Abstract:
A speed controller for motor vehicles having an input device for the input of a desired speed V set  by the driver, and having a plurality of operating modes which are able to be activated in different speed ranges and differ in their functional scope. A change in the operating mode, which results in the loss of a safety-relevant function, is provided or enabled by a command of the driver, characterized by a decision unit, which, in the light of predefined criteria, determines whether a change in the desired speed V set , which is input by the driver, is to be interpreted as a command for changing the operating mode.

Description:
FIELD OF THE INVENTION  
       [0001]     The present invention relates to a speed controller for motor vehicles.  
       BACKGROUND INFORMATION  
       [0002]     German Published Patent Application No. 199 58 120 refers to a speed controller that is operable in a so-called ACC mode (adaptive cruise control), and in a stop and go mode.  
         [0003]     In the ACC mode, the speed of the vehicle is regulated to a desired speed selected by the driver, provided the roadway ahead of his own vehicle is clear. A distance gap sensor, such as a radar sensor, permits detecting vehicles traveling ahead on his own traffic lane and other obstacles, and adjusting speed, if necessary, in such a way that the immediately preceding vehicle is followed at an appropriate safety distance. The ACC mode is provided, in general, for travel on express highways or well developed highways having flowing traffic, and also for traffic situations characterized by relatively low dynamics and relatively large vehicle separations. Under these conditions, a long-range tracking radar, having comparatively low depth resolution, is sufficient for recording the traffic surroundings. The relative speed of the tracked object is directly measurable with the aid of the Doppler effect. In order to avoid frequent faulty reactions of the system, only moving radar objects are generally considered as relevant target objects, since, in general, it is not to be expected that there are standing objects on the roadway. However, in traffic situations having greater dynamics, such as in slow-moving traffic or stop and go traffic, or even in city traffic, standing targets should also be included in the evaluation. Moreover, in this case, because of the generally shorter vehicle separations, a more detailed detection and evaluation of the traffic situation is also desirable. The ACC mode is unsuitable for these traffic situations and is therefore only able to be activated when the speed of one&#39;s own vehicle is above a certain limiting speed, such as above 30 km/h.  
         [0004]     Alternatively, the stop and go mode is provided for the lower speed range and affords functions that are not available in the ACC mode, in particular the function of braking one&#39;s own vehicle to a standstill, such as when driving upon a traffic jam. Under certain circumstances an automatic restart-up is then also possible, when the preceding vehicle is also set in motion again. These conditions are satisfied, for example, when one&#39;s own vehicle has stood still for a relatively short time, and when the target object followed up to the present, that is, the preceding vehicle, has constantly remained in the tracking range of the distance sensor. On the other hand, under other conditions, it may be expedient to deactivate the system altogether, or simply to have it emit a start-up prompt to the driver when the preceding vehicle starts up, and to leave the last decision up to him. For an expanded functionality in the stop and go mode, not only is the detection of standing targets required, but in general an additional close-range sensor system is also desirable, such as in the form of a video system having electronic image evaluation, a close-range radar or a light-optical distance sensor for the close range including the left and right roadway edges, so that suddenly-appearing obstacles may also be detected in time. This more complex detection and evaluation of the traffic environment, which may be required in the stop and go mode, can lead, at high speeds, to faulty reactions or to an overload of the system. For this reason, the stop and go mode is typically only activatable at speeds up to an upper limiting speed, such as up to 40 km/h.  
         [0005]     In the overlapping zone between the speed ranges for ACC and Stop and Go modes, that is, in the exemplary systems described, between 30 and 40 km/h, both modes can be activated and the selection of the mode is left to the driver. Special mode selection keys are provided in the known system for selecting the operating mode, using which, the driver is able to activate either the ACC mode or the Stop &amp; Go mode. The active participation of the driver in the selection of the operating mode is regarded as efficacious, because in this way it is made clear to the driver in which mode the system happens to be, and which functions of the speed controller are available. Thus, if the preceding vehicle suddenly stops, and the driver mistakenly assumes that the speed controller is in the Stop &amp; Go mode and relies on the speed controller automatic braking to a standstill may be prevented. However, some drivers feel that the necessity of having to select the operating modes themselves is an impairment of their operating convenience, and that the command keys needed for this purpose make the operating system more involved and complex.  
       SUMMARY OF THE INVENTION  
       [0006]     The speed controller according to the present invention may have the advantage of greater operating convenience, clarity and plausibility of the operating system when consideration is given to safety aspects.  
