DE19620929A1 - Longitudinal control system for motor vehicles with accelerator pedal with feel characteristic - Google Patents
Longitudinal control system for motor vehicles with accelerator pedal with feel characteristicInfo
- Publication number
- DE19620929A1 DE19620929A1 DE1996120929 DE19620929A DE19620929A1 DE 19620929 A1 DE19620929 A1 DE 19620929A1 DE 1996120929 DE1996120929 DE 1996120929 DE 19620929 A DE19620929 A DE 19620929A DE 19620929 A1 DE19620929 A1 DE 19620929A1
- Authority
- DE
- Germany
- Prior art keywords
- vehicle
- restoring force
- longitudinal
- distance
- speed
- Prior art date
- Legal status (The legal status 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 status listed.)
- Withdrawn
Links
Classifications
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- 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, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/14—Adaptive cruise control
- B60W30/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
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- 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
- B60K26/00—Arrangements or mounting of propulsion unit control devices in vehicles
- B60K26/02—Arrangements or mounting of propulsion unit control devices in vehicles of initiating means or elements
- B60K26/021—Arrangements or mounting of propulsion unit control devices in vehicles of initiating means or elements with means for providing feel, e.g. by changing pedal force characteristics
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- 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
- B60K31/00—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator
- B60K31/0008—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator including means for detecting potential obstacles in vehicle path
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T2201/00—Particular use of vehicle brake systems; Special systems using also the brakes; Special software modules within the brake system controller
- B60T2201/12—Pre-actuation of braking systems without significant braking effect; Optimizing brake performance by reduction of play between brake pads and brake disc
Abstract
Description
Die Erfindung betrifft eine Vorrichtung zur Längsregelung eines Fahrzeuges nach dem Oberbegriff des Patentanspruches 1.The invention relates to a device for longitudinal control of a vehicle according to the preamble of Claim 1.
Bei den gattungsgemäßen Längsregelsystemen handelt es sich um Längsführungssysteme, die beispielsweise als sogenannte Tempostaten (eingetragenes Warenzeichen der VDO Adolf Schindling AG) ausgeführt sind. Tempostaten steuern die das Fahrzeug antreibende Brennkraftmaschine so, daß eine gesetzte Geschwindigkeit als vorgegebener Parameter eingehalten wird. Andere Längsführungssysteme verwenden als Regelgröße neben der Geschwindigkeit des Fahrzeuges, auch den Abstand zum vorausfahrenden Fahrzeug: sobald ein vorausfahrendes Fahrzeug erkannt wird, wird ein Soll-Abstand berechnet, und dieser Soll-Abstand wird anstelle der gewählten Geschwindigkeit eingeregelt, sobald der Abstand zum vorausfahrenden Fahrzeug kleiner als der Soll-Abstand wird. Greift der Fahrer in die Regelung beispielsweise durch Bremsen oder Beschleunigen ein, so wird das Längsregelsystem abgeschaltet. Somit schließen sich die Längsregelung des Fahrzeuges durch das Längsregelsystem und den Fahrer gegenseitig aus.The longitudinal control systems of the generic type are longitudinal guidance systems which for example as so-called tempo dates (registered trademark of VDO Adolf Schindling AG) are executed. Tempo data control the engine driving the vehicle so that a set speed is maintained as a predetermined parameter. Other Longitudinal guidance systems use as a control variable in addition to the speed of the vehicle, too the distance to the vehicle in front: as soon as a vehicle in front is detected, a target distance is calculated, and this target distance is used instead of the selected speed adjusted as soon as the distance to the vehicle in front becomes smaller than the target distance. If the driver intervenes in the control, for example by braking or accelerating, it will Longitudinal control system switched off. Thus, the longitudinal control of the vehicle is closed by the Longitudinal control system and the driver mutually.
Aus der EP 0 348 691 A2 ist ein Verfahren und eine Vorrichtung bekannt, bei dem in Verbindung mit einem Abstandswarngerät ein haptisches Signal abgegeben wird, wenn ein Mindestabstand zum vorausfahrenden Fahrzeug unterschritten ist. Derartige haptische Signale können Schwingungen des Fahrzeuges oder seiner Teile wie Lenkrad oder Fahrersitz sein.From EP 0 348 691 A2 a method and a device is known in which in connection with a haptic signal is given to a distance warning device if a minimum distance to the vehicle in front is undercut. Such haptic signals can vibrate the Vehicle or its parts such as steering wheel or driver's seat.
