CN102951152B - For analyzing method and the device of vehicle to the close close situation of recoil simulator - Google Patents
For analyzing method and the device of vehicle to the close close situation of recoil simulator Download PDFInfo
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- CN102951152B CN102951152B CN201210310394.1A CN201210310394A CN102951152B CN 102951152 B CN102951152 B CN 102951152B CN 201210310394 A CN201210310394 A CN 201210310394A CN 102951152 B CN102951152 B CN 102951152B
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Classifications
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
- G08G1/0108—Measuring and analyzing of parameters relative to traffic conditions based on the source of data
- G08G1/0112—Measuring and analyzing of parameters relative to traffic conditions based on the source of data from the vehicle, e.g. floating car data [FCD]
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- 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
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/14—Adaptive cruise control
- B60W30/143—Speed control
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- 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
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/18—Propelling the vehicle
- B60W30/18009—Propelling the vehicle related to particular drive situations
- B60W30/181—Preparing for stopping
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
- G08G1/0108—Measuring and analyzing of parameters relative to traffic conditions based on the source of data
- G08G1/0116—Measuring and analyzing of parameters relative to traffic conditions based on the source of data from roadside infrastructure, e.g. beacons
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
- G08G1/0125—Traffic data processing
- G08G1/0133—Traffic data processing for classifying traffic situation
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
- G08G1/096708—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control
- G08G1/096716—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control where the received information does not generate an automatic action on the vehicle control
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
- G08G1/096708—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control
- G08G1/096725—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control where the received information generates an automatic action on the vehicle control
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
- G08G1/096766—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission
- G08G1/096783—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission where the origin of the information is a roadside individual element
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
- G08G1/096766—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission
- G08G1/096791—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission where the origin of the information is another vehicle
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- 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
- B60W2554/00—Input parameters relating to objects
- B60W2554/40—Dynamic objects, e.g. animals, windblown objects
- B60W2554/404—Characteristics
- B60W2554/4041—Position
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- 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
- B60W2554/00—Input parameters relating to objects
- B60W2554/80—Spatial relation or speed relative to objects
- B60W2554/804—Relative longitudinal speed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- 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
- B60W2555/00—Input parameters relating to exterior conditions, not covered by groups B60W2552/00, B60W2554/00
- B60W2555/60—Traffic rules, e.g. speed limits or right of way
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- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Atmospheric Sciences (AREA)
- Chemical & Material Sciences (AREA)
- Analytical Chemistry (AREA)
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Abstract
The present invention relates to a kind of for analyzing the method for vehicle to the close close situation of recoil simulator. described method comprises the signal data based on relevant with the signal intensity on the horizon of described recoil simulator, and the position data relevant with the strange vehicle that is positioned at described vehicle front determined (845) step near information, wherein, described close information comprises the halt of described vehicle before described recoil simulator, described vehicle is near the close distance of described recoil simulator, described vehicle is the close acceleration near described recoil simulator near the close speed of described recoil simulator and/or described vehicle, and described position data represents the data that drawn by the sensor device of described vehicle.
Description
Technical field
The present invention relates to a kind of for analyzing the side of vehicle to the close close situation of recoil simulatorMethod, a kind of corresponding device and a kind of corresponding computer program.
Background technology
If current with traffic lights correspondingly by its speed as soon as possible near the vehicle of traffic lightsState adapts, and can improve the magnitude of traffic flow and save energy.
DE102007043602A1 has described a kind of speed of adjusting vehicle before recoil simulatorThe method of degree
Summary of the invention
Under this background, by the present invention, propose one and filled to signal for analyzing vehiclePut the method for close close situation, proposed in addition a kind of device that uses the method andA kind of corresponding computer program has finally been proposed. Following description has provided favourableDesign.
By based on C2X communication, vehicle to vehicle communication or infrastructure to vehicle communicationFunction, traffic light status situation current and in the future can be sent to and drive towards traffic lightsVehicle. At this, the data that transfer to vehicle can comprise the type (example of current traffic light statusAs, red, yellow or green), duration of traffic light status and about one or below belowThese data of multiple traffic light status. Corresponding vehicle functions can use these to transmitData, so that the driver of support unit selects the close speed of optimizing near traffic lights. CanFor example considering that the in the situation that of optimizing fuel consumption, realizing this support is maybe embodied as " green by this supportRipple is auxiliary " (Gr ü ne-Welle-Assistant). Other between Ben Che and traffic lightsThe vehicle travelling in front reduces the free space between Ben Che and traffic lights, and canCause the wrong recommendation near speed near the optimization of traffic lights to this car.
Can obtain by means of the sensor being placed on this car the car travelling at this car above. Can use the relevant data of the vehicle travelling with front of being obtained by sensor, so that moreDetermine exactly the space that can use for this car between Ben Che and traffic lights. Thus can be excellentChange the close speed of this car near traffic lights.
