WO2016119985A1 - Method for operating a longitudinal control system for an automatically drivable motor vehicle - Google Patents

Method for operating a longitudinal control system for an automatically drivable motor vehicle Download PDF

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Publication number
WO2016119985A1
WO2016119985A1 PCT/EP2015/081274 EP2015081274W WO2016119985A1 WO 2016119985 A1 WO2016119985 A1 WO 2016119985A1 EP 2015081274 W EP2015081274 W EP 2015081274W WO 2016119985 A1 WO2016119985 A1 WO 2016119985A1
Authority
WO
WIPO (PCT)
Prior art keywords
motor vehicle
control device
longitudinal control
situation
lane
Prior art date
Application number
PCT/EP2015/081274
Other languages
German (de)
French (fr)
Inventor
Nils Hagenlocher
Alexander Haeussler
Andreas Offenhaeuser
Original Assignee
Robert Bosch Gmbh
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 Robert Bosch Gmbh filed Critical Robert Bosch Gmbh
Publication of WO2016119985A1 publication Critical patent/WO2016119985A1/en

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K28/00—Safety devices for propulsion-unit control, specially adapted for, or arranged in, vehicles, e.g. preventing fuel supply or ignition in the event of potentially dangerous conditions
    • B60K28/02—Safety devices for propulsion-unit control, specially adapted for, or arranged in, vehicles, e.g. preventing fuel supply or ignition in the event of potentially dangerous conditions responsive to conditions relating to the driver
    • B60K28/06—Safety devices for propulsion-unit control, specially adapted for, or arranged in, vehicles, e.g. preventing fuel supply or ignition in the event of potentially dangerous conditions responsive to conditions relating to the driver responsive to incapacity of driver
    • 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
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K28/00—Safety devices for propulsion-unit control, specially adapted for, or arranged in, vehicles, e.g. preventing fuel supply or ignition in the event of potentially dangerous conditions
    • B60K28/02—Safety devices for propulsion-unit control, specially adapted for, or arranged in, vehicles, e.g. preventing fuel supply or ignition in the event of potentially dangerous conditions responsive to conditions relating to the driver
    • B60K28/06—Safety devices for propulsion-unit control, specially adapted for, or arranged in, vehicles, e.g. preventing fuel supply or ignition in the event of potentially dangerous conditions responsive to conditions relating to the driver responsive to incapacity of driver
    • B60K28/066—Safety devices for propulsion-unit control, specially adapted for, or arranged in, vehicles, e.g. preventing fuel supply or ignition in the event of potentially dangerous conditions responsive to conditions relating to the driver responsive to incapacity of driver actuating a signalling device
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K28/00—Safety devices for propulsion-unit control, specially adapted for, or arranged in, vehicles, e.g. preventing fuel supply or ignition in the event of potentially dangerous conditions
    • B60K28/10—Safety devices for propulsion-unit control, specially adapted for, or arranged in, vehicles, e.g. preventing fuel supply or ignition in the event of potentially dangerous conditions responsive to conditions relating to the vehicle 
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K28/00—Safety devices for propulsion-unit control, specially adapted for, or arranged in, vehicles, e.g. preventing fuel supply or ignition in the event of potentially dangerous conditions
    • B60K28/10—Safety devices for propulsion-unit control, specially adapted for, or arranged in, vehicles, e.g. preventing fuel supply or ignition in the event of potentially dangerous conditions responsive to conditions relating to the vehicle 
    • B60K28/14—Safety devices for propulsion-unit control, specially adapted for, or arranged in, vehicles, e.g. preventing fuel supply or ignition in the event of potentially dangerous conditions responsive to conditions relating to the vehicle  responsive to accident or emergency, e.g. deceleration, tilt of vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
    • B60Q1/26—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic
    • B60Q1/50—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating other intentions or conditions, e.g. request for waiting or overtaking
    • B60Q1/525—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating other intentions or conditions, e.g. request for waiting or overtaking automatically indicating risk of collision between vehicles in traffic or with pedestrians, e.g. after risk assessment using the vehicle sensor data
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q5/00—Arrangement or adaptation of acoustic signal devices
    • B60Q5/005—Arrangement or adaptation of acoustic signal devices automatically actuated
    • B60Q5/006—Arrangement or adaptation of acoustic signal devices automatically actuated indicating risk of collision between vehicles or with pedestrians
    • 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
    • B60W30/10—Path keeping
    • 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
    • B60W30/10—Path keeping
    • B60W30/12—Lane keeping
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/20—Monitoring the location of vehicles belonging to a group, e.g. fleet of vehicles, countable or determined number of vehicles
    • G08G1/205—Indicating the location of the monitored vehicles as destination, e.g. accidents, stolen, rental
    • 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
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/02—Ensuring safety in case of control system failures, e.g. by diagnosing, circumventing or fixing failures
    • B60W50/029—Adapting to failures or work around with other constraints, e.g. circumvention by avoiding use of failed parts
    • B60W2050/0292—Fail-safe or redundant systems, e.g. limp-home or backup systems
    • 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
    • B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
    • B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
    • B60W2420/403—Image sensing, e.g. optical camera
    • 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
    • B60W2540/221—Physiology, e.g. weight, heartbeat, health or special needs
    • 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
    • B60W2552/00—Input parameters relating to infrastructure
    • B60W2552/53—Road markings, e.g. lane marker or crosswalk
    • 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
    • B60W2756/00—Output or target parameters relating to data
    • B60W2756/10—Involving external transmission of data to or from the vehicle

Definitions

  • the invention relates to a method for operating a longitudinal control device of an automatically driven motor vehicle.