Es ist gegenüber diesem Stand der Technik Aufgabe der Erfindung, eine Längsregelung für Fahrzeuge zu schaffen, die eine parallele Längsregelung des Fahrzeuges durch den Fahrer und ein Längsregelsystem ermöglichst.Compared to this prior art, it is the object of the invention to provide longitudinal control for vehicles to create a parallel longitudinal regulation of the vehicle by the driver and a Longitudinal control system possible.
Diese Aufgabe wird mit den Merkmalen des Patentanspruches 1 gelöst. Hierzu wird eine Vorrichtung zur Beeinflussung eines Fahrers eines Kraftfahrzeuges vorgeschlagen, die aus einem Geschwindigkeitsgeber, einem Abstandsgeber, einem Längsregler und einem Einstellelement zur Aufbringung einer Rückstellkraft an einem Leistungssteuerorgan besteht. Der Längsregler steuert nun das Einstellelement derart an, daß bei einer Überschreitung eines Vorgabewertes des Längsreglers eine der Abweichung proportionale Rückstellkraft erzeugt wird. Hiermit wird der Fahrer in die vom Längsregler überwachte Regelstrecke mit ein bezogen, und erhält über die Rückstellkraft ein deutliches Signal für die Regelabweichung. Gleichzeitig behält der Fahrer zu jedem Zeitpunkt die volle Kontrolle über die Längsführung des Fahrzeuges, da er nun zu keinem Zeitpunkt mehr die Kontrolle über das Leistungssteuerorgan abgibt. This object is achieved with the features of claim 1. For this purpose, a device proposed to influence a driver of a motor vehicle, which from a Speed sensor, a distance sensor, a linear regulator and an adjusting element for Application of a restoring force to a performance control body. The linear regulator now controls the setting element in such a way that when a preset value of the series regulator is exceeded a restoring force proportional to the deviation is generated. Hereby the driver is in the The series controller monitors the controlled system and receives a clear one from the restoring force Control deviation signal. At the same time, the driver remains in full control at all times about the longitudinal guidance of the vehicle, since he is now no longer in control of the vehicle Power tax body.
Eine vorteilhafte Weiterbildung der Erfindung ist in dem Unteranspruch dargestellt.An advantageous development of the invention is shown in the subclaim.
So wird vorgeschlagen, bei Überschreitung des Vorgabewertes einen Sprung in der Rückstellkraft zu erzeugen, der für den Fahrer in der Betätigung des Leistungssteuerorganes als Druckpunkt spürbar ist. Durch diese Maßnahme wird dem Fahrer nicht nur das Maß der Regelabweichung mitgeteilt, sondern darüber hinaus ist es ihm möglich, das Fahrzeug stets entsprechend dem Vorgabewert zu steuern, indem er das Leistungssteuerorgan stets am deutlich spürbaren Druckpunkt hält.So it is proposed to jump in the restoring force if the specified value is exceeded generate that the driver can feel as a pressure point in the actuation of the power control element is. This measure not only informs the driver of the extent of the control deviation, it is also possible for him to always lock the vehicle according to the specified value control by always keeping the power control element at the clearly noticeable pressure point.
Die Erfindung ist nachstehend anhand des in den Figuren dargestellten Ausführungsbeispieles näher erläutert.The invention is described in more detail below on the basis of the exemplary embodiment shown in the figures explained.
Es zeigenShow it
Fig. 1 in einem Schaubild zwei hintereinanderfahrende Kraftfahrzeuge zur Verdeutlichung der Wirkung der Erfindung und Fig. 1 in a diagram two motor vehicles driving one behind the other to illustrate the effect of the invention and
Fig. 2 ein Blockschaltbild der erfindungsgemäßen Vorrichtung. Fig. 2 is a block diagram of the device according to the invention.
