Distance-related method for controlling the speed of a vehicle
First Claim
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.
1 Assignment
0 Petitions
Accused Products
Abstract
A method for controlling the speed of a vehicle is proposed, where, in the vehicle to be controlled, the yaw rate or rotation rate is measured, in particular to determine the curvature of the vehicle'"'"'s own travel trajectory, and where, using a proximity sensor or position sensor, at least one vehicle traveling ahead or at least some other object within a sensor'"'"'s sensing range is detected, particularly with regard to an offset from the travel course of the vehicle to be controlled. From the detection of one or of a plurality of objects, the curvature of the vehicle'"'"'s own travel trajectory may be corrected with a view to a prediction of an expected curvature from the averaging of the positional changes ascertained at the plurality of the objects.
33 Citations
9 Claims
-
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. - View Dependent Claims (2, 3, 4)
calculating the future curvature by dividing a sum of the yaw rate and the collective angular velocity by a driving speed of the vehicle to be controlled.
-
-
3. The method according to claim 1, further comprising the step of:
correcting the angle variation measured for each object in each instance by a relative velocity of the vehicle to be controlled in relation to a movement of the object and the yaw rate.
-
4. The method according to claim 1, wherein:
with respect to ascertaining the collective angular velocity over a plurality of measuring cycles, averaging determined values of the angle variations.
-
5. 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; and
in the vehicle to be controlled, generating a rapid curvature of the trajectory of the vehicle from a difference between an actively filtered curvature of the trajectory of the vehicle and an unfiltered curvature of the trajectory of the vehicle, under consideration of a noise-suppression parameter.
-
-
6. 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; and
in the vehicle to be controlled, adding a correction curvature to a calculated curvature of the trajectory of the vehicle.
-
-
7. 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; and
in the vehicle to be controlled, calculating a course quality representing a combination of a relative error, a minimal absolute error at a low speed, and of a yaw-rate error, the course quality being utilized for calculating a lane probability of the vehicle to be controlled. - View Dependent Claims (8, 9)
in the vehicle to be controlled, providing a number of further detection devices for measuring positions of objects driving ahead; and
to select an object driving ahead as a vehicle to which a speed of the vehicle to be controlled is to be adapted, evaluating and weighting all results from the further detection devices.
-
-
9. The method according to claim 8, wherein:
-
the evaluation and weighting are carried out using one of a video camera, a satellite-supported navigational system, a system for analyzing fixed destinations, and a system for determining a historical lateral offset of the objects driving ahead.
-
Specification