# US 10,246,091 B2 · Rear monitoring for automotive cruise control systems > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 10,246,091 B2 - Document ID: US10246091B2 - Status: Granted - Kind: B2 - Application number: 15/180,654 - Filed: 2016-06-13 - Published: 2017-12-14 - Granted: 2019-04-02 - Earliest claimed: 2016-06-13 - Assignees: Robert Bosch GmbH - Applicants: Robert Bosch GmbH - Inventors: Victor La - Web page: https://patentgrep.com/patent/US10246091B2 ## CPC - B60W 30/143: {Speed control (B60W30/16 takes precedence)} - B60W 30/16: Control of distance between vehicles, e.g. keeping a distance to preceding vehicle - B60W 30/18072: {Coasting} - B60W 2420/403: Image sensing, e.g. optical camera - B60W 2420/408: Radar; Laser, e.g. lidar - B60W 2540/215: Selection or confirmation of options - B60W 2552/00: Input parameters relating to infrastructure - B60W 2552/15: Road slope, i.e. the inclination of a road segment in the longitudinal direction - B60W 2552/30: Road curve radius - B60W 2554/801: Lateral distance - B60W 2555/60: Traffic rules, e.g. speed limits or right of way - B60W 2556/50: of positioning data, e.g. GPS [Global Positioning System] data - B60W 2710/0605: Throttle position - B60W 2710/18: Braking system - Y02T 10/60: Other road transportation technologies with climate change mitigation effect - B60W: CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT - Y02T: CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION ## Abstract An system and method of operating an adaptive cruise control system for a vehicle. In one example, the system includes a rearward facing sensor, a speed control, and a controller. The controller receives at least one parameter indicative of a road condition or a traffic condition. The controller then activates a coasting mode based on the at least one parameter. The controller receives a signal from the rearward facing sensor indicative of a presence of a target vehicle positioned behind the host vehicle and restricts the coasting mode when the signal from the rearward facing sensor detects the target vehicle is positioned behind the host vehicle. The controller performs coasting via the speed control when the signal from the rearward facing sensor does not detect the target vehicle positioned behind the host vehicle and when the coasting mode is active. ## Claims ### Claim 1 An adaptive cruise control system for a host vehicle, the system comprising: a rearward facing sensor; a speed control; and a controller including an electronic processor, the controller communicatively coupled to the rearward facing sensor and the speed control, the controller configured to receive at least one parameter indicative of at least one from the group consisting of a road condition and a traffic condition; activate a coasting mode based on the at least one parameter; receive a signal from the rearward facing sensor indicative of a presence of a target vehicle positioned behind the host vehicle; restrict the coasting mode when the signal from the rearward facing sensor detects the target vehicle positioned behind the host vehicle, wherein restricting the coasting mode includes disabling the coasting mode; and perform coasting via the speed control when the signal from the rearward facing sensor does not detect the target vehicle positioned behind the host vehicle and when the coasting mode is active. ### Claim 2 (depends on 1) The adaptive cruise control system of claim 1, wherein the controller is further configured to determine a distance between the host vehicle and the target vehicle and to classify the target vehicle as at least one from the group consisting of near to the host vehicle and far from the host vehicle based on a predetermined distance threshold. ### Claim 3 (depends on 2) The adaptive cruise control system of claim 2, wherein the controller is configured to disable the coasting mode when the target vehicle is classified as near to the host vehicle. ### Claim 4 (depends on 2) The adaptive cruise control system of claim 2, wherein the controller is configured to restrict the coasting mode by further enabling coasting within a predefined limit when the target vehicle is classified as far from the host vehicle. ### Claim 5 (depends on 4) The adaptive cruise control system of claim 4, wherein the controller is configured to enable coasting within the predefined limit by setting a minimum speed as the predefined limit. ### Claim 6 (depends on 1) The adaptive cruise control system of claim 1, wherein the controller is further configured to determine a speed of the target vehicle relative to the host vehicle and to classify the target vehicle as at least one from the group consisting of approaching the host vehicle and receding from the host vehicle based on a predetermined speed threshold. ### Claim 7 (depends on 6) The adaptive cruise control system of claim 6, wherein the controller is configured to disable the coasting mode when the target vehicle is classified as approaching the host vehicle. ### Claim 8 (depends on 6) The adaptive cruise control system of claim 6, wherein the controller is configured to restrict the coasting mode by further enabling coasting within a predefined limit when the target vehicle is classified as receding from the host vehicle. ### Claim 9 (depends on 1) The adaptive cruise control system of claim 1, further comprising a user interface, and wherein the controller is further configured to receive a signal from the user interface indicative of a mode of operation of the adaptive cruise control system. ### Claim 10 (depends on 1) The adaptive cruise control system of claim 1, wherein the controller is configured to activate the coasting mode when the at least one parameter indicates at least one consisting of an upcoming declining road slope, an upcoming curve in the road, and an upcoming decrease in a speed limit. ### Claim 11 A method of adaptively controlling a host vehicle, the method comprising: receiving, with a controller, at least one parameter indicative of at least one from the group consisting of a road condition and a traffic condition; activating, with the controller, a coasting mode based on the at least one parameter, the coasting mode being either active or inactive; receiving, with the controller, a signal from a rearward facing sensor indicative of a presence of a target vehicle positioned behind the host vehicle; restricting, with the controller, the coasting mode when the signal from the rearward facing sensor detects the target vehicle positioned behind the host vehicle, wherein restricting the coasting mode includes disabling the coasting mode; and performing, with the controller, coasting when the signal from the rearward facing sensor does not detect the target vehicle positioned behind the host vehicle and when the coasting mode is active. ### Claim 12 (depends on 11) The method of adaptively controlling the host vehicle of claim 11, the method further comprising determining a distance between the host vehicle and the target vehicle and classifying the target vehicle as at least one from the group consisting of near to the host vehicle and far from the host vehicle based on a predetermined distance threshold. ### Claim 13 (depends on 12) The method of adaptively controlling the host vehicle of claim 12, wherein the coasting mode is disabled when the target vehicle is classified as near to the host vehicle. ### Claim 14 (depends on 12) The method of adaptively controlling the host vehicle of claim 12, wherein restricting the coasting mode further includes enabling coasting within a predefined limit when the target vehicle is classified as far from the host vehicle. ### Claim 15 (depends on 14) The method of adaptively controlling the host vehicle of claim 14, wherein enabling coasting within the predefined limit by setting a minimum speed as the predefined limit. ### Claim 16 (depends on 11) The method of adaptively controlling the host vehicle of claim 11, the method further comprising determining a speed of the target vehicle relative to the host vehicle and classifying the target vehicle as at least one from the group consisting of approaching the host vehicle and receding from the host vehicle based on a predetermined speed threshold. ### Claim 17 (depends on 16) The method of adaptively controlling the host vehicle of claim 16, wherein the coasting mode is disabled when the target vehicle is classified as approaching the host vehicle. ### Claim 18 (depends on 16) The method of adaptively controlling the host vehicle of claim 16, wherein restricting the coasting mode further includes enabling coasting within a predefined limit when the target vehicle is classified as receding from the host vehicle. ### Claim 19 (depends on 11) The method of adaptively controlling the host vehicle of claim 11, the method further comprising receiving a signal from a user interface indicative of a mode of operation of the host vehicle. ### Claim 20 (depends on 11) The method of adaptively controlling the host vehicle of claim 11, wherein setting the activating the coasting mode occurs when the at least one parameter indicates at least one consisting of an upcoming declining road slope, an upcoming curve in the road, and an upcoming decrease in a speed limit.