  • the invention further relates to a longitudinal control device for an automated mobile vehicle.
  • An object of the invention is to provide an improved longitudinal control device for an automated motor vehicle.
  • the object is achieved according to a first aspect with a method for operating a longitudinal control device of an automatically driven motor vehicle, comprising the steps:
  • Detecting a situation of the motor vehicle wherein in the event that it is detected that the motor vehicle leaves a lane and is in an area not provided as a regular lane, a signal is delivered to other road users.
  • the object is achieved with a longitudinal control device for an automated mobile vehicle, wherein by means of
  • Longitudinal control device an environment of the motor vehicle is detected, wherein by means of the longitudinal control device when detecting a leaving a lane and a stay in a non-regular lane area provided a warning function can be issued.
  • An advantageous development of the method provides that the situation of the motor vehicle is detected by exceeding a lane boundary line. In this way, it is supported that the regular roadway area is left by means of existing sensors of the motor vehicle.
  • a further advantageous development of the method provides that the situation of the motor vehicle is detected by means of a camera system. In this way, it is advantageously supported that the leaving of a regular roadway section provided for the motor vehicle can be sensed by means of a simple camera system.
  • a further advantageous development of the method provides that the motor vehicle is guided transversely to the roadway after the detected situation. This supports that the motor vehicle is as far as possible to the right in an area in which it does not interfere with the subsequent traffic is performed.
  • a further advantageous development of the method provides that the engine torque of the motor vehicle is automatically reduced after leaving the road. As a result, the fastest possible stop of the motor vehicle is supported, for example by means of an electronically controlled brake.
  • a further advantageous development of the method provides that at least one of the following actions of the motor vehicle is initiated by the longitudinal control device: flashing, dispensing of visual and / or audible warning signals, automatic transmission of an emergency call, automatic activation of a handbrake of the motor vehicle, connection to a central Setup via internet.
  • flashing dispensing of visual and / or audible warning signals
  • automatic transmission of an emergency call automatic activation of a handbrake of the motor vehicle
  • connection to a central Setup via internet This supports a large number of possible functionalities by means of which it is possible to respond efficiently to a possible emergency situation of the driver of the motor vehicle.
  • a further advantageous embodiment of the method provides that the method is deactivated with at least one of the following actions: switching off the hazard warning lights, setting the turn signal in the direction of the road, pressing the accelerator pedal. In this way it is supported that the system can be terminated in various ways defined and the vehicle can resume its normal operation on the road.
  • a traffic flow is advantageously affected as little as possible
  • Fig. 1 is a schematic block diagram of an embodiment of the longitudinal control device according to the invention.
  • Fig. 2 is a schematic flow diagram of an embodiment of the method according to the invention.
  • a warning system is proposed in a motor vehicle, which emits a warning signal to the rest of the traffic in the event of using a standstill.
  • FIG. 1 shows a basic block diagram of an embodiment of a longitudinal control device 400 provided therefor of an automatically driven motor vehicle.
  • the longitudinal control device 400 is initially provided by means of a detection device 100 data of an environment of the motor vehicle.
  • the detection device 100 may comprise a camera 10 of the motor vehicle, by means of which e.g. a recognition and evaluation of lane boundary lines is feasible.
  • the detection device 100 may further comprise a connection device 20 to a cloud, a radar sensor 30, an ultrasonic sensor 40 and map data 50 (eg local data or data from the cloud).
  • map data 50 eg local data or data from the cloud.
  • the position detection of the motor vehicle can also be carried out by means of a differential GPS system (not shown), which with the map data 50 can detect a very precise position of the motor vehicle on the road. Additional map data or live information from other sources can also be used here, as there are also streaks that may only be used temporarily and that can only be detected by means of up-to-date map data.
  • the aforementioned detection direction 100 it is provided to detect whether the motor vehicle is on the regular lane or on an area not intended for regular driving of the motor vehicle, for example a hard shoulder, an emergency stop, a green belt next to the lane, etc.
  • Data of the detection direction 100 are subsequently supplied to a situation recognition device 200, which performs a situation recognition of the motor vehicle.
  • the situation recognition device 200 it is analyzed that the motor vehicle leaves the normal carriageway and moves e.g. approaches to the hard shoulder, or along there or stops there.
  • an emergency functionality is now activated by means of an assistant device 300.
  • an eCall menu English, emergency call
  • a central facility eg an emergency call center
  • a blinking device 320 eg a hazard warning system
  • a connection device 330 is activated, via which a connection of the motor vehicle to the Internet is carried out and data are transmitted to an operation center.
  • a steering intervention by means of a steering device 340 eg electric power steering EPS, engl, electrical power steering
  • the motor vehicle is defined in a safe position on the hard shoulder with sufficient distance to a guardrail is performed.
  • the motor vehicle is braked by means of a braking device 350, as a result of which the motor vehicle, defined on the hard shoulder, comes to a standstill comes.
