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WO2009007005A1 - Régulateur de vitesse pour véhicules automobiles - Google Patents

Régulateur de vitesse pour véhicules automobiles Download PDF

Info

Publication number
WO2009007005A1
WO2009007005A1 PCT/EP2008/005125 EP2008005125W WO2009007005A1 WO 2009007005 A1 WO2009007005 A1 WO 2009007005A1 EP 2008005125 W EP2008005125 W EP 2008005125W WO 2009007005 A1 WO2009007005 A1 WO 2009007005A1
Authority
WO
WIPO (PCT)
Prior art keywords
speed
foot
cruise control
brake pedal
predetermined
Prior art date
Application number
PCT/EP2008/005125
Other languages
German (de)
English (en)
Inventor
Pei-Shih Huang
Helmut Spannheimer
Original Assignee
Bayerische Motoren Werke Aktiengesellschaft
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Bayerische Motoren Werke Aktiengesellschaft filed Critical Bayerische Motoren Werke Aktiengesellschaft
Publication of WO2009007005A1 publication Critical patent/WO2009007005A1/fr

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/14—Adaptive cruise control
    • B60W30/143—Speed control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/14—Adaptive cruise control
    • B60W30/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2540/00—Input parameters relating to occupants
    • B60W2540/10—Accelerator pedal position
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2540/00—Input parameters relating to occupants
    • B60W2540/10—Accelerator pedal position
    • B60W2540/106—Rate of change
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2540/00—Input parameters relating to occupants
    • B60W2540/223—Posture, e.g. hand, foot, or seat position, turned or inclined

