US 12,304,483 B2
Method and driver-assistance system for operating a single-track or multi-track vehicle
Michael Schoenherr, Renningen-Malmsheim (DE); Mathieu Grelaud, Ludwigsburg (DE); and Thorsten Schori, Stuttgart (DE)
Assigned to ROBERT BOSCH GMBH, Stuttgart (DE)
Appl. No. 17/910,513
Filed by Robert Bosch GmbH, Stuttgart (DE)
PCT Filed Mar. 1, 2021, PCT No. PCT/DE2021/100205
§ 371(c)(1), (2) Date Sep. 9, 2022,
PCT Pub. No. WO2021/254553, PCT Pub. Date Dec. 23, 2021.
Claims priority of application No. 10 2020 207 502.6 (DE), filed on Jun. 17, 2020.
Prior Publication US 2023/0137313 A1, May 4, 2023
Int. Cl. B60W 30/16 (2020.01); B60W 50/14 (2020.01)
CPC B60W 30/16 (2013.01) [B60W 50/14 (2013.01); B60W 2050/143 (2013.01); B60W 2050/146 (2013.01); B60W 2554/4041 (2020.02); B60W 2554/802 (2020.02)] 9 Claims
OG exemplary drawing
 
1. A method for operating an ego single-track or multi-track vehicle including a driver-assistance system, the method comprising the following steps:
setting values of driver-assistance settings, setting an actual vehicle speed, and setting an actual vehicle distance of the ego vehicle from a leading vehicle based on (I) a speed range that is dynamically adjusted according to sensor capabilities that are dependent on sensed current environmental conditions, (II) a system-defined speed-dependent safety distance that must be maintained from the ego vehicle to the leading vehicle for the driver-assistance system to be able to control the ego vehicle to avoid collisions with the leading vehicle, (III) a speed-dependent distance limit value, a dropping of the actual vehicle distance to below which is responded to by the driver-assistance system controls the actual vehicle speed in order to maintain a safe value for the actual distance and (IV) a speed-dependent distance buffer region that extends between the system-defined speed-dependent safety distance and the speed-dependent distance limit value, wherein the setting of the values includes:
in response to an operating element of the ego vehicle being manipulated to a new position during a predetermined system state that is defined at least by that (I) the actual vehicle speed is within the speed range and (II) the actual vehicle distance is greater than the speed-dependent distance limit value, setting an acceleration target value in correspondence with the new position; and
in response to the operating element of the ego vehicle being manipulated to a further new position during a further predetermined system state that is defined at least by that (I) the actual vehicle speed is below a target speed and (II) the actual vehicle distance is within the distance buffer region, bringing the actual vehicle speed towards a speed value in correspondence with the further new position, but at an acceleration selected by the driver-assistance system according to a target distance (i) that is less than the speed-dependent distance limit value and (ii) that had been previously set by a prior manipulation of the operating element;
in response to the actual vehicle speed being raised, by manipulation of the operating element, to a speed value that is near, by a predetermined amount, a maximum value of the speed range, providing a warning signal to a driver of the vehicle; and
controlling the actual vehicle distance while maintaining the actual vehicle speed of the ego vehicle within the speed range according to the target distance that is in the speed-dependent distance buffer region, the acceleration target value, and the target speed.