         [0007]     According to an exemplary embodiment of the present invention, the speed controller simultaneously interprets commands that allow the driver to increase or decrease the desired speed as commands for changing the operating mode under appropriate conditions. Consequently, special command keys for the selection of the operating mode may be omitted. The driver remains a participant in the selection of the mode, by way of the input of the desired speed, so that the transparency of the system remains observable to the driver. A mode change, which is connected not to a restriction, but rather to a broadening of the scope of the functions of the speed controller, does not require any increased attention of the driver, and can therefore also be introduced automatically, without participation of the driver. If, on the other hand, the mode change has the effect of making a safety-relevant function no longer available, then the driver should be made aware of this so that he does not mistakenly rely on this function. However, if the driver actively selects a speed which is clearly outside the speed range permitted for the current mode, then it will be clear to the driver that the current mode cannot be maintained, and therefore the selection of this desired speed indicates that the driver consciously wants to assume a greater responsibility, so that the input of an additional command to change the operating mode is unnecessary.  
         [0008]     In order to increase transparency, the driver may be made aware by a suitable signal, such as an optical or an acoustical signal, that a mode change has taken place, and in which mode the speed controller currently is to be found.  
         [0009]     In one embodiment, the speed controller has only two main operating modes, namely an ACC mode and a mode designated here as “Stop &amp; Roll”. The concept “Stop &amp; Roll” refers to a mode which lies somewhere between the ACC mode and the Stop &amp; Go mode, discussed above, with respect to the sensor system required and the complexity in the evaluation of the traffic environment. In the Stop &amp; Roll mode, as in the Stop &amp; Go mode, automatic braking of the vehicle to a standstill is possible, but, because of the restricted sensor technology, this mode is not intended for highly dynamic traffic situations such as occur, for instance, in city traffic.  
         [0010]     In order to avoid frequent mode changes, the changeover as a function of the desired speed selected by the driver may take place with a certain hysteresis. Thereby, the speed controller may remain in the current mode if the desired speed selected lies within the overlap range in which both operating modes are permitted.  
         [0011]     Since the actual speed of the vehicle does not always correspond to the desired speed set by the driver, the actual speed of the vehicle should also be drawn upon as a criterion for a mode change. In this case, the actual speed may be regarded as the speed indicated to the driver on the tachometer. It is believed that it also may be advantageous if the criterion “actual speed” is also handled flexibly, in the sense that short-lived undershooting of the Stop &amp; Roll switchover speed may be tolerated with the aid of a timer. Thus, the driver has the opportunity to input a higher desired speed prospectively in the Stop &amp; Roll operation, and thereby (implicitly) to give the command to change into ACC mode, when it is recognized that traffic is decreasing. Normally, the vehicle will then accelerate within a short time to a speed at which ACC operation is permissible. When the minimum speed for ACC is not reached within a threshold time span such as 5 seconds, the system may automatically relapse into Stop &amp; Roll mode again.  
         [0012]     If the desired speed that is set is greater than the limiting speed for ACC, but the actual speed of the vehicle falls below this value on account of the traffic, and remains below this value for a certain time, a switchover may automatically take place into the Stop &amp; Roll mode. In this case, the desired speed is limited automatically to the greatest value permissible for Stop &amp; Roll. Then, to return into the ACC mode, a driver-initiated action may be required, such as the input of a higher desired speed.  
         [0013]     In both main operation modes an override by operating the gas pedal is possible. The acceleration request input by the driver on the gas pedal then has precedence over a lower setpoint acceleration calculated by the speed controller. Even in these override situations, a change between the two main modes is possible, but a change from Stop &amp; Roll to ACC mode may be permitted only when the driver actively raises the desired speed. Otherwise, the speed controller may be deactivated if the actual speed reaches a threshold value, at which the functions of the Stop &amp; Roll operation are no longer maintained.  
         [0014]     When the speed controller has been deactivated, it can be reactivated by the input of a desired speed. A decision may follow as to which of the ACC mode or the Stop &amp; Roll mode is to be activated, as a function of whether the actual speed lies above or below the limiting speed for ACC.  
         [0015]     In one exemplary embodiment, the decision regarding a mode change and/or regarding the activation or deactivation of an operating mode can also be a function of whether certain conditions with respect to the recording of the traffic environment are satisfied, so that an ever greater operating safety is achieved. 
     