Anhand des Schaubildes nach Fig. 1 soll die der Erfindung zugrundeliegende Fahrsituation kurz erläutert werden. Auf einer Fahrbahn 1 bewegt sich ein erstes Fahrzeug 2 mit einer Geschwindigkeit v₁. Dem ersten Fahrzeug 2 folgt ein zweites Fahrzeug 3 mit einer Geschwindigkeit v₂. Das zweite Fahrzeug 3 ist mit einem Abstandsregler ACC als Längsführungssystem ausgestattet.The driving situation on which the invention is based will be briefly explained with the aid of the diagram according to FIG. 1. On a road 1 , a first vehicle 2 is moving at a speed v 1 . The first vehicle 2 is followed by a second vehicle 3 at a speed v₂. The second vehicle 3 is equipped with a distance controller ACC as a longitudinal guidance system.
Der Abstandsregler ACC regelt einen Parameter zur Längsregelung, d. h. für die Führung des Fahrzeuges in Längsrichtung, auf einen Vorgabewert ein. Als Stellgröße zur Beeinflussung dieses Parameters dient dem Abstandsregler ACC die Leistungssteuerung, hier die Ansteuerung der Drosselklappe, einer das Fahrzeug 3 antreibenden Brennkraftmaschine. Ein selbsttätiges Bremsen durch den Abstandsregler ACC ist beim vorliegenden System aus Gründen der Fahrsicherheit nicht vorgesehen. Bei freier Fahrt, d. h. solange kein vorausfahrendes Fahrzeug 2 erkannt ist, ist der Parameter zur Längsregelung die Geschwindigkeit v₂ des Fahrzeuges 3. Der Vorgabewert hierzu kann durch den Fahrer oder auf andere Weise als Sollgeschwindigkeit vsoll eingestellt werden. Sobald ein vorausfahrendes Fahrzeug 2 erkannt ist, ist der Parameter zur Längsregelung der Abstand d zum vorausfahrenden Fahrzeug 2. Der Abstandsregler ACC berechnet aus der Geschwindigkeit v₂ des eigenen Fahrzeuges 3 sowie der Differenzgeschwindigkeit dv = v₂ - v₁ zum vorausfahrenden ersten Fahrzeug 2 einen Sollabstand dsoll und geht von der Regelung der Geschwindigkeit v₂ zur Regelung des Abstandes d über, sobald der Abstand d den Sollabstand dsoll erreicht oder unterschreitet.The distance controller ACC adjusts a parameter for longitudinal control, ie for guiding the vehicle in the longitudinal direction, to a preset value. The distance controller ACC uses the power control, here the control of the throttle valve, of an internal combustion engine driving the vehicle 3 as a manipulated variable for influencing this parameter. Automatic braking by the ACC distance controller is not provided in the present system for reasons of driving safety. When driving freely, ie as long as no vehicle 2 driving ahead is detected, the parameter for longitudinal control is the speed v 2 of vehicle 3 . The default value to this, v as the setpoint speed by the driver or by other means to be adjusted. As soon as a preceding vehicle 2 is recognized, the parameter for longitudinal control is the distance d from the preceding vehicle 2 . The spacing regulator ACC calculated from the speed v₂ of the own vehicle 3 and the differential speed dv = v₂ - v₁ the car and the first vehicle 2, a desired distance d should and passes from the control of the speed V₂ for the regulation of the distance d, as soon as the distance d to the target distance d should be reached or less.
Fig. 2 zeigt als schematisches Blockschaltbild eine Drosselklappe 1, die als Leistungssteuerorgan für eine nicht näher gezeigt Brennkraftmaschine eines ebenfalls nicht gezeigten Kraftfahrzeuges wirkt. Die Drosselklappe 1 wird vom Fahrer 2 über ein Pedal 3 und eine Übertragungsvorrichtung 4 betätigt. An der Übertragungsvorrichtung 4 greift eine Rückstellvorrichtung 5 an, die aus einem Stellmotor 6, einer Scheibe 7 sowie einer Feder 8 besteht. Die Feder 8 ist an einem Ende mit der Übertragungsvorrichtung 4 verbunden und wirkt rückstellend, d. h. im Sinne einer Verminderung der Leistung der Brennkraftmaschine. Das andere Ende der Feder ist exentrisch mit der Scheibe 7 verbunden, so daß eine Verstellung der Scheibe 7 durch den Stellmotor 6 zu einer Änderung der Vorspannkraft der Feder 8 und damit zu einer Änderung der Rückstellkraft FR am Pedal 3 führt. Fig. 2 shows a schematic block diagram of a throttle valve 1 , which acts as a power control element for an internal combustion engine, not shown, of a motor vehicle, also not shown. The throttle valve 1 is actuated by the driver 2 via a pedal 3 and a transmission device 4 . A resetting device 5 , which consists of a servomotor 6 , a disk 7 and a spring 8 , acts on the transmission device 4 . The spring 8 is connected at one end to the transmission device 4 and has a resetting effect, ie in the sense of a reduction in the performance of the internal combustion engine. The other end of the spring is connected eccentrically to the disk 7 , so that an adjustment of the disk 7 by the servomotor 6 leads to a change in the biasing force of the spring 8 and thus to a change in the restoring force F R on the pedal 3 .
