Patent ID: 11938934
Assignee: ROBERT BOSCH GMBH
Field: Transport (Mechanical engineering)
Classification: CPC B | IPC B

Claim 11:
12. A non-transitory computer-readable storage medium on which is stored program code for a control computer of a cruise control system of a motor vehicle, the control computer, when executing the program code, causing the control computer to perform a method, the method comprising:
generating, an output setpoint value for a speed of the vehicle;
performing, by an actuating device, an intervention into a drive and/or braking system of the vehicle by which to bring the speed of the vehicle to the generated output setpoint value;
wherein:
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; wherein 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 selecting, as the output setpoint value, a minimum of the plurality of setpoint values; and

the method further 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 selection is performed 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 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.