    
     BRIEF DESCRIPTION OF THE DRAWINGS  
       [0016]      FIG. 1  shows a block diagram of a speed controller according to an exemplary embodiment of the present invention.  
         [0017]      FIG. 2  shows a diagram of exemplary speed ranges at which the various operating modes of the speed controller may be activated.  
         [0018]      FIG. 3  shows a diagram depicting exemplary transitions between the various main operating modes and associated conditions of the speed controller. 
     
    
     DETAILED DESCRIPTION  
       [0019]      FIG. 1  shows a speed controller  10  by which the speed of a motor vehicle is controlled to a desired speed selected by the driver. To operate speed controller  10 , a multifunctional lever may be provided on the steering wheel, which fulfills the functions of several function keys, which may include: a “+” key  12  to activate the control and for raising the desired speed V set , for example, in steps of 10 km/h; a “−” key  14  for activating the controller and for reducing desired speed V set ; an OFF key  16  for deactivating the controller and a resume key  18  for renewed activation of the controller and setting the desired speed prevailing before the last deactivation. In response to the first activation of the controller with the aid of the “+” key or “−” key, the actual speed V of the vehicle rounded up or down in tens (e.g., 30, 40, 50) can be taken to be the desired speed V set  of the vehicle, just as it is displayed on the tachometer. When resume key  18  is pressed, without a desired speed having been stored, for the determination of the desired speed there is a rounding to the whole ten that is closest to the actual speed.  
         [0020]     Speed controller  10  receives signals from a long range distance sensor  20 , such as a long range radar and from a short range sensor system  22 , which is formed, for example, by a short range radar, a light-optical distance sensor system, a video system and the like. When the sensor system detects a preceding vehicle traveling in one&#39;s own lane, the speed of the vehicle may be reduced to below the set desired speed, so that the preceding vehicle may be followed at an appropriate safety distance, for example, at a selectable time gap of 1 to 2 seconds. In an ACC operating mode, the spacing regulation takes place exclusively with the aid of signals of long range distance sensor  20 , which has a locating range such as 10 to 200 m. This operating mode is provided for travel on express highways and highways for traffic situations in which, in general, people travel at relatively high speeds. In addition, speed controller  10  has a controller mode which is designated as Stop &amp; Roll and is provided for traffic situations having high traffic density and correspondingly low speed, such as for slow-moving traffic or traffic jam operation on express highways and highways. In this mode, signals of the short range sensor system  22  are also evaluated, so that shorter vehicle spacing may be detected more accurately. Whereas in the ACC mode only movable objects are considered as relevant target objects, in the Stop &amp; Roll mode other standing targets that are detected by long range distance sensor  20  or by close range sensor system  22  are also evaluated. In addition, close range sensor system  22  also has a greater locating angular range, so that objects which are located in close range on neighboring lanes or at the edge of the roadway can also be detected. In this manner, the system enables reactions in time to suddenly appearing obstacles, such as vehicles suddenly swinging in from the side lane.  
         [0021]     The Stop &amp; Roll mode has at least one controlling function which is not available in the ACC mode, in particular, a stop function by which the vehicle may be automatically braked to a standstill upon approaching a standing obstacle.  
         [0022]     The control functions in the two operating modes ACC and Stop &amp; Roll are known to those of ordinary skill in the art, and are therefore not described here in greater detail.  
         [0023]     Speed controller  10  has a decision unit  24  which, in dependence upon the respective traffic situation and with the collaboration of the driver, determines in which operating mode the speed controller is working. The criteria for these determinations is explained in more detail below. Speed controller  24  also includes one or more integrated timers  26 , which are used in the connection with the determination processes.  
         [0024]     If decision unit  24  has selected the ACC mode, this is indicated to the driver by the lighting up of an indicator light  28  on the dashboard. Correspondingly, an indicator light  30  indicates the operating mode Stop &amp; Roll. In addition, a loudspeaker  32  is provided, via which the driver is made aware of a change in the operating mode by an acoustical signal, or may even be warned of certain system states or traffic situations.  
         [0025]     In  FIG. 2 , exemplary speed ranges are shown, in which the operating modes ACC and Stop &amp; Roll (S&amp;R) may be activated. As shown, the ACC mode can be activated when the actual speed V of the vehicle is greater than a limiting speed V s . The S&amp;R mode can be activated when the actual speed of the vehicle is lower than a speed V s +h 1 . The speed range between V s  and V s +h 1  is consequently a hysteresis range, in which either the ACC mode or the S&amp;R mode may be active. As an example, let us assume that the limiting speed V s  is 30 km/h and that the hysteresis interval h 1  is 5 km/h.  
         [0026]      FIG. 3  shows the various operating states of the speed controller as well as significant transitions between the operating states. The active operating states are divided into the main operating modes ACC and S&amp;R.  