Definitions

  • the invention relates to a speed controller for motor vehicles for controlling the speed to a predetermined desired speed according to the preamble of claim 1.
  • speed control systems can be switched on and off by means of a control element mounted on the steering wheel or on the dashboard or of a lever arranged near the steering wheel.
  • the speed control can be interrupted due to certain driving or driving maneuvers, so that the speed control system is still switched on in principle, but the cruise control is currently not running. An interruption of the speed control takes place, for example, when the driver operates the brake pedal or the handbrake, or due to an automatic driving stabilization intervention.
  • the activation of the brake light or the braking force or the change in position of the brake pedal is determined and evaluated. As a result, an interruption of the cruise control desired by the driver is initiated relatively late.
  • the object of the invention is to provide a cruise control that allows a simple way early interruption or modification of the cruise control during braking operation.
  • the invention is based on the finding that pedal movements and / or foot movements in the area of the driver footwell can be monitored by means of a suitable footwell monitoring sensor system.
  • a suitable footwell monitoring sensor system can Based on the signals of the footwell monitoring sensor, a future brake pedal and / or accelerator pedal operation and / or the readiness of the driver to brake or their likelihood are determined and appropriate measures are initiated.
  • Such footwell monitoring sensor systems are already known in connection with systems for initiating emergency braking.
  • the speed controller according to the invention for controlling the speed to a predetermined setpoint speed is equipped with a monitoring device for monitoring a brake pedal actuation. If a brake pedal operation is detected while the cruise control is active, an interruption or modification of the cruise control will be initiated.
  • the invention is characterized in that the monitoring unit is further configured to monitor and evaluate the signals of a footwell monitoring sensor system with regard to a future brake pedal actuation or braking readiness, at least during active cruise control. If a future brake pedal actuation or braking readiness of the driver is detected or assumed on the basis of the signals from the footwell monitoring sensor system, an interruption or modification of the cruise control is initiated. Under a future brake pedal operation is a suspected brake pedal operation within a subsequent time interval, so to understand a recognizable braking readiness. A cruise control is considered active when a cruise control is performed.
  • a brake readiness of the driver or a (future) operation of the brake pedal can be detected before the actual brake pedal operation, and thus the speed control can be significantly faster interrupted or modified. If the speed control is interrupted, the speed of the Vehicle due to the current slip moment reduced. An active braking intervention by causing a braking torque is not made. Since no active braking intervention takes place, and thus the brake light is not turned on, a subsequent road user is not disturbed.
  • the emitted signals of the footwell monitoring sensor system are detected by the monitoring unit and evaluated with regard to the recognition of a braking readiness or a future brake pedal operation.
  • the monitoring unit can advantageously determine from the signals of the footwell monitoring sensor the probability of readiness for braking or of a future brake pedal actuation, that is, for example, a brake pedal actuation within a predefined time window.
  • the monitoring unit can make an interruption or modification of the speed control.
  • a predetermined second probability threshold which is greater than the first probability threshold, an interruption of the speed control can be initiated.
  • the monitoring unit can make an interruption or modification of the speed control in the presence of certain signals or a specific signal combination without probabilistic determination.
  • bine modification of the active cruise control when detected readiness for braking can be configured such that the predetermined target speed, which is currently controlled, is reduced, or that the motor vehicle is decelerated with a predetermined delay or due to the current engine drag torque.
  • Interrupting or modifying the active cruise control may, for example, be initiated when, with the accelerator pedal currently depressed (and a current cruise control override), a pedal speed sensed upon release of the accelerator pedal exceeds a first accelerator pedal speed limit, or if detected during release of the accelerator pedal Foot movement speed and / or foot movement acceleration exceeds a predetermined first foot speed limit or first foot acceleration limit.
  • An evaluation of the signals when releasing the accelerator pedal is useful only in those situations in which the driver actuates the gas pedal due to an override of the cruise control or for other reasons.
  • the monitoring unit may determine a future brake pedal operation by monitoring a predetermined range around the brake pedal.
  • the monitoring unit may initiate an interruption of the cruise control when the driver's foot is detected within a predetermined range about the brake pedal and / or when the driver's foot approaches the brake pedal at a foot movement speed which is a predetermined second foot speed limit or second foot movement acceleration threshold.
  • the monitoring unit can also be configured to use the signals of a footwell monitoring sensor system with active distance control monitors and evaluates a future brake pedal operation or a brake readiness, and initiates an interruption or modification of the active distance control when the future brake pedal actuation or brake readiness is detected.