Die Ansteuerung des Stellmotors 6 und damit der Rückstellvorrichtung 7 erfolgt durch einen Längsregler 9, der ein Signal v eines Geschwindigkeitsgebers 10, ein Signal DK eines Drosselklappengebers 11, ein Signal d eines Abstandsgebers 12 für den Abstand zu vorausfahrenden Fahrzeug sowie ein Signal vsoll einer Eingabevorrichtung 13 für eine einzuhaltende Geschwindigkeit des Fahrzeuges erhält.The actuating motor 6 and thus the resetting device 7 are controlled by a series regulator 9 , which has a signal v from a speed sensor 10 , a signal DK from a throttle valve sensor 11 , a signal d from a distance sensor 12 for the distance to the vehicle in front, and a signal v intended for an input device 13 for a vehicle speed to be maintained.
Der Längsregler 9 stellt als Regelgröße zunächst die Geschwindigkeit v des Fahrzeuges ein. Gleichzeitig berechnet er mit Hilfe der Geschwindigkeit v einen Soll-Abstand dsoll zum vorausfahrenden Fahrzeug. Sobald ein vorausfahrendes Fahrzeug erkannt wird und der Abstand d den Sollabstand dsoll unterschreitet, so wird dieser Sollabstand dsoll anstelle der gewählten Geschwindigkeit vsoll eingeregelt.The series regulator 9 initially sets the speed v of the vehicle as a control variable. At the same time, it calculates with the aid of the velocity v of a desired distance d to the preceding vehicle. As soon as a preceding vehicle is detected and the distance d is to the nominal distance d below, this set distance d is to place the selected speed v soll adjusted.
Erfindungsgemäß betätigt der Längsregler 9 den Stellmotor 6 so lange nicht, wie der Sollabstand dsoll nicht unterschritten bzw. die gewählte Geschwindigkeit vsoll nicht überschritten ist. Sobald jedoch einer der Vorgabewerte, d. h. der Soll-Abstand dsoll oder die gewählte Geschwindigkeit vsoll erreicht sind, betätigt der Längsregler 9 den Stellmotor 6 in dem Sinne, daß die Rückstellkraft SR am Pedal 3 erhöht wird. Diese Verstellung erfolgt abhängig vom Betrag der Überschreitung des Vorgabewertes. Wird der Vorgabewert wieder unterschritten, d. h. der Abstand größer oder die Geschwindigkeit kleiner als der jeweilige Vorgabewert, so wird der Stellmotor 6 so angesteuert, daß er seine ursprüngliche Stellung einnimmt. Bei dieser Art der Anstellung durch den Längsregler 9 nimmt die Rückstellkraft SR mit steigender Abweichung stetig zu und dies auch, wenn keine Änderung in der Stellung des Pedales 3 vorgenommen wird, sondern beispielsweise die Differenz zwischen dem Abstand d und dem Soll-Abstand dsoll dadurch größer wird, daß das vorausfahrende Fahrzeug 2 seine Fahrt verlangsamt. Der Fahrer, der die Rückstellkraft SR aufnehmen muß, kann nunmehrAccording to the invention, the series regulator 9 does not actuate the servomotor 6 as long as the target distance d is not exceeded or the selected speed v is not exceeded. However, once one of the preset values, the target distance d that should or should the selected speed v is reached, the series regulator 9 operates the servo motor 6 in the sense that the restoring force on the pedal SR is increased. 3 This adjustment takes place depending on the amount of exceeding the default value. If the value falls below the preset value again, ie the distance is greater or the speed is less than the respective preset value, the servomotor 6 is controlled so that it assumes its original position. In this type of the job by the series regulator 9, the restoring force SR increases steadily with increasing deviation and this even if no change is made in the position of the pedal 3, but d for example, the difference between the distance and d the target distance should characterized becomes larger that the vehicle 2 in front slows down its journey. The driver who has to absorb the restoring force SR can now
- - entweder die auf das Pedal ausgeübte Kraft 3 konstant halten, wobei nun durch die erhöhte Rückstellkraft das Pedal 3 so weit zurückgedrückt und die Drosselklappe 1 so weit geschlossen wird, bis die Rückstellkraft SR wieder im Gleichgewicht mit der Betätigungskraft durch den Fahrer 2 steht,- either keep the force 3 exerted on the pedal constant, the pedal 3 now being pushed back so far by the increased restoring force and the throttle valve 1 being closed until the restoring force SR is again in balance with the actuating force by the driver 2 ,
- - oder der Fahrer erhöht die Betätigungskraft auf das Pedal 3 so weit, daß sie im Gleichgewicht mit der erhöhten Rückstellkraft SR steht.- Or the driver increases the actuating force on the pedal 3 so far that it is in balance with the increased restoring force SR.