         [0027]     In a state  32  referred to as “readiness”, the sensor systems and the evaluation and control algorithms of speed controller  10  are active, so that the traffic events can be followed, but no control commands are given to the driving or the braking system of the vehicle and control over the vehicle remains with the driver. So long as the driver does not actively input a command to activate the speed controller, the speed controller remains in the readiness state, as is symbolized by an arrow T 1 .  
         [0028]     The driver can activate the speed controller by operating “+” key  12 , “−” key  14  or resume key  18 . Decision unit  24  then determines, in the light of the present actual speed V, whether the speed controller is changing into state  34  “ACC active” or state  36  “S&amp;R active”. If actual speed V is greater than limiting speed V s , then, upon the activation of each of the three keys  12 ,  14 ,  18 , transition into state  34  “ACC active” corresponding to arrow T 2  in  FIG. 3  takes place. If, on the other hand, actual speed V is less than or equal to V s , transition into state  36  “S&amp;R active” takes place according to arrow T 3 . In this case, the desired speed is set to V s , provided that the desired speed set by operating keys  12 ,  14  and  18  is greater than this value. As a result, the ACC mode can be activated only when the speed of the vehicle is at least 30 km/h. Otherwise, the controller goes into S&amp;R mode, and the vehicle speed is limited to the range of 1 to 30 km/h, that is, to the range in which a flawless functioning of the S&amp;R mode is ensured.  
         [0029]     In state  36 , the driver has two possibilities of accelerating the vehicle to above 30 km/h and of going over into ACC mode. Firstly, the driver can select a greater desired speed by single or multiple operation of “+” key  12 . As soon as the new desired speed V set  is greater than V s +h 1 , that is, at least 40 km/h, decision unit  24  causes a transition into state  34 , as shown by arrow T 4 . Alternatively, the driver may operate the gas pedal in state  36 , and thus override the S&amp;R control function, so that, according to arrow T 5 , the controller goes over into state  38 , “override S&amp;R”. After the vehicle has been accelerated to the desired speed, and the driver lets up the gas pedal, the controller returns to state  36  “S&amp;R active”, according to arrow T 6 . If a desired speed V set  is then selected by operating “+” key  12  or “−” key  14 , that is greater than V s +h 1 , the controller goes to state  34  via arrow T 4 . The driver may also be able to select a desired speed V set  that is greater than V s +h 1 , even while he holds down the gas pedal and thus is in state  38 , by operating the “+” key or the “−” key. Then, as soon as the actual speed V is greater than V s +h 1 , there is a transition to state  40  “override ACC”, according to arrow T 7 . If the driver now lets up the gas pedal, according to arrow T 8 , transition takes place into state  34  “ACC active”. The speed of the vehicle is then controlled to the newly selected desired speed V set , and the actual speed will also remain above 30 km/h, since the speed was at least 35 km/h when the gas pedal was let up.  
         [0030]     As can be discerned from the description above, the driver operates at least once “+” key  12  or “−” key  14  (or resume keyl 8 ), to reach the ACC mode (state  34 ) from the S&amp;R mode (state  36 ). As a result, this mode change does not take place without the active participation of the driver, and consequently does not occur against the will of the driver.  
         [0031]     The driver may override state  34  “ACC active” by operating the gas pedal, so that he temporarily reaches state  40 , according to arrow T 9 .  
         [0032]     Arrow T 10  in  FIG. 3  describes the regular transition from ACC mode into S&amp;R mode, or, more accurately, the transition from state  34  into state  36 . This transition is possible when one of the following conditions is satisfied: 
    a) The desired speed V set  is lower than limiting speed V s , and in addition, the actual speed V is lower than V s +h 1 . This corresponds to the situation in which the driver selects a low desired speed by operating “−” key  14 . The vehicle will then slow down, and the transition into S&amp;R mode takes place as soon as the speed range provided for this mode is reached, according to  FIG. 2 .     b) Actual speed V decreases from a value above limiting speed VS to a value below this limiting speed. This is typically the case when, upon driving up to the end of a traffic congestion, long-range distance sensor  20  detects a slow or stopped vehicle in its own lane, and accordingly throttles the speed. The transition into the S&amp;R mode then takes place as soon as the speed region permissible for the ACC mode is exited. In this case, the desired speed V set  is automatically set to V s  in order to ensure that the speed controller, when the congestion has lifted, does not return again by itself to the ACC mode, but only occurs when the driver actively raises the desired speed again, corresponding to a transition according to arrow T 4 . The transition from ACC to S&amp;R may also be restricted to take place when V s  is undershot for the duration of a certain time interval. This achieves a certain tolerance against noise in the speed signal.     c) desired speed V set  is raised by driver command to a value which is greater than V s +h 1 , and, in addition, after the expiration of a time span measured by timer  26 , actual speed V is still lower than V s . This corresponds to the situation in which the driver, according to arrow T 4 , wishes to change into ACC mode, but the limiting speed V s  that is required for this mode cannot be achieved within an appropriate time span such as 5 seconds, for instance, because there is a slower preceding vehicle in front of the driver&#39;s vehicle. In this case, the speed controller automatically returns to state  36  again, after the expiration of the time span mentioned. In order to reach state  34 , the driver must then once again input a command to increase the desired speed as soon as the lane ahead of him is free.    
 