  • the active distance control can advantageously be modified when the brake readiness is detected such that no acceleration of the own motor vehicle is made even with an acceleration of the preceding vehicle or an unrecognized preceding vehicle, or that the motor vehicle is decelerated with a predetermined deceleration or due to the current engine drag torque , This is intended to prevent measures being taken which, due to a presumed early interruption of the cruise control, might not be necessary or possibly even disturbing.
  • the signals of the footwell monitoring sensor system can also be used to initiate a reactivation of the cruise control, ie a resumption of the cruise control.
  • a cruise control is considered to be interrupted if the cruise control is still switched on but is not currently active, ie. H. no regulation is made.
  • the monitoring unit can also be configured such that it signals the mastraumüberwachungshim in Monitored and evaluated with regard to a presumed actuation of the accelerator pedal. If a future accelerator pedal operation is detected or suspected based on the signals, the monitoring unit may initiate a reactivation of the cruise control even before the accelerator pedal is actuated.
  • a reactivation of the cruise control may be initiated at such a configured speed controller when the driver's foot is detected within a predetermined range around the accelerator pedal and / or when the driver's foot approaches the accelerator pedal with a foot movement acceleration approaching a predetermined foot Exceeds the speed limit or foot movement acceleration limit.
  • the monitoring unit in an advantageous embodiment of the invention can be designed such that it monitors and evaluates the signals of the footwell monitoring sensor with regard to releasing the actuated brake pedal , If a release of the actuated brake pedal is detected on the basis of the signals, the monitoring unit can initiate a reactivation or modification of the cruise control even before the brake pedal has been completely released.
  • the monitoring unit can also monitor and evaluate the signals of the footwell monitoring unit with regard to a (presumed) actuation of the accelerator pedal. If a (presumed) future accelerator pedal operation is detected with the speed controller active on the basis of the signals from the footwell monitoring sensor system, the monitoring unit can then modify tion of the speed control, for example in the form of an increase in the setpoint speed.
  • the footwell monitoring sensor system should, in an advantageous embodiment of the invention, be constructed such that the position and / or the foot movement direction and / or the foot movement speed are from the signals emitted by it and / or the foot movement acceleration of the driver's foot can be determined. From the above parameters can be determined easily a future brake pedal operation.
  • the footwell monitoring unit can detect the pedal position and / or the pedal movement direction and / or pedal movement speed and / or the pedal movement acceleration of the accelerator pedal and / or the brake pedal and possibly a clutch pedal and forwarded to the monitoring unit for evaluation.
  • the footwell monitoring sensor system comprises an infrared sensor and / or an ultrasonic sensor and / or an induction sensor and / or an image-reproducing sensor unit, wherein an infrared sensor is preferred for cost reasons and accuracy reasons.
  • FIGURE shows a simplified structure of a speed controller according to the invention.
  • the figure shows a speed controller GR for controlling the speed to a predetermined desired speed vsoll.
  • the speed controller GR is constructed such that in the active state, it regulates the speed to a predetermined setpoint speed .mu.oll.
  • the active speed control can in principle with Operation of the brake pedal are interrupted and reactivated with the operation of the accelerator pedal, wherein after reactivation of the speed control, the original target speed or the current speed is set as target speed vsoll.
  • the speed controller GR comprises a monitoring unit Ü, which is designed to detect and evaluate the signals d_BP and d_GP of a footwell monitoring sensor system S.
  • the signal d_BP indicates the distance of a foot approaching the brake pedal
  • the signal d_GP the distance of the driver's foot approaching the accelerator pedal.
  • the signals d_BP and d_GP are evaluated in the monitoring unit Ü with regard to a future brake pedal actuation, that is to say the recognition of a readiness to brake, and with regard to a future accelerator pedal actuation, that is to say the detection of an acceleration request.
  • a future brake pedal actuation is detected when the result from the signal d_BP is that the driver's foot enters a predetermined area around the brake pedal, that is, the actual distance of the foot d_BP approaching the brake pedal falls below a predetermined first distance limit value G1.
  • the monitoring unit Ü initiates a modified speed control gr + '.
  • the modified speed control gr + ' is designed such that instead of the previous target speed vsoll a lower target speed vsoll' is specified.
  • the controller R which is integrated in the speed controller GR, regulates the current speed vist of the vehicle to the newly specified lower setpoint speed ollsoll 'by generating a corresponding manipulated variable x.
  • reducing the target speed vsoll can also be a Modification of the speed control gr + be made in the form of a reduction in the speed due to the engine drag torque or an interruption of the cruise control.
  • Analog to the recognition of the braking readiness is a Bestructungspp. Reactivation request detected when it follows from the signal d_GP that the driver's foot enters a predetermined area around the accelerator pedal, so the current distance of the foot d_GP approaching the accelerator pedal falls below a predetermined second distance limit G2.
  • the monitoring unit Ü initiates a modified speed control gr + "This modified speed control gr +" is such designed such that the cruise control is reactivated again and as target speed vsoll the current speed vist of the motor vehicle is specified.
  • the controller R integrated in the speed controller GR then generates a manipulated variable x which is necessary for holding the current speed vist. Instead of the current speed, the last specified setpoint speed can also be preset as the setpoint speed vsoll.

