System for influencing the speed of a motor vehicle

• US 7,248,962 B2
• Filed: 05/19/2005
• Issued: 07/24/2007
• Est. Priority Date: 11/21/2002
• Status: Active Grant

• Current Assignee: Lucas Automotive GmbH (Zeppelin - Stiftung der Stadt Friedrichshafen)
• Original Assignee: Lucas Automotive GmbH (Zeppelin - Stiftung der Stadt Friedrichshafen)
• Inventors: Heinrichs-Bartscher, Sascha
• Primary Examiner(s): NGUYEN, TAN QUANG
• Application Number:
  US11/132,525
• Publication Number:
  US 20050251323A1
• Time in Patent Office: 796 Days
• Field of Search: 701/117, 701/93, 701/96, 701/41, 701/42, 701/300, 340/435, 340/903, 340/904, 340/436, 367/87, 367/89, 367/99, 367/95, 367/103, 342/61, 342/70, 342/73
• US Class Current: 701/117
• CPC Class Codes: B60K 31/0008 including means for detecting potential obstacles in vehicle path
• CPC Class Codes: B60T 2201/08 Lane monitoring; Lane Keeping Systems
• CPC Class Codes: B60T 2201/081 using distance control
• CPC Class Codes: B60W 2520/14 Yaw
• CPC Class Codes: B60W 2554/4041 Position
• CPC Class Codes: B60W 2554/4042 Longitudinal speed
• CPC Class Codes: B60W 2554/4043 Lateral speed
• CPC Class Codes: B60W 2554/803 Relative lateral speed
• CPC Class Codes: B60W 2554/804 Relative longitudinal speed
• CPC Class Codes: B60W 30/16 Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
• CPC Class Codes: G01S 13/66 Radar-tracking systems; Analogous systems
• CPC Class Codes: G01S 13/931 of land vehicles
• CPC Class Codes: G01S 2013/93185 Controlling the brakes
• CPC Class Codes: G01S 2013/9319 Controlling the accelerator
• CPC Class Codes: G01S 2013/932 using own vehicle data, e.g. ground speed, steering wheel direction
• CPC Class Codes: G01S 2013/9321 Velocity regulation, e.g. cruise control
• CPC Class Codes: G01S 2013/9322 using additional data, e.g. driver condition, road state or weather data
• CPC Class Codes: G01S 2013/9325 for inter-vehicle distance regulation, e.g. navigating in platoons
• CPC Class Codes: G01S 2013/93271 in the front of the vehicles

Abstract

System for evaluating the traffic environment of a motor vehicle and for influencing the speed of the motor vehicle in its own traffic lane, comprising an electronic control unit, which is connected to a signal transmitter that produces a signal characteristic of the desired speed of the motor vehicle, a signal transmitter that produces a signal characteristic of the yaw of the motor vehicle about its vertical axis, a signal transmitter that produces a signal, which is characteristic of the articles situated, in the direction of travel of the motor vehicle, in front of the motor vehicle in terms of their spacing and orientation relative to the motor vehicle and which is the speed relative to the speed of the system motor vehicle and/or the spacing relative to the system motor vehicle and/or the angular offset or the cross track distance relative to the vehicle longitudinal axis of the system motor vehicle, and a signal transmitter that produces a signal characteristic of the speed of at least one wheel of the motor vehicle, and which is connected to at least one control device, which influences the performance of the motor vehicle, for supplying said device with output signals derived from the performance of the motor vehicle situated in front of the system motor vehicle, in which in the electronic control unit the behavior of the other articles moving in the space in front of the system motor vehicle is evaluated in order to infer therefrom how many traffic lanes the road has and along which of said traffic lanes the system motor vehicle is moving.