         [0036]     In exceptional cases, a transition from state  40  “override ACC” into state  38  “override S&amp;R” is also possible, as indicated by arrow T 11 . This transition takes place when the driver lowers the desired speed to a value below V s , and the actual speed V decreases to below V s  in spite of the operation of the gas pedal, i.e. when the driver decreases the desired speed, but then, by operating the gas pedal, assures that the vehicle decelerates slower than is specified by the speed controller.  
         [0037]     From state  36  “S&amp;R active” a transition into a state  42  “S&amp;R stop” is also possible, as symbolized by arrow T 12 . In state  42 , speed controller  10  causes the automatic braking of the vehicle to a standstill. Subsequently, the speed controller, according to arrow T 13 , goes over into one of several start-up states which determine whether the renewed starting up of the vehicle is controlled by speed controller  10 , if traffic conditions permit it, or when the driver confirms a corresponding start-up request, or whether the start-up procedure is controlled by the driver himself. Details of these start-up procedures are described in German Published Patent Application No. 199 58 520.  
         [0038]     The transition into state  42  according to arrow T 12  takes place when, in state  36 , the speed of the vehicle (the determining factor here is not the indicated but the actually measured speed) has decreased to below a threshold value such as 4 km/h, e.g., when approaching a standing obstacle. Since this function “braking to a standstill” is only available in the S&amp;R mode, in the speed controller described here, the transition from the S&amp;R mode into the ACC mode, and thus the renouncement of this function, is only permitted when the driver inputs a corresponding command by active operation of one of keys  12 ,  14  or  18 .  
         [0039]     In each of the active states, speed controller  10  can be inactivated if one of several predefined events occurs. The most important of these events are the operation of OFF key  16  by the driver and the operation of the brake pedal by the driver. In  FIG. 3 , deactivation from state  36  “S&amp;R active” is shown by an arrow T 14 . The speed controller then runs through a transition state  44 , in which the control commands given out to the drive and/or brake system are gradually driven back, so that a jerk-free transition and a correspondingly great riding comfort is achieved. From transition state  44 , the speed controller then goes into state  32  “readiness” again, according to arrow T 15 . The desired speed prevailing before the deactivation remains stored, however, and is called up again when the driver operates resume key  18  in state  32 . An exception may optionally be provided for the case in which the stored desired speed is greater than limiting speed V s , and at operation of resume key  18  the actual speed of the vehicle is less than V s . In that case there is then a transition into S&amp;R mode, and the desired speed is set to V s , as was described in connection with arrow T 3 . This takes into account the possibility that the driver, after a protracted inactive phase of the speed controller, has forgotten that he was last in ACC mode, in which the function “brake to standstill” is not available.  
         [0040]     As was described in connection with arrow T 7 , a transition from state  38  “override S&amp;R” into state  40  “override ACC” takes place only when the driver increases the desired speed which was prevalent up to now in the S&amp;R mode. If the desired speed remains unchanged, and the driver accelerates by operating the gas pedal, it can therefore happen that the speed becomes greater than the speed permissible for the Stop &amp; Roll mode. In this case the speed controller is compulsorily deactivated, as is symbolized by arrow T 16 . This deactivation takes place under condition that desired speed V set  is less than or equal to V s , and that, in addition, actual speed V is greater than a threshold value V s +h 2 . Here h 2  is a hysteresis parameter which may be the same as h 1 .  
         [0041]     In  FIG. 3 , still two further states  46  “ACC braking” and  48  “S&amp;R braking” are shown, in which the speed controller can only act upon the braking system of the vehicle, but not upon the drive system. These states are reached when the parking brake is operated in the ACC mode (state  34 ) or in the S&amp;R mode (state  36 ), or when in these modes the electronic stability program (ESP) of the vehicle detects a lane condition having low frictional connection (e.g. an icy road). A transition is in that case only possible in the direction from an ACC mode into the S&amp;R mode, that is from state  46  into state  48 , according to arrow T 17 , when the actual speed V is lower than V s . From state  48  braking to a standstill is possible again (via arrow T 18 ).  
         [0042]     Whereas in the exemplary embodiment described here the desired speed can only be changed in intervals of 10 km/h, this was for illustrative purposes only and the desired speed may also be changed gradually or in smaller increments, such as at intervals of 1 km/h.  
         [0043]     The conditions for the change between modes ACC and S&amp;R are summarized once more in the following Table 1.  
                                                                                         TABLE 1                           Activation ACC            T2    V &gt; Vs AND (+, − OR resume operated)            Activation S&amp;R            T3    V ≦ Vs AND (+, − OR resume operated)           (V set  is limited to V s )            S&amp;R after ACC            T4    V set  &gt; V s  + h 1         T7    V set  &gt; V s  + h 1  AND V &gt; V s  + h 1              ACC after S&amp;R            T10   (V set  &lt; Vs AND V &lt; V s  + h 1 ) OR           (V decreases below Vs) OR           (V set  &gt; V s  + h 1  AND V &lt; V s             AND timer expired)       T11   V set  &lt; V s  AND V &lt; V s              Deactivation S&amp;R            T16   V set  ≦ V s  AND V &gt; V s  + h 2                    
 
