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Distance-related method for controlling the speed of a vehicle

  • US 6,721,645 B2
  • Filed: 04/22/2002
  • Issued: 04/13/2004
  • Est. Priority Date: 04/14/2000
  • Status: Expired due to Term
First Claim
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1. A method for controlling a speed of a vehicle, comprising the steps of:

  • in the vehicle to be controlled, measuring one of a yaw rate and a rotation rate to determine a curvature of a trajectory of the vehicle;

    causing one of a proximity sensor and a position sensor to detect one of at least one vehicle traveling ahead and at least some other object within a sensing range, with regard to an offset from a travel course of the vehicle to be controlled;

    from a detection of a plurality of objects, correcting the curvature of the trajectory of the vehicle with a view to a prediction of an expected curvature from an averaging of positional changes ascertained at the plurality of the objects;

    measuring the corrected curvature for the detected plurality of objects in preset time intervals of angles corresponding to a lateral offset;

    for each object, determining an angle variation from a measurement to a respective preceding measurement;

    in each measuring cycle, averaging the angle variations over a collective of the detected objects and dividing the angle variations by a time duration between the measuring cycles to generate a collective angular velocity; and

    from an addition of the collective angular velocity to the yaw rate measured in the vehicle to be controlled, ascertaining a correction for a future curvature of the trajectory of the vehicle to be controlled.

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