Landscapes

  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Controls For Constant Speed Travelling (AREA)

Abstract

L'invention se rapporte à un régulateur de vitesse pour véhicules automobiles, pour réguler la vitesse à une vitesse de consigne prédéfinie. Le régulateur de vitesse comprend une unité de contrôle (0), qui, lorsque la régulation de vitesse est activée, contrôle un actionnement de la pédale de frein et amorce une interruption ou une modification de la régulation de la vitesse en cas de détection de l'actionnement de la pédale de frein. En outre, l'unité de contrôle est réalisée de manière à contrôler et analyser des signaux d'un système de capteur de surveillance de l'espace pour les pieds (S) pour déterminer l'état de préparation au freinage, et pour amorcer une interruption ou une modification de la régulation de la vitesse active en cas de détection d'un état de préparation au freinage.
PCT/EP2008/005125 2007-07-06 2008-06-25 Régulateur de vitesse pour véhicules automobiles WO2009007005A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102007031556A DE102007031556A1 (de) 2007-07-06 2007-07-06 Geschwindigkeitsregler für Kraftfahrzeuge
DE102007031556.4 2007-07-06

Publications (1)

Publication Number Publication Date
WO2009007005A1 true WO2009007005A1 (fr) 2009-01-15

Family

ID=39734910

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2008/005125 WO2009007005A1 (fr) 2007-07-06 2008-06-25 Régulateur de vitesse pour véhicules automobiles

Country Status (2)

Country Link
DE (1) DE102007031556A1 (fr)
WO (1) WO2009007005A1 (fr)

Families Citing this family (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE112009004643B4 (de) * 2009-04-08 2016-05-19 Toyota Jidosha Kabushiki Kaisha Fahrzeugfahrsteuervorrichtung
DE102010062756B4 (de) 2010-12-09 2022-11-10 Bayerische Motoren Werke Aktiengesellschaft Kraftfahrzeug mit einer Auswerteeinheit zur Erkennung eines Bremswunsches des Fahrers
DE102011003486B4 (de) * 2011-02-02 2022-01-13 Bayerische Motoren Werke Aktiengesellschaft Abstandsbezogenes elektronisch gesteuertes Fahrgeschwindigkeitsregelsystem für Kraftfahrzeuge
DE102011085585A1 (de) * 2011-11-02 2013-05-02 Bayerische Motoren Werke Aktiengesellschaft Abstandsbezogenes elektronisch gesteuertes Fahrgeschwindigkeitsregelsystem für Kraftfahrzeuge
DE102016211934B4 (de) * 2016-06-30 2022-10-20 Audi Ag Kraftfahrzeug mit einem Fahrerassistenzsystem
DE102017211243B4 (de) 2017-07-03 2021-07-01 Volkswagen Aktiengesellschaft Verfahren und Vorrichtung zum Überwachen des Innenraums eines Kraftfahrzeugs
DE102020207313B4 (de) 2020-06-11 2022-06-15 Volkswagen Aktiengesellschaft Fahrerassistenzsystem für ein Kraftfahrzeug und Kraftfahrzeug mit einem Fahrerassistenzsystem
DE102021214651A1 (de) 2021-12-20 2023-06-22 Robert Bosch Gesellschaft mit beschränkter Haftung Verfahren und Steuereinheit zum Betreiben einer Geschwindigkeitsregeleinrichtung eines Fahrzeugs, sowie Fahrzeug

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE19735687A1 (de) * 1997-08-20 1999-02-25 Itt Mfg Enterprises Inc Vorrichtung und Verfahren zum Ansteuern einer Kraftfahrzeugbremsanlage
FR2835221A1 (fr) * 2002-01-29 2003-08-01 Renault Procede d'anticipation de freinage et notamment de freinage d'urgence d'un vehicule automobile, et dispositif pour la mise en oeuvre de ce procede
FR2879527A1 (fr) * 2004-12-22 2006-06-23 Peugeot Citroen Automobiles Sa Regulateur de vitesse a suspension de consigne provisoire et progressive

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE19859602B4 (de) * 1998-12-23 2015-02-05 Continental Teves Ag & Co. Ohg Vorrichtung und Verfahren zur bremsbetätigungsunabhängigen Aktivierung eines Signalmittels eines Kraftfahrzeugs
DE10160278A1 (de) * 2001-06-02 2002-12-05 Continental Teves Ag & Co Ohg Verfahren zur Verbesserung einer Bremsassistentfunktion
DE102006056094A1 (de) * 2006-11-28 2008-05-29 Robert Bosch Gmbh Fahrerassistenzsystem mit Anwesenheitsüberwachung

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE19735687A1 (de) * 1997-08-20 1999-02-25 Itt Mfg Enterprises Inc Vorrichtung und Verfahren zum Ansteuern einer Kraftfahrzeugbremsanlage
FR2835221A1 (fr) * 2002-01-29 2003-08-01 Renault Procede d'anticipation de freinage et notamment de freinage d'urgence d'un vehicule automobile, et dispositif pour la mise en oeuvre de ce procede
FR2879527A1 (fr) * 2004-12-22 2006-06-23 Peugeot Citroen Automobiles Sa Regulateur de vitesse a suspension de consigne provisoire et progressive

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