If vehicle mounting has corresponding sensor, can be by optimizing near traffic lightsRealize the additional benefit (Mehrnutzen) immediately of the buyer to vehicle near speed. CarryHigh traffic safety is also possible, and this is because the driver of this car obtains when near crossingSupport. In addition by using constant speed controller, (the automatic distance when near crossing is controlled(ACC)), and by the starting improving assist and can realize raising driver comfort. RightIn by the transfer of data of signal lamp to this car the data transmission channel of process do not need to return yetPassage. For C2X function, be often also to send for example its position based on this car. According to thisThe system of invention can be constructed to pure reception. The C2X position data sending is mistakenly severalInoperative, this is because travel obtaining front by the vehicle-mounted autonomous sensor of this carOr static object. Can be to passing through by means of the data of obtaining by the sensor of this carThe data that C2X interface receives are carried out validity check, and vice versa. At vehicle configuration C2XIn the situation of the rising of the Disposing rate of function, for determining the close speed of this car near traffic lightsFunction become more accurate, this be because can with C2X position data supplement vehicle-mounted independentlySensing data.
A kind ofly comprise as follows for analyzing vehicle to the method for the close close situation of recoil simulatorStep:
Signal data based on relevant with the signal intensity on the horizon of described recoil simulator,And the position data relevant with the strange vehicle that is positioned at described vehicle front is definite near information,Wherein, described near information comprise the halt of described vehicle before described recoil simulator, described inVehicle leans near described recoil simulator near the close distance of described recoil simulator, described vehicleNearly speed and/or described vehicle are near the close acceleration of described recoil simulator, and described positionThe data that data representation is drawn by the sensor device of described vehicle.
Vehicle can be for example motor vehicle, for example automobile or truck. Recoil simulator can be to useIn the device of controlling the traffic on road. Recoil simulator especially can be configured to by closingSuitable all-clear or stop signal stop or clearance road on traffic. For example recoil simulatorCan be traffic lights or roadblock. Traffic lights can be constructed to send red optical signal, so thatStop traffic. For the traffic of letting pass, traffic lights can be constructed to send green optical signal.Roadblock can be constructed to, and hinders road by change in location as stop signal, Yi JitongCross further change in location as the all-clear road of letting pass. Signal data can comprise aboutThe information of following content: current which kind of signal that sends of recoil simulator, signal data can also in additionComprise the information about following content: how long current demand signal also will send and at current letterAfter number, send which kind of signal. For example signal data can comprise the information about following content:The stop signal that when replaces current transmission with all-clear, vice versa. Signal data canComprise the corresponding information about one or more follow-up signal cycle, for example about next timeSignal intensity information, about the information of after this follow-up signal intensity and in some situationUnder about the information of further follow-up signal intensity. Signal data can also comprise about positionThe information of putting and additionally or alternatively comprise the information about the useful direction of recoil simulator.So, recoil simulator can be constructed to taking position data as form to send himself position andAlso may send together useful direction. Signal data can be by recoil simulator, for control signalThe control device of device sends or the infrastructure dress of RST by known signal devicePut transmission. Signal data can be by wireless transmission channel or by adopting suitable transmission associationThe wave point of view transfers to vehicle or for analyzing close close to recoil simulator of vehicleThe device of situation. Can be placed in vehicle for analyzing near the device of situation. Strange carCan be other vehicles between vehicle and recoil simulator. Vehicle and strange vehicle canMove towards recoil simulator along identical travel direction. This vehicle and this strange vehicle can be positioned atIdentical track. Strange vehicle can be located immediately at before this vehicle, that is to say, at this vehicleAnd between this strange vehicle, there is no other a vehicle. Sensor device can be placed on vehicle.This sensor device can be configured to detect strange vehicle. For this reason, sensor device energyEnough be configured to receive and analyze the electromagnetic wave or the sound wave that send or reflect by strange vehicle,For example light or ultrasonic wave, to draw position data. Can by known, for vehicleThe sensor of travel assist system as sensing device. Position data can comprise strange vehiclePosition. Can be that actual position description or strange vehicle are with respect to this vehicle this itsRelative position. Can determine halt the energy of strange vehicle according to the position data of strange vehicleEnough determine the halt of this vehicle before recoil simulator based on this. According to the positional number of strange vehicleAccording to the position of this vehicle or also can be by this vehicle until signal according to the halt of this vehicleInstall the available distance of travelling and be defined as vehicle to the close close distance of recoil simulator. Based on canWith the distance of travelling can determine car with the signal data relevant with signal intensity on the horizonTo the close close speed of recoil simulator and near acceleration. Can so determine closeSpeed and close acceleration, vehicle does not need to stop before recoil simulator. If can not avoidVehicle stops before recoil simulator, can so select near speed, to minimize carEnergy resource consumption. Can be further processed near information. The method not only relates to use thusIn for example determining near the method for speed, can also additionally or alternatively generate optimum speedThe demonstration of show, braking being pointed out or the prompting of best throttle position are as the support to driver.Based on also realizing the speed of automatically selecting near information, for example, by acceleration or " drain the oilDoor " or implement to slow down automatically, for example, by braking.
