Patent ID: 6721645
Filing Date: 2004-04-13
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; from a detection of a plurality of objects, correcting the curvature of the trajectory of the vehicle with a view to a prediction of an expected curvature from an averaging of positional changes ascertained at the plurality of the objects; measuring the corrected curvature for the detected plurality of objects in preset time intervals of angles corresponding to a lateral offset; for each object, determining an angle variation from a measurement to a respective preceding measurement; in each measuring cycle, averaging the angle variations over a collective of the detected objects and dividing the angle variations by a time duration between the measuring cycles to generate a collective angular velocity; and from an addition of the collective angular velocity to the yaw rate measured in the vehicle to be controlled, ascertaining a correction for a future curvature of the trajectory of the vehicle to be controlled.