enters the curve, wherein the circle of forces model is based on the total acceleration equaling a vector addition of the longitudinal acceleration and the transverse acceleration for a determined radius of the curve.

5. The distance regulating system according to claim 1, wherein the preset speed corresponds to a maximum permissible speed on the route.

6. A computer program product with a non-transitory computer-readable storage medium having commands embedded therein which when executed by a control unit comprises:

a distance regulating system for communicating acceleration commands transmittable to a drive of a motor vehicle;

wherein the acceleration command is based on a preset acceleration for accelerating the own vehicle with the preset acceleration when the distance to the other vehicle is greater than a set distance and the route section is straight; and

wherein a transverse acceleration is determined when the route section includes a curve that is lying ahead and the acceleration command is based on the longitudinal acceleration as a function of the transverse acceleration, wherein when accelerating the own vehicle to reduce the distance to the set distance, the distance regulating system maintains a total acceleration of the own vehicle as constant from when the route section is straight to when the route section is curved, wherein the total acceleration includes the longitudinal acceleration and the transverse acceleration.

7. The computer program product according to claim 6, wherein the distance regulating system is configured to use a circle of forces model for adapting the longitudinal acceleration, when the own vehicle enters the curve, wherein the circle of forces model is based on the total acceleration equaling a vector addition of the longitudinal acceleration and the transverse acceleration for a determined radius of the curve.

8. A distance regulating system for automatically adjusting a distance of an own vehicle to another vehicle travelling ahead of the own vehicle on a route, the distance regulating system comprising:

at least one sensor for detecting a sensed distance from the own vehicle to the other motor vehicle travelling ahead;

a route detection system for determining whether the route section lying ahead of the own vehicle is straight or includes a curve;

a drive of the own vehicle operated to maintain a set distance from the own vehicle to the other motor vehicle travelling ahead; and

a control unit configured to communicate an acceleration command to the drive;

wherein, when the route detection system determines the route section is straight and the sensed distance detected by the at least one sensor is greater than the set distance, the acceleration command is based on a preset acceleration for accelerating the own vehicle toward a preset speed to adjust the sensed distance to the set distance;

wherein when the route detection system determines the route section includes a curve, a radius of the curve is determined by the control unit, and when accelerating the own vehicle to adjust the sensed distance to the set distance as the own vehicle is entering the curve, and when the preset speed is not achieved prior to entering the curve the acceleration command is adapted to the radius of the curve, wherein a transverse acceleration of the own vehicle for the radius is determined by the control unit, and a total acceleration of the own vehicle is maintained constant by the control unit both before and while the own vehicle travels through the curve, by decreasing the longitudinal acceleration to account for the transverse acceleration when the own vehicle enters the curve.