Granted Patent B2

US 12,570,287 · App. 18/031,216 · Granted Mar 10, 2026

Inventors: Bartono Adiprasito (Tiefenbach, DE); Helena Dolinaj (Munich, DE); Maximilian Guenther (Munich, DE); Frank Herchet (Neufahrn b. Freising, DE); Martin Jaensch (Munich, DE); Markus Kraemer (Dachau, DE); Julius Schulz (Munich, DE); Muhammed Yildiz (Kirchseeon, DE)

Assignee: Bayerische Motoren Werke Aktiengesellschaft

B60W30/146B60W30/18154B60W50/00B60W60/001B60W2050/0022B60W2554/802B60W2555/60B60W2556/40

Abstract

Claims (41)

1 . A vehicle system for providing a driving function for automated longitudinal guidance of a vehicle at a signaling unit, comprising:

a vehicle guidance system configured to:

determine an environmental-data-based distance from a first signaling unit located ahead on the basis of environmental data from one or more environmental sensors of the vehicle;

determine a map-data-based distance from the first signaling unit located ahead on the basis of map data relating to a road network used by the vehicle;

determine an estimated value of the distance from the first signaling unit on the basis of the environmental-data-based distance and on the basis of the map-data-based distance; and

effect the automated longitudinal guidance of the vehicle at the first signaling unit on the basis of the estimated value of the distance from the first signaling unit;

wherein the vehicle guidance system is further configured, repeatedly at a sequence of times while the vehicle approaches the first signaling unit, to:

determine the environmental-data-based distance and the map-data-based distance and, on the basis thereof:

determine the estimated value of the distance from the first signaling unit; and

adapt a weighting of the environmental-data-based distance and the map-data-based distance when determining the estimated value of the distance from the first signaling unit while the vehicle approaches the first signaling unit, on the basis of the respectively determined environmental-data-based distance and/or the respectively determined map-data-based distance;

adapt a deceleration profile of the vehicle during approach to the first signaling unit repeatedly at the sequence of times on the basis of the respectively currently determined estimated value of the distance from the first signaling unit.

2 . The vehicle system according to claim 1 , wherein the vehicle guidance system is configured to:

determine the estimated value of the distance from the first signaling unit on the basis of an average value of the environmental-data-based distance and the map-data-based distance.

3 . The vehicle system according to claim 2 , wherein

the average value is a weighted average value.

4 . The vehicle system according to claim 2 , wherein the vehicle guidance system is configured to:

weight the environmental-data-based distance with a first weight and weight the map-data-based distance with a second weight in order to determine the estimated value of the distance from the first signaling unit, wherein a sum of the first and second weights is constant; and

adapt and/or select the first weight and/or the second weight on the basis of the environmental-data-based distance and/or the map-data-based distance.

5 . The vehicle system according to claim 4 , wherein the vehicle guidance system is configured to:

increase the first weight, the more the vehicle approaches the first signaling unit; and/or

reduce the second weight, the more the vehicle approaches the first signaling unit.

6 . The vehicle system according to claim 1 , wherein the vehicle guidance system is configured to:

identify a data set for the first signaling unit on the basis of the environmental-data-based distance within the map data; and

determine the map-data-based distance on the basis of the identified data set.

7 . The vehicle system according to claim 6 , wherein

the map-data-based distance is determined on the basis of a map attribute of the first signaling unit.

8 . The vehicle system according to claim 6 , wherein the vehicle guidance system is configured to:

determine a position of the first signaling unit on the basis of the identified data set; and

determine the map-data-based distance on the basis of the determined position of the first signaling unit and on the basis of a measured position of the vehicle.

9 . The vehicle system according to claim 1 , wherein the vehicle guidance system is configured to:

effect automated deceleration of the vehicle at the first signaling unit on the basis of the estimated value of the distance from the first signaling unit.

10 . A method for providing a driving function for automated longitudinal guidance of a vehicle at a signaling unit, the method comprising:

determining an environmental-data-based distance from a first signaling unit located ahead on the basis of environmental data from one or more environmental sensors of the vehicle;

determining a map-data-based distance from the first signaling unit located ahead on the basis of map data relating to a road network used by the vehicle;

determining an estimated value of the distance from the first signaling unit on the basis of the environmental-data-based distance and on the basis of the map-data-based distance; and

effecting the automated longitudinal guidance of the vehicle at the first signaling unit on the basis of the estimated value of the distance from the first signaling unit;

where the method further comprises repeatedly, at a sequence of times while the vehicle approaches the first signaling unit:

determining the environmental-data-based distance and the map-data-based distance and, on the basis thereof:

determining the estimated value of the distance from the first signaling unit; and

adapting a weighting of the environmental-data-based distance and the map-data-based distance when determining the estimated value of the distance from the first signaling unit while the vehicle approaches the first signaling unit, on the basis of the respectively determined environmental-data-based distance and/or the respectively determined map-data-based distance;

adapting a deceleration profile of the vehicle during approach to the first signaling unit repeatedly at the sequence of times on the basis of the respectively currently determined estimated value of the distance from the first signaling unit.

Assignments (1)

Priority Claims (1)

Continuity (1)

References Cited (317)