Im ersten Fall wird der Fahrer 2 als Teil der Regelstrecke mit einbezogen und der Vorgabewert wird eingeregelt. Ist dies nicht gewünscht, so hat der Fahrer, wie im zweiten Fall beschrieben, die Möglichkeit, die Betätigungskraft zu erhöhen und den Vorgabewert zu überschreiten, ohne daß dadurch der Längsregler 9 abgestellt werden müßte.In the first case, driver 2 is included as part of the controlled system and the default value is adjusted. If this is not desired, the driver, as described in the second case, has the option of increasing the actuating force and exceeding the preset value without the longitudinal regulator 9 having to be switched off as a result.
Um dem Fahrer 2 das Erreichen des Vorgabewertes deutlich erkennbar zu machen, wird bei Erreichen des Vorgabewertes der Stellmotor 6 durch den Längsregler 9 so angesteuert, daß die Rückstellkraft SR sprunghaft ansteigt. Diese Vorgehensweise ist im Diagramm nach Fig. 3 verdeutlicht, das den Verlauf der Rückstellkraft SR über den Drosselklappenstellung DK zeigt. Vereinfachend ist angenommen, daß eine Fahrt mit konstantem Fahrwiderstand vorliegt und daher die Drosselklappenstellung DK in direktem Zusammenhang mit der Geschwindigkeit des Fahrzeuges V2 steht. Erhöht nun der Fahrer 2 die Drosselklappenstellung DK, so nimmt die Geschwindigkeit des Fahrzeuges V2 des Fahrzeuges 3 zu. Bei der Drosselklappenstellung DK1 ist die Sollgeschwindigkeit vsoll erreicht und der Längsregler 9 betätigt den Stellmotor 6 in der Weise, daß die Rückstellkraft SR sprunghaft ansteigt. Der Fahrer 2 erkennt an diesem Anstieg der Rückstellkraft SR deutlich, daß nunmehr die Sollgeschwindigkeit vsoll erreicht ist und kann die Drosselklappenstellung DK1 beibehalten. Möchte er, beispielsweise um das vorausfahrende Fahrzeug 2 zu überholen, die eigene Geschwindigkeit V2 erhöhen, so kann er gegen die nun erhöhte Rückstellkraft SR die Drosselklappenstellung DK über den Wert DK1 hinaus erhöhen. Der Längsregler 9 wird nun mit steigender Überschreitung der Sollgeschwindigkeit vsoll die Rückstellkraft SR weiter erhöhen, jedoch nicht abschalten. Nach dem Ende des Überholvorganges kann der Fahrer die Drosselklappenstellung DK auf den Wert DK1 zurücknehmen und so die Sollgeschwindigkeit vsoll wieder einstellen.In order to make it clear to the driver 2 that the preset value has been reached, the servomotor 6 is actuated by the series regulator 9 when the preset value is reached so that the restoring force SR increases suddenly. This procedure is illustrated in the diagram of FIG. 3, which shows the course of the restoring force SR over the throttle valve position DK. To simplify matters, it is assumed that there is a drive with constant driving resistance and therefore the throttle valve position DK is directly related to the speed of the vehicle V2. If the driver 2 now increases the throttle valve position DK, the speed of the vehicle V2 of the vehicle 3 increases. With the throttle valve position DK1, the target speed v Soll is reached and the series regulator 9 actuates the servomotor 6 in such a way that the restoring force SR increases suddenly. The driver 2 clearly recognizes from this increase in the restoring force SR that the target speed v target has now been reached and can maintain the throttle valve position DK1. If he wants to increase his own speed V2, for example in order to overtake the vehicle 2 driving ahead, he can increase the throttle valve position DK beyond the value DK1 against the now increased restoring force SR. The longitudinal controller 9 will now further increase the restoring force SR when the setpoint speed v is exceeded, but does not switch off. After the end of the overtaking, the driver can take back the throttle position DK to the value DK1 and thus the target speed v to adjust again.
