Patent ID: 6763904
Filing Date: 2004-07-20
Classification: B60K,B60W,G01S

Abstract:
A method for controlling a speed of a vehicle, comprising the steps of:in the vehicle to be controlled, measuring one of a yaw rate and a rotation rate to determine a curvature of a trajectory of the vehicle; causing one of a proximity sensor and a position sensor to detect one of at least one vehicle traveling ahead and at least some other object within a sensing range, with regard to an offset from a travel course of the vehicle to be controlled; determining a travel-course offset of a vehicle driving ahead in preset measuring cycles; delaying the travel-course offset of the vehicle traveling ahead by a predefined time lag; ascertaining a historical travel-course offset in accordance with a then active curvature of the trajectory of the vehicle to be controlled; and controlling the speed of the vehicle in accordance with the travel-course offset results; wherein the historical travel-course offset is determined in accordance with the relation ychist=yvhistâˆ’k*dhist2/2, dhist likewise being one of generated and estimated as a historical distance between the vehicle to be controlled and the vehicle driving ahead on the basis of a delay.