  • a braking device 350 for this purpose it can also be provided that the engine torque is automatically reduced.
  • the warning of the traffic can be done by means of Car2E or E2Car, whereby the subsequent traffic is informed about the current situation of the motor vehicle on the hard shoulder, for example by means of suitable technical means (eg display panels, radio, radio, etc.).
  • the longitudinal control device 400 can also be used in tunnels, it being possible in this case for a warning functionality to be implemented via a tunnel radio or a display system of the tunnel.
  • the longitudinal control device 400 is technically preferably implemented as a software in one or more electronic control units (not shown) of the motor vehicle. In this way, a variety of functions can be distributed in a desired manner to individual control units, thereby providing redundancies. Furthermore, it is supported that an adaptability and an update of the longitudinal control device 400 are possible in a simple manner.
  • Possible termination criteria for a defined termination of a functionality of the assistance device 300 may be, for example, a manual deactivation of the hazard warning lights, a setting of the turn signal in the direction of the traffic lane or an actuation of an accelerator pedal.
  • FIG. 2 shows a basic flow chart of an embodiment of the method according to the invention for operating a longitudinal control device of an automatically movable motor vehicle.
  • a situation of the motor vehicle is detected.
  • a step 510 if it is detected that the motor vehicle is leaving a lane and is in an area not provided as a regular lane, a signal is emitted to other road users.
  • the present invention proposes a method for operating a longitudinal control device and a longitudinal control device of an automatically driven motor vehicle, by means of which it is supported that a subsequent traffic informs of an irregular situation of the driver (eg health problems) or of the motor vehicle (eg technical defect) is, whereby appropriate auxiliary functions for the driver of the affected motor vehicle are provided.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Transportation (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Automation & Control Theory (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Acoustics & Sound (AREA)
  • Traffic Control Systems (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)

Abstract

A method for operating a longitudinal control system (400) for an automatically drivable motor vehicle, comprising the steps of: detecting a situation of the motor vehicle, such that if it is detected that the motor vehicle is leaving a traffic lane and driving in an area which is not intended as a regular traffic lane a signal is sent to other road users.

Description

Beschreibung Titel  Description title
Verfahren zum Betreiben einer Längsregelungsvorrichtung eines automatisiert fahrbaren Kraftfahrzeugs  Method for operating a longitudinal control device of an automatically driven motor vehicle
Die Erfindung betrifft ein Verfahren zum Betreiben einer Längsregelungsvorrichtung eines automatisiert fahrbaren Kraftfahrzeugs. Die Erfindung betrifft ferner eine Längsregelungsvorrichtung für ein automatisiert fahrbares Kraftfahrzeug. The invention relates to a method for operating a longitudinal control device of an automatically driven motor vehicle. The invention further relates to a longitudinal control device for an automated mobile vehicle.
Stand der Technik State of the art
Ein Ausstattungsgrad von Fahrerassistenzsystemen von Kraftfahrzeugen nimmt stetig zu und wird bis hin zum automatisierten bzw. autonomen Fahren weiterentwickelt. An equipment level of driver assistance systems of motor vehicles is steadily increasing and is further developed up to automated or autonomous driving.
Im Stand der Technik sind Konzepte des automatisierten Fahrbetriebs für Kraftfahrzeuge bekannt. Dazu werden zu einer Erfassung eines Umfelds des Kraftfahrzeugs verschiedene Umfeldsensoren benutzt. Bekannte Systeme, wie zum Beispiel Abstandsregeltempomaten (engl. Adaptive Cruise Control, ACC), Spurhalteassistenten, Totwinkel-Erkennungssysteme, Automatische Notbremssysteme usw. sind zur Umsetzung eines teilautonomen Fahrbetriebes mit Längsregler, Querführung, usw. des Kraftfahrzeugs vorgesehen. In the prior art concepts of automated driving for motor vehicles are known. For this purpose, different environmental sensors are used to detect an environment of the motor vehicle. Known systems, such as adaptive cruise control (ACC), lane departure warning systems, blind spot detection systems, automatic emergency braking systems, etc. are provided for implementing a semi-autonomous driving operation with longitudinal regulator, lateral guide, etc. of the motor vehicle.
Es sind ferner Systeme bekannt, mit denen Fahrbahnen voneinander unterschieden werden können. Systems are also known with which roadways can be distinguished from one another.
Offenbarung der Erfindung Disclosure of the invention
Eine Aufgabe der Erfindung ist es, eine verbesserte Längsregelungsvorrichtung für ein automatisiert fahrendes Kraftfahrzeug bereitzustellen. Die Aufgabe wird gemäß einem ersten Aspekt gelöst mit einem Verfahren zum Betreiben einer Längsregelungsvorrichtung eines automatisiert fahrbaren Kraftfahrzeugs, aufweisend die Schritte: An object of the invention is to provide an improved longitudinal control device for an automated motor vehicle. The object is achieved according to a first aspect with a method for operating a longitudinal control device of an automatically driven motor vehicle, comprising the steps:
- Erfassen einer Situation des Kraftfahrzeugs, wobei im Falle, dass erkannt wird, dass das Kraftfahrzeug eine Fahrbahn verlässt und sich in einem nicht als reguläre Fahrbahn vorgesehenen Bereich aufhält, ein Signal an andere Verkehrsteilnehmer abgegeben wird.  Detecting a situation of the motor vehicle, wherein in the event that it is detected that the motor vehicle leaves a lane and is in an area not provided as a regular lane, a signal is delivered to other road users.