Claims (2)
Priority Applications (1)
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DE1996120929 DE19620929A1 (en) | 1996-05-24 | 1996-05-24 | Longitudinal control system for motor vehicles with accelerator pedal with feel characteristic |
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DE1996120929 DE19620929A1 (en) | 1996-05-24 | 1996-05-24 | Longitudinal control system for motor vehicles with accelerator pedal with feel characteristic |
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Cited By (43)
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DE19802706A1 (en) * | 1998-01-24 | 1999-07-29 | Bayerische Motoren Werke Ag | Electronically controlled car speed controller |
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EP1327552A2 (en) * | 2002-01-10 | 2003-07-16 | Nissan Motor Company, Limited | Driving assist system and method |
EP1327550A1 (en) * | 2002-01-02 | 2003-07-16 | Ford Global Technologies, Inc. | A braking notification apparatus for a motor vehicle |
EP1327926A1 (en) * | 2002-01-10 | 2003-07-16 | Siemens Aktiengesellschaft | Accelerator pedal installation |
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EP1375233A1 (en) | 2002-06-26 | 2004-01-02 | LANDERRETCHE, Alain | Accelerator pedal with integrated return force control |
EP1375234A2 (en) * | 2002-06-18 | 2004-01-02 | Nissan Motor Co., Ltd. | Driving assist system for vehicle |
EP1375232A1 (en) * | 2002-06-20 | 2004-01-02 | Nissan Motor Co., Ltd. | Accelerator pedal device |
DE10230724A1 (en) * | 2002-07-08 | 2004-01-29 | Siemens Ag | Power controller |
WO2004016464A1 (en) * | 2002-07-24 | 2004-02-26 | Robert Bosch Gmbh | Method and device for signaling several pieces of information that are relevant for operating a motor vehicle |
WO2003039899A3 (en) * | 2001-11-05 | 2004-03-11 | Continental Teves Ag & Co Ohg | Device with additional restoring force on the gas pedal based on the deviation of a vehicle parameter from the set value |
FR2846759A1 (en) * | 2002-11-02 | 2004-05-07 | Bosch Gmbh Robert | Accelerator pedal adjusting device for motor vehicle, regulates restoring force operating on accelerator pedal based on operating conditions of vehicle, where restoring force is opposite to force actuated by driver |
EP1437275A1 (en) * | 2003-01-09 | 2004-07-14 | Ford Global Technologies, Inc. | An improved braking apparatus for a motor vehicle |
EP1442916A1 (en) * | 2003-01-28 | 2004-08-04 | Valeo Schalter und Sensoren GmbH | Method and device for controlling a vehicle |
EP1484212A1 (en) * | 2003-06-04 | 2004-12-08 | Nissan Motor Co., Ltd. | Risk potential calculation device and driving assist system |
WO2004108464A1 (en) * | 2003-06-02 | 2004-12-16 | Robert Bosch Gmbh | Method for adjusting the restoring force that acts on a driving pedal of a motor vehicle |
WO2005021342A1 (en) * | 2003-08-28 | 2005-03-10 | Honda Motor Co., Ltd. | Brake pedal control apparatus |
EP1538018A2 (en) * | 2003-12-05 | 2005-06-08 | Robert Bosch Gmbh | Method and device for setting the return force of a accelerator pedal |
EP1544022A2 (en) * | 2003-12-16 | 2005-06-22 | Nissan Motor Co., Ltd. | Operation assistance system and method |
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-
1996
- 1996-05-24 DE DE1996120929 patent/DE19620929A1/en not_active Withdrawn
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