| CPC B60W 30/143 (2013.01) [B60W 40/072 (2013.01); B60W 40/105 (2013.01); B60W 40/109 (2013.01); B60W 50/00 (2013.01); B60W 2050/0083 (2013.01); B60W 2420/42 (2013.01); B60W 2420/52 (2013.01); B60W 2520/125 (2013.01); B60W 2552/30 (2020.02); B60W 2556/35 (2020.02)] | 12 Claims |
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1. A cruise control system for a motor vehicle, comprising:
a processor, wherein the processor is configured to generate an output setpoint value for a speed of the vehicle; and
an actuating device;
wherein:
the processor is configured to control the actuating device to perform an intervention into a drive and/or braking system of the vehicle by which to bring the speed of the vehicle to the output setpoint value generated by the processor;
the generation of the output setpoint value for the speed is performed by:
determining a plurality of setpoint values for the output setpoint value, the plurality of setpoint values including at least:
a first setpoint value for the output setpoint value based on a first roadway curvature currently negotiated by the vehicle at a current position of the vehicle; and
a second setpoint value for the output setpoint value based on a second roadway curvature that the vehicle is predicted to negotiate at a later point in time at a focal point that is at a distance from the current position; and
selecting, as the output setpoint value, a minimum of the plurality of setpoint values; and
the cruise control system includes at least two modules including a base module configured to generate a base one of the following features (a)-(b):
(a) the second roadway curvature is determined by obtaining a mean value of a plurality of local curvatures computed over a time period during which the focal point moves along a road; and
(b) the selecting is performed continuously over time, so that the output setpoint value changes over time, from moment to moment by discrete ones of a plurality of instances of the minimum selection performed, respectively, at each of the moments, to be set to whichever of the plurality of setpoint values is the minimum at the respective current one of the moments based on respective second roadway curvatures depending on application of the focal point at the respective current one of the moments, and the processor is configured so that, after the second setpoint value drops over time to a minimum value determined at a particular point in time, the second setpoint value through used as one of the plurality of setpoint values from which the minimum is selected cannot increase again after the particular point in time until passage of a predefined time period from the particular point in time even when the second roadway curvature that the vehicle is predicted to negotiate, based on which the second setpoint value is determined decreases.
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