Gemäß einem zweiten Aspekt wird die Aufgabe gelöst mit einer Längsregelungs- Vorrichtung für ein automatisiert fahrbares Kraftfahrzeug, wobei mittels derAccording to a second aspect, the object is achieved with a longitudinal control device for an automated mobile vehicle, wherein by means of
Längsregelungsvorrichtung ein Umfeld des Kraftfahrzeugs erfassbar ist, wobei mittels der Längsregelungsvorrichtung bei einem Erkennen eines Verlassens einer Fahrbahn und eines Aufenthalts in einem nicht als reguläre Fahrbahn vorgesehenen Bereich eine Warnfunktion abgebbar ist. Longitudinal control device, an environment of the motor vehicle is detected, wherein by means of the longitudinal control device when detecting a leaving a lane and a stay in a non-regular lane area provided a warning function can be issued.
Auf diese Weise ist vorteilhaft ermöglicht, dass im Falle, dass das Kraftfahrzeug ungeplant die Fahrbahn verlässt und sich in einem nicht als reguläre Fahrbahn vorgesehenen Bereich (zum Beispiel Standstreifen, Nothaltebucht, usw.) aufhält, ein Warnsignal an nachfolgende Verkehrsteilnehmer abgegeben wird. Dadurch ist den nachfolgenden Verkehrsteilnehmern ermöglicht, eine möglicherweise un- geplante Verkehrssituation zu berücksichtigen und entsprechende Maßnahmen zu ergreifen, insbesondere eine Aufmerksamkeit zu erhöhen. In this way it is advantageously made possible that in the event that the motor vehicle leaves the road in an unplanned manner and stays in an area not provided as a regular roadway (for example hard shoulder, emergency stop, etc.), a warning signal is emitted to following road users. This makes it possible for the following road users to take into account a potentially unplanned traffic situation and to take appropriate measures, in particular to increase attention.
Vorteilhafte Weiterbildungen des Verfahrens und der Längsregelungsvorrichtung sind Gegenstand von abhängigen Ansprüchen. Advantageous developments of the method and the longitudinal control device are the subject of dependent claims.
Eine vorteilhafte Weiterbildung des Verfahrens sieht vor, dass die Situation des Kraftfahrzeugs durch ein Überschreiten einer Fahrbahnbegrenzungslinie erkannt wird. Auf diese Weise ist unterstützt, dass mittels vorhandener Sensorik des Kraftfahrzeugs der reguläre Fahrbahnbereich verlassen wird. An advantageous development of the method provides that the situation of the motor vehicle is detected by exceeding a lane boundary line. In this way, it is supported that the regular roadway area is left by means of existing sensors of the motor vehicle.
Eine weitere vorteilhafte Weiterbildung des Verfahrens sieht vor, dass die Situation des Kraftfahrzeugs mittels eines Kamerasystems erkannt wird. Auf diese Weise ist vorteilhaft unterstützt, dass mittels eines einfachen Kamerasystems das Verlassen eines für das Kraftfahrzeug vorgesehenen regulären Fahrbahnabschnitts sensiert werden kann. Eine weitere vorteilhafte Weiterbildung des Verfahrens sieht vor, dass das Kraftfahrzeug nach erkannter Situation quer zur Fahrbahn geführt wird. Dadurch ist unterstützt, dass das Kraftfahrzeug möglichst weit rechts wird in einen Bereich, in welchem es den nachfolgenden Verkehr nicht stört, geführt wird. A further advantageous development of the method provides that the situation of the motor vehicle is detected by means of a camera system. In this way, it is advantageously supported that the leaving of a regular roadway section provided for the motor vehicle can be sensed by means of a simple camera system. A further advantageous development of the method provides that the motor vehicle is guided transversely to the roadway after the detected situation. This supports that the motor vehicle is as far as possible to the right in an area in which it does not interfere with the subsequent traffic is performed.
Eine weitere vorteilhafte Weiterbildung des Verfahrens sieht vor, dass das Motormoment des Kraftfahrzeugs nach Verlassen der Fahrbahn automatisch verringert wird. Dadurch ist ein möglichst schneller Stillstand des Kraftfahrzeugs unterstützt, beispielsweise mittels einer elektronisch gesteuerten Bremse. A further advantageous development of the method provides that the engine torque of the motor vehicle is automatically reduced after leaving the road. As a result, the fastest possible stop of the motor vehicle is supported, for example by means of an electronically controlled brake.