         [0044]     In a second exemplary embodiment of the speed controller, other conditions may apply to the transitions between the states shown in  FIG. 3 . For the definition of these conditions, parameters are used which are stored in decision unit  24 , and which are specified as follows:  
         [0045]     Threshold value for the switchover between ACC and S&amp;R 
 
V select =35  km/h  
 
         [0046]     Maximum desired speed for S&amp;R: 
 
V SRset =30  km/h.  
 
 Minimum speed (limiting speed) for ACC: 
 
V ACCmin =30  km/h  
 
         [0048]     Threshold value for devaluating S&amp;R when overriding 
 
 V   SRs =45  km/h  
 
         [0049]     Maximum vehicle distance for activating S&amp;R: 
 
 d   SRon =30  m  
 
         [0050]     Maximum vehicle distance for deactivating S&amp;R: 
 
 d   SRoff =50  m  
 
         [0051]     Waiting time when target object is lost: 
 
 T   1 =5  s  
 
         [0052]     The conditions for activating and deactivating the operating modes ACC and A&amp;R, and for the change of mode are listed in the following Table 2.  
                                                                                         TABLE 2                           Activation ACC            T2   V &gt; V select  AND (+ OR − operated OR           (resume operated AND V set (slt)  &gt; V s ))            Activation S&amp;R            T3   V = V select  AND (+, − OR resume operated)           AND d &lt; d SRon  (is limited to V SRset )            S&amp;R after ACC            T4   V &gt; V select  AND V set  &gt; V select         T7   V SRs  ≧ V &gt; V select  AND           V set  &gt; V select              ACC after S&amp;R             T10   V decreases to under V ACCmin              Deactivation S&amp;R             T14   t &gt; T1 OR d &gt; d SRoff  OR           (V &gt; V SRs  AND (none of keys +, − OR           resume is operated))        T16   V &gt; V SRs  AND (none of keys +, − OR           resume is operated)                  
 