Claims

1. System for evaluating the traffic environment of a motor vehicle and for influencing the speed of the motor vehicle in its own traffic lane, comprising an electronic control unit (ECU) operable to determine the number of traffic lanes of a road upon which the motor vehicle is traveling and operable to determine along which of said determined traffic lanes the system motor vehicle is traveling, which is connected to a signal transmitter that produces a signal characteristic of the desired speed of the motor vehicle, a signal transmitter that produces a signal characteristic of the yaw of the motor vehicle about its vertical axis, a signal transmitter that produces a signal characteristic of the articles situated, in the direction of travel of the motor vehicle, in front of the motor vehicle in terms of their spacing and orientation relative to the motor vehicle and which is at least one of the speed relative to the speed of the system motor vehicle the spacing relative to the system motor vehicle;

and the angular offset or the cross track distance relative to the vehicle longitudinal axis of the system motor vehicle, and a signal transmitter that produces a signal characteristic of the speed of at least one wheel of the motor vehicle, and which is connected to at least one control device, which influences the performance of the motor vehicle, in order to supply said device with output signals derived from the performance of the motor vehicle situated in front of the system motor vehicle, in which in the electronic control unit (ECU) the behaviour of the other articles moving in the space in front of the system motor vehicle is evaluated in order to infer therefrom how many traffic lanes the road has and along which of said traffic lanes the system motor vehicle is moving, wherein in the electronic control unit (ECU) from the existing traffic lanes in each case at most two moving articles are selected and designated as priority articles once they have been detected as moving in front of the system motor vehicle for a period of time exceeding a minimum value.

2. System according to claim 1, wherein in the electronic control unit (ECU) moving articles detected in front of the system motor vehicle are classified as articles in the system motor vehicle traffic lane once an article, which is further remote than a minimum distance, during a predetermined time setting range has an appearance period in the system motor vehicle traffic lane that in relation to the sum of the appearance period in one or both adjacent traffic lanes has a ratio exceeding a threshold value.

3. System according to claim 2, wherein in the electronic control unit (ECU) the predetermined time setting range is modified in dependence upon the speed of the system motor vehicle.

4. System according to claim 2, wherein in the electronic control unit (ECU) the threshold value is reduced with diminishing distance of the article from the system motor vehicle.

5. System according to claim 2, wherein the period of stay of all articles is determined for the existing traffic lanes in relation to the system motor vehicle traffic lane and weighted over time, wherein more recent appearances of articles in the traffic lane of the system motor vehicle are assigned a higher weighting than less recent appearances, and spatially remote appearances of articles in the traffic lane of the system motor vehicle are assigned a lower weighting than spatially nearer appearances.

6. System according to claim 2, wherein in the electronic control unit (ECU) said respective period of each article is assigned a lower weighting for articles situated very close to the system motor vehicle (0-30 m) and for articles situated very remote from the system motor vehicle (120-200 m) and a higher weighting for articles situated therebetween.

7. System according to claim 1, wherein in the electronic control unit (ECU) moving articles detected in front of the system motor vehicle are classified as articles in the left or the right traffic lane when an article is situated at the appropriate distance to the left of the left boundary of the system motor vehicle traffic lane or to the right of the right boundary of the system motor vehicle traffic lane respectively.

8. System according to claim 1, wherein the electronic control unit (ECU) determines for each priority article the extent to which each priority article varies its lateral position relative to the centre line of the traffic lane of the system motor vehicle;

wherein as a variation value of the traffic lane of the system motor vehicle at the respective spacing from the system motor vehicle the sum of the mean values of the lateral position variations of the priority articles is determined.

9. System according to claim 1, wherein the electronic control unit (ECU) from the priority articles selects as a target motor vehicle, upon the performance of which the performance of the system motor vehicle is to be dependent, the priority article which is moving in the traffic lane of the system motor vehicle, has a direction of motion over land that corresponds substantially to the direction of motion of the system motor vehicle;

and has been detected for a period of time in the space in front of the system motor vehicle.

10. System according to claim 9, wherein the electronic control unit (ECU) from the priority articles selects as a target motor vehicle, upon the performance of which the performance of the system motor vehicle is to be dependent, the priority article, in which the lateral velocity relative to the centre line of the system motor vehicle traffic lane does not exceed a threshold value.

11. System according to claim 10, wherein the threshold value is variable in dependence upon the spacing of the respective article from the system motor vehicle.