Eine weitere vorteilhafte Weiterbildung des Verfahrens sieht vor, dass von der Längsregelungsvorrichtung wenigstens eine der folgenden Aktionen des Kraftfahrzeugs initiiert wird: Blinken, Abgeben von optischen und/oder akustischen Warnsignalen, Automatisches Absetzen eines Notrufs, automatisches Aktivieren einer Handbremse des Kraftfahrzeugs, Verbinden mit einer zentralen Einrichtung über Internet. Dadurch ist eine Vielzahl von möglichen Funktionalitäten unterstützt, mittels denen effizient auf eine mögliche Notsituation des Fahrers des Kraftfahrzeugs reagiert werden kann. Eine weitere vorteilhafte Weiterbildung des Verfahrens sieht vor, dass das Verfahren mit wenigstens einer der folgenden Aktionen deaktiviert wird: Abschalten des Warnblinkers, Setzen des Blinkers in Richtung der Fahrbahn, Betätigen des Gaspedals. Auf diese Weise ist unterstützt, dass das System auf verschiedene definierte Weisen wieder beendet werden kann und das Kraftfahrzeug seinen Normalbetrieb auf der Fahrbahn wieder aufnehmen kann. Ein Verkehrsfluss ist dadurch vorteilhaft möglichst wenig beeinträchtigt. A further advantageous development of the method provides that at least one of the following actions of the motor vehicle is initiated by the longitudinal control device: flashing, dispensing of visual and / or audible warning signals, automatic transmission of an emergency call, automatic activation of a handbrake of the motor vehicle, connection to a central Setup via internet. This supports a large number of possible functionalities by means of which it is possible to respond efficiently to a possible emergency situation of the driver of the motor vehicle. A further advantageous embodiment of the method provides that the method is deactivated with at least one of the following actions: switching off the hazard warning lights, setting the turn signal in the direction of the road, pressing the accelerator pedal. In this way it is supported that the system can be terminated in various ways defined and the vehicle can resume its normal operation on the road. A traffic flow is advantageously affected as little as possible.
Die Erfindung wird im Folgenden mit weiteren Merkmalen und Vorteilen anhand von zwei Figuren detailliert beschrieben. Dabei bilden alle beschriebenen oder dargestellten Merkmale für sich oder in beliebiger Kombination den Gegenstand der Erfindung, unabhängig von ihrer Zusammenfassung in den Patentansprüchen oder deren Rückbeziehung, sowie unabhängig von ihrer Formulierung bzw. Darstellung in der Beschreibung bzw. in den Figuren. Die Figuren sind vor allem dazu gedacht, die erfindungswesentlichen Prinzipien zu verdeutlichen. The invention will be described in detail below with further features and advantages with reference to two figures. All described or illustrated features, alone or in any combination form the subject matter of the invention, regardless of their summary in the claims or their dependency, as well as regardless of their formulation or representation in the description or in the figures. The figures are primarily intended to illustrate the principles essential to the invention.
In den Figuren zeigt: Fig. 1 ein prinzipielles Blockschaltbild einer Ausführungsform der erfindungsgemäßen Längsregelungsvorrichtung; und In the figures shows: Fig. 1 is a schematic block diagram of an embodiment of the longitudinal control device according to the invention; and
Fig. 2 ein prinzipielles Ablaufdiagramm einer Ausführungsform des erfindungsgemäßen Verfahrens. Fig. 2 is a schematic flow diagram of an embodiment of the method according to the invention.
Beschreibung von Ausführungsformen Description of embodiments
Auf Autobahnen oder mehrspurigen Bundesstraßen sind oftmals Standstreifen oder Nothaltebuchten vorhanden, welche von Fahrzeugen in entsprechenden Situationen (z.B. für Notfälle) genutzt werden können. Oftmals kommt es jedoch insbesondere auf Autobahnen aufgrund der hohen Differenzgeschwindigkeiten zwischen Fahrzeugen auf der Autobahn und Fahrzeugen auf den Standstreifen zu schweren Verkehrsunfällen, da der Verkehr nicht ausreichend vorgewarnt wird. On motorways or multi-lane highways, there are often hard lanes or emergency stopping bays which can be used by vehicles in appropriate situations (for example, in emergencies). Often, however, especially on highways due to the high differential speeds between vehicles on the highway and vehicles on the hard shoulder to serious traffic accidents, since the traffic is not sufficiently forewarned.
Erfindungsgemäß wird deshalb ein Warnsystem in einem Kraftfahrzeug vorgeschlagen, welches im Falle eines Benützens eines Standstreifens ein Warnsignal an den übrigen Verkehr abgibt. According to the invention therefore a warning system is proposed in a motor vehicle, which emits a warning signal to the rest of the traffic in the event of using a standstill.
Fig. 1 zeigt ein prinzipielles Blockschaltbild einer Ausführungsform einer dafür vorgesehenen Längsregelungsvorrichtung 400 eines automatisiert fahrbaren Kraftfahrzeugs. 1 shows a basic block diagram of an embodiment of a longitudinal control device 400 provided therefor of an automatically driven motor vehicle.
Der Längsregelungsvorrichtung 400 werden zunächst mittels einer Erfassungseinrichtung 100 Daten eines Umfelds des Kraftfahrzeugs bereitgestellt. Dazu kann die Erfassungseinrichtung 100 eine Kamera 10 des Kraftfahrzeugs umfassen, mittels der z.B. eine Erkennung und Bewertung von Fahrbahnbegrenzungslinien realisierbar ist. The longitudinal control device 400 is initially provided by means of a detection device 100 data of an environment of the motor vehicle. For this purpose, the detection device 100 may comprise a camera 10 of the motor vehicle, by means of which e.g. a recognition and evaluation of lane boundary lines is feasible.