         [0053]     The ACC mode is activated (arrow T 2 ) when actual speed V is greater than limiting speed V select , and, in addition, the driver operates “+” key  12  or the “−” key. The operation of resume key  18 , by which the last stored desired speed is reestablished, only effects the activation of the ACC mode if the last stored desired speed V set(alt)  is greater than V select .  
         [0054]     Mode S&amp;R is activated (arrow T 3 ) when actual speed V is at most equal to V select , and the driver operates a key  12 ,  14  or  18 .  
         [0055]     However, in addition, in this exemplary embodiment the condition that the sensor system has detected a target object, and the distance of the target object is at most equal to d SRon , that is, at most 30 m must also be satisfied. As a result, the Stop &amp; Roll can only be activated when a target object, such as a vehicle traveling ahead, is available at a distance that is not too great so that the actions of the speed controller are determined by the behavior of the preceding vehicle. By this, faulty reactions are avoided that come about when a relevant target object has not been recognized by the distance sensor system.  
         [0056]     Upon activation of the S&amp;R mode, desired speed V set  is limited in this example to speed V SRset  (30 km/h).  
         [0057]     A change from state  36  “S&amp;R active” into state  34  “ACC active” according to arrow T 4 , occurs in this exemplary embodiment when actual speed V is greater than V select , and, in addition, a desired speed is selected by operating one of keys  12 ,  14 ,  18 , which is greater than V select .  
         [0058]     A change from state  38  “override S&amp;R” into state  40  “override ACC” (arrow T 7 ) takes place only when actual speed V is greater than V select  (35 km/h) but less than threshold value V SRs  (45 km/h), and, in addition, the desired speed is set to a greater value than V select , by operating one of keys  12 ,  14 ,  18 . As a result, in order to get into the ACC mode by operating the gas pedal, the driver has to operate one of keys  12 ,  14 ,  18  while the speed is in the interval between 35 and 45 km/h. Thereby, the driver is made aware that he is now leaving the S&amp;R mode, in which the function “braking to a standstill” is available. If the driver misses or deliberately omits operating one of the keys in this speed interval, the behavior of decision unit  24  depends on actual speed V. If this remains less than 45 km/h, the system returns to state  36  (arrow T 6 ) until the driver lets go of the gas pedal. Otherwise, the speed controller is deactivated (arrow T 16 ).  
         [0059]     The transition from state  34  “ACC active” to state  36  “S&amp;R active” takes place automatically as soon as actual speed V decreases to below the minimum speed V ACCmin  for the ACC mode (arrow T 10 ).  
         [0060]     A transition from state  40  “override ACC” to state  38  (override S&amp;R), corresponding to arrow T 11  in the previous exemplary embodiment is not provided in this specific embodiment. If the speed of the vehicle decreases to below the minimum speed for ACC while the driver operates the pedal, such as when driving on steep hills, and the driver then lets go of the gas pedal, the transition into state  36  “S&amp;R active” takes place via state  34  (arrows T 8  and T 10 ). However, if the driver accelerates again, so that the speed increases above V ACCmin  again before the driver lets go of the gas pedal, the system remains in the ACC mode. This will generally also correspond to the expectation of the driver.  
         [0061]     When the speed controller is in state  36  “S&amp;R active”, a deactivation takes place according to arrow T 14  in this specific embodiment, not only by operating off key  16 , but also automatically when one of the following conditions is fulfilled: 
    a) The target object followed up to now gets lost and is also not found again before time t, counted by timer  26 , reaches the value T 1  (5 s).     b) The distance d of the preceding vehicle becomes greater than the parameter d SRoff  (50 m)     c) The current speed becomes greater than the threshold value V SRs  (45 km/h), for example, during steep downhill driving, and the driver does not operate any of the keys  12 ,  14  or  18 .    
 
         [0065]     By checking these conditions it is ensured that the S&amp;R mode is active only when the speed controller is also able safely to fulfill the functions provided in this mode.