Die Erfassungseinrichtung 100 kann ferner eine Anbindungseinrichtung 20 an eine Cloud, einen Radarsensor 30, einen Ultraschallsensor 40 und Kartendaten 50 (z.B. lokale Daten oder Daten aus der Cloud) umfassen. Mit den genannten Elementen ist je nach Ausstattungsvariante des Kraftfahrzeugs eine Positionserkennung des Kraftfahrzeugs verbessert möglich. Die Positionserkennung des Kraftfahrzeugs kann ferner auch mittels eines diffe- rentiellen GPS-Systems (nicht dargestellt) durchgeführt werden, welches mit den Kartendaten 50 eine sehr genaue Position des Kraftfahrzeugs auf der Fahrbahn erkennen kann. Es können hier noch zusätzliche Kartendaten oder Live- Informationen weiterer Quellen verwendet werden, da es auch Standstreifen gibt, die nur temporär benutzt werden dürfen und die nur mittels hochaktueller Kartendaten erkannt werden können. The detection device 100 may further comprise a connection device 20 to a cloud, a radar sensor 30, an ultrasonic sensor 40 and map data 50 (eg local data or data from the cloud). Depending on the equipment variant of the motor vehicle, a position recognition of the motor vehicle is possible in an improved manner with the mentioned elements. The position detection of the motor vehicle can also be carried out by means of a differential GPS system (not shown), which with the map data 50 can detect a very precise position of the motor vehicle on the road. Additional map data or live information from other sources can also be used here, as there are also streaks that may only be used temporarily and that can only be detected by means of up-to-date map data.
Mit der genannten Erfassungsrichtung 100 ist es vorgesehen zu erkennen, ob sich das Kraftfahrzeug auf der regulären Fahrbahn befindet oder auf einem nicht für den regulären Fahrbetrieb des Kraftfahrzeugs vorgesehenen Bereich, zum Beispiel einem Standstreifen, einer Nothaltebucht, einem Grünstreifen neben der Fahrbahn, usw. Die Daten der Erfassungsrichtung 100 werden in weiterer Folge einer Situations- erkennungseinrichtung 200 zugeführt, die eine Situationserkennung des Kraftfahrzeugs durchführt. Mittels der Situationserkennungseinrichtung 200 wird analysiert, dass das Kraftfahrzeug die normale Fahrbahn verlässt und sich z.B. an den Standstreifen annähert, bzw. dort entlangfährt bzw. sich dort aufhält. With the aforementioned detection direction 100, it is provided to detect whether the motor vehicle is on the regular lane or on an area not intended for regular driving of the motor vehicle, for example a hard shoulder, an emergency stop, a green belt next to the lane, etc. Data of the detection direction 100 are subsequently supplied to a situation recognition device 200, which performs a situation recognition of the motor vehicle. By means of the situation recognition device 200, it is analyzed that the motor vehicle leaves the normal carriageway and moves e.g. approaches to the hard shoulder, or along there or stops there.
In einem nächsten Schritt wird nunmehr mittels einer Assistenzeinrichtung 300 eine Notfallfunktionalität aktiviert. In a next step, an emergency functionality is now activated by means of an assistant device 300.
Diese kann zum Beispiel vorsehen, dass ein eCall Menü (engl, emergency call) 310 geöffnet wird, wodurch Daten an eine zentrale Einrichtung (z.B. eine Notrufzentrale) abgesetzt werden. Ferner kann vorgesehen sein, dass automatisch eine Blinkeinrichtung 320 (z.B. eine Warnblinkanlage) aktiviert wird. Ferner kann vorgesehen sein, dass eine Anbindungseinrichtung 330 aktiviert wird, über die eine Verbindung des Kraftfahrzeugs mit dem Internet durchgeführt wird und Da- ten an eine Einsatzzentrale übermittelt werden. Ferner kann vorgesehen sein, dass ein Lenkeingriff mittels einer Lenkungseinrichtung 340 (z.B. elektrische Servolenkung EPS, engl, electrical power steering) durchgeführt wird, wodurch das Kraftfahrzeug definiert in eine möglichst sichere Position am Standstreifen mit ausreichendem Abstand zur einer Leitplanke geführt wird. Ferner kann auch vor- gesehen sein, dass das Kraftfahrzeug mittels einer Bremseinrichtung 350 abgebremst wird, wodurch das Kraftfahrzeug am Standstreifen definiert zum Stillstand kommt. Zu diesem Zweck kann auch vorgesehen sein, dass das Motormoment automatisch reduziert wird. Die Warnung des Verkehrs kann mittels Car2E bzw. E2Car erfolgen, wodurch der nachfolgende Verkehr beispielsweise über geeignete technische Mittel (z.B. Anzeigetafeln, Funk, Radio, usw.) über die aktuelle Situation des Kraftfahrzeugs am Standstreifen informiert wird. This can for example provide that an eCall menu (English, emergency call) 310 is opened, whereby data to a central facility (eg an emergency call center) are issued. Furthermore, it can be provided that a blinking device 320 (eg a hazard warning system) is automatically activated. Furthermore, it can be provided that a connection device 330 is activated, via which a connection of the motor vehicle to the Internet is carried out and data are transmitted to an operation center. Furthermore, it can be provided that a steering intervention by means of a steering device 340 (eg electric power steering EPS, engl, electrical power steering) is performed, whereby the motor vehicle is defined in a safe position on the hard shoulder with sufficient distance to a guardrail is performed. Furthermore, it can also be provided that the motor vehicle is braked by means of a braking device 350, as a result of which the motor vehicle, defined on the hard shoulder, comes to a standstill comes. For this purpose it can also be provided that the engine torque is automatically reduced. The warning of the traffic can be done by means of Car2E or E2Car, whereby the subsequent traffic is informed about the current situation of the motor vehicle on the hard shoulder, for example by means of suitable technical means (eg display panels, radio, radio, etc.).
Vorteilhaft ist die Längsregelungseinrichtung 400 auch in Tunnels verwendbar, wobei in diesem Fall vorgesehen sein kann, dass eine Warnfunktionalität über ein Tunnelfunk- oder ein Displaysystem des Tunnels realisiert wird. Advantageously, the longitudinal control device 400 can also be used in tunnels, it being possible in this case for a warning functionality to be implemented via a tunnel radio or a display system of the tunnel.
Denkbar ist auch, dass in den an die Notrufzentrale übermittelten Daten auch Gesundheitsinformationen (z.B. Puls) über den Fahrer einbezogen werden. Diese können vorab mittels geeigneter Sensoren erfasst worden sein und können benutzt werden, um entsprechende Hilfsmaßnahmen zu veranlassen. It is also conceivable that in the data transmitted to the emergency call center also health information (for example pulse) about the driver is included. These may have been detected in advance by means of suitable sensors and can be used to initiate appropriate assistance measures.
Die Längsregelungsvorrichtung 400 ist technisch vorzugsweise als eine Software in einem oder in mehreren elektronischen Steuergeräten (nicht dargestellt) des Kraftfahrzeugs implementiert. Auf diese Weise kann eine Funktionsvielfalt auf gewünschte Weise auf einzelne Steuergeräte verteilt und dadurch Redundanzen bereitgestellt werden. Ferner ist dadurch unterstützt, dass eine Adaptierbarkeit und eine Aktualisierung der Längsregelungsvorrichtung 400 auf einfache Weise möglich sind. The longitudinal control device 400 is technically preferably implemented as a software in one or more electronic control units (not shown) of the motor vehicle. In this way, a variety of functions can be distributed in a desired manner to individual control units, thereby providing redundancies. Furthermore, it is supported that an adaptability and an update of the longitudinal control device 400 are possible in a simple manner.
Mögliche Abbruchkriterien für eine definierte Beendigung einer Funktionalität der Assistenzeinrichtung 300 können beispielsweise sein: ein manuelles Abschalten des Warnblinkers, ein Setzen des Blinkers in Richtung der Fahrspur oder ein Betätigen eines Gaspedals. Possible termination criteria for a defined termination of a functionality of the assistance device 300 may be, for example, a manual deactivation of the hazard warning lights, a setting of the turn signal in the direction of the traffic lane or an actuation of an accelerator pedal.
Fig. 2 zeigt ein prinzipielles Ablaufdiagramm einer Ausführungsform des erfindungsgemäßen Verfahrens zum Betreiben einer Längsregelungsvorrichtung eines automatisiert fahrbaren Kraftfahrzeugs. FIG. 2 shows a basic flow chart of an embodiment of the method according to the invention for operating a longitudinal control device of an automatically movable motor vehicle.
In einem Schritt 500 wird eine Situation des Kraftfahrzeugs erfasst. In einem Schritt 510 wird im Falle, dass erkannt wird, dass das Kraftfahrzeug eine Fahrbahn verlässt und sich in einem nicht als reguläre Fahrbahn vorgesehenen Bereich aufhält, ein Signal an andere Verkehrsteilnehmer abgegeben. In a step 500, a situation of the motor vehicle is detected. In a step 510, if it is detected that the motor vehicle is leaving a lane and is in an area not provided as a regular lane, a signal is emitted to other road users.
Zusammenfassend werden mit der vorliegenden Erfindung ein Verfahren zum Betreiben einer Längsregelungsvorrichtung und eine Längsregelungsvorrichtung eines automatisiert fahrbaren Kraftfahrzeugs vorgeschlagen, mittels denen unterstützt ist, dass ein nachfolgender Verkehr von einer unregelmäßigen Situation des Fahrers (z.B. gesundheitliche Probleme) oder des Kraftfahrzeugs (z.B. technischer Defekt) informiert ist, wodurch geeignete Hilfsfunktionalitäten für den Fahrer des betroffenen Kraftfahrzeugs bereitgestellt werden. In summary, the present invention proposes a method for operating a longitudinal control device and a longitudinal control device of an automatically driven motor vehicle, by means of which it is supported that a subsequent traffic informs of an irregular situation of the driver (eg health problems) or of the motor vehicle (eg technical defect) is, whereby appropriate auxiliary functions for the driver of the affected motor vehicle are provided.
Auf diese Weise kann ein Sicherheitsniveau im Straßenverkehr erhöht und ein homogener Verkehrsfluss verbessert sein. In this way, a level of road safety can be increased and a homogeneous traffic flow can be improved.
Der Fachmann wird die Merkmale der Erfindung in geeigneter Weise abändern und/oder miteinander kombinieren, ohne vom Kern der Erfindung abzuweichen. One skilled in the art will suitably modify and / or combine the features of the invention without departing from the gist of the invention.

Claims

Ansprüche claims
1 . Verfahren zum Betreiben einer Längsregelungsvorrichtung (400) eines automatisiert fahrbaren Kraftfahrzeugs, aufweisend die Schritte: 1 . A method of operating a longitudinal control device (400) of an automated motor vehicle, comprising the steps of:
Erfassen einer Situation des Kraftfahrzeugs, wobei im Falle, dass erkannt wird, dass das Kraftfahrzeug eine Fahrbahn verlässt und sich in einem nicht als reguläre Fahrbahn vorgesehenen Bereich aufhält, ein Signal an andere Verkehrsteilnehmer abgegeben wird.  Detecting a situation of the motor vehicle, wherein in the event that it is detected that the motor vehicle leaves a lane and is in an area not provided as a regular lane, a signal is delivered to other road users.
2. Verfahren nach Anspruch 1 , wobei die Situation des Kraftfahrzeugs durch ein Überschreiten einer Fahrbahnbegrenzungslinie erkannt wird. 2. The method of claim 1, wherein the situation of the motor vehicle is detected by exceeding a lane boundary line.
3. Verfahren nach Anspruch 1 oder 2, wobei die Situation des Kraftfahrzeugs mittels eines Kamerasystems (10) erkannt wird. 3. The method of claim 1 or 2, wherein the situation of the motor vehicle by means of a camera system (10) is detected.
4. Verfahren nach einem der Ansprüche 1 bis 3, wobei das Kraftfahrzeug nach erkannter Situation quer zur Fahrbahn geführt wird. 4. The method according to any one of claims 1 to 3, wherein the motor vehicle is guided by recognized situation across the roadway.
5. Verfahren nach einem der vorhergehenden Ansprüche, wobei das Motormoment des Kraftfahrzeugs nach Verlassen der Fahrbahn automatisch verringert wird. 5. The method according to any one of the preceding claims, wherein the engine torque of the motor vehicle is automatically reduced after leaving the road.
6. Verfahren nach einem der vorhergehenden Ansprüche, wobei von der 6. The method according to any one of the preceding claims, wherein of the
Längsregelungsvorrichtung (400) wenigstens eine der folgenden Aktionen des Kraftfahrzeugs initiiert wird: Blinken, Abgeben von optischen und/oder akustischen Warnsignalen, Automatisches Absetzen eines Notrufs, automatisches Aktivieren einer Handbremse des Kraftfahrzeugs, Verbinden mit einer zentralen Einrichtung über Internet.  Longitudinal control device (400) is initiated at least one of the following actions of the motor vehicle: flashing, giving off visual and / or audible warning signals, automatic transmission of an emergency call, automatic activation of a handbrake of the motor vehicle, connecting to a central device via the Internet.
7. Verfahren nach einem der vorhergehenden Ansprüche, wobei das Verfahren mit wenigstens einer der folgenden Aktionen deaktiviert wird: Abschalten des Warnblinkers, Setzen des Blinkers in Richtung der Fahrbahn, Betätigen des Gaspedals. 7. The method of claim 1, wherein the method is deactivated with at least one of the following actions: switching off the hazard warning lights, setting the turn signal in the direction of the road, pressing the accelerator pedal.
8. Längsregelungsvorrichtung (400) für ein automatisiert fahrbares Kraftfahrzeug, wobei mittels der Längsregelungsvorrichtung (400) ein Umfeld des Kraftfahrzeugs erfassbar ist, wobei mittels der Längsregelungsvorrichtung (400) bei einem Erkennen eines Verlassens einer Fahrbahn und eines Aufenthalts in einem nicht als reguläre Fahrbahn vorgesehenen Bereich eine Warnfunktion abgebbar ist. 8. longitudinal control device (400) for an automated mobile motor vehicle, by means of the longitudinal control device (400) an environment of the motor vehicle is detectable, wherein by means of the longitudinal control device (400) when detecting a leaving a lane and a stay in a not provided as a regular lane Area a warning function can be issued.
9. Längsregelungsvorrichtung (400) nach Anspruch 8, wobei die Situation des Kraftfahrzeugs mit wenigstens einem aus Folgenden erkannt wird: GPS, Radarsensor, Kartendaten aus dem Internet. 9. The longitudinal control device (400) according to claim 8, wherein the situation of the motor vehicle is recognized by at least one of the following: GPS, radar sensor, map data from the Internet.
10. Computerprogrammprodukt mit Programmcodemitteln zur Durchführung des Verfahrens nach einem der Ansprüche 1 bis 7, wenn es auf wenigstens einer elektronischen Steuerungseinrichtung abläuft oder auf einem computerlesbaren Datenträger gespeichert ist. 10. Computer program product with program code means for carrying out the method according to one of claims 1 to 7, when it runs on at least one electronic control device or is stored on a computer-readable medium.
PCT/EP2015/081274 2015-01-26 2015-12-28 Method for operating a longitudinal control system for an automatically drivable motor vehicle WO2016119985A1 (en)

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DE102018201067A1 (en) * 2018-01-24 2019-07-25 Robert Bosch Gmbh Method and device for operating a vehicle
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