According to an embodiment, position data comprises about the speed of strange vehicle and positionInformation. Can be by self speed or strange vehicle phase of strange vehicle about the information of speedRelative velocity for this vehicle represents. Can draw strange vehicle according to the information about speedWhether remain static, whether strange vehicle with constant speed motion, for example, allowedMaximum speed, for example, by speed, the speed of vehicle or the speed of minimizing of traffic ground point measurement.If strange vehicle remains static, can be according between this vehicle and this strange vehicleDistance draw the distance that can use for this vehicle before recoil simulator. Available distance (existsCurrent strange vehicle location and belong to the road between its stop position) shorter, near speedLess. If vehicle, with the motion of constant speed, can draw thus, at strange vehicle andBetween recoil simulator, also has the larger idle distance that also can be used in this vehicle. If strange carSpeed (being for example less than the speed of this vehicle) motion to reduce, can draw thus,Before strange vehicle, only there is a small amount of idle distance that also can be used in this vehicle. If strangeVehicle movement, distance that can be based between strange vehicle and this vehicle and at strange carThe reference value in the idle section in front is determined near speed. Can be for example according to strange vehicleSpeed and additionally or alternatively according to the speed difference between this vehicle and this strange vehicle and pre-First determine this reference value. This reference value also can depend on the velocity variations of strange vehicle. CanWill be correspondingly predetermined reference value be for example stored in memory.
Additionally or alternatively, position data can comprise the velocity variations about strange vehicleInformation. Can for example, determine speed by predetermined time period (can be several seconds kinds)Change. Although if the also speed minimizing of far and strange vehicle of recoil simulator, could be thusDraw, between this strange vehicle and recoil simulator, also have other strange vehicle. According to speedSpending the size changing can draw, strange vehicle is in addition in motion or static. Thus,Can draw the idle distance before strange vehicle according to velocity variations, it can be used in definite leaning onNearly speed. Can determine the foreseeable stop position of strange vehicle according to velocity variations.
This method can comprise that position-based data draw the stop position of strange vehicle thusStep. In aforementioned definite step, can be based on signal data, stop position and vehicleSelf-position is determined near information. For static strange vehicle, can be according at strange vehicleWith distance between this vehicle draws stop position. For the strange vehicle in motion, canBy adopting the speed of strange vehicle and additionally or alternatively adopting the speed of strange vehicle to becomeThat changes walks always to draw stop position. Drawing of stop position can be based on according to strange vehicleThe calculating of current deceleration or the estimation based on to empirical value. By to the actual of vehicle or pre-The understanding of the stop position of meter, can determine can be for the distance of this vehicle. Stop position alsoCan be used in the distance of determining between stop position and recoil simulator. Therefore, according to position of restPut to estimate and between this strange vehicle and recoil simulator, have how many strange vehicles.
Therefore this method can comprise the strange car drawing between this vehicle and recoil simulatorThe step of quantity. Can position-based data and the position of recoil simulator draw and be positioned at thisThe quantity of the vehicle between vehicle and recoil simulator. In addition, in aforementioned definite step, baseQuantity in strange vehicle is determined near information. The strange vehicle of waiting for before recoil simulator moreMany, in the time of the signal intensity of recoil simulator, all strange vehicles of waiting for before recoil simulator risesThe moving more time of process need. Can determine near information, for example, near speed or lean onWhen nearly acceleration, consider the needed time of starting process. For example can determine based on a time periodNear information, this time period is that basis is until the time period that the next signal of recoil simulator changesWith draw for the needed time period of starting process. If according to the quantity of vehicle and signalThe time period of the all-clear state that the next one of device arrives, show that vehicle can not be at the next oneDuring the all-clear state arriving by recoil simulator, can be in the time determining near speed,Consider extraly the time period of the next all-clear state arriving and signal following closelyThe time period of the stop signal state of device. Therefore be positioned at this vehicle and recoil simulator by considerationBetween the quantity of strange vehicle can be significantly determine more accurately near information.
In aforementioned definite step, can determine near letter based on the starting characteristic of strange vehicleBreath. If strange vehicle has stopped or braking very peremptorily, it is significant that Here it is. LogicalCrossing starting characteristic can consider, even if the signal intensity of recoil simulator become all-clear itAfter, not idle for vehicle track, but first by this strange vehicle or other footpath between fieldsOne section of raw vehicle closure can be definite according to starting characteristic time period. This starting characteristic can compriseStrange vehicle response is in the appearance of all-clear or in response to being positioned at its of this strange vehicle frontThe starting of his strange vehicle, speed trend in time. Starting characteristic can be based on experienceValue is also stored. Therefore by considering that the other time period drawing according to starting characteristic can be non-Often determine exactly near speed, although signal intensity becomes clearance letter within this other time periodNumber, but for this vehicle, track is still closed.
According to an embodiment, this method can comprise that position data to be transmitted substitutes orThe step of supplementary view data. The position data of transmitting can represent by strange vehicle, be positioned atThe data that another strange vehicle of vehicle front or traffic infrastructure device send. If instituteThe position data of transmission is relevant with the strange vehicle of the sensing device acquisition by vehicle, can be byThe position data being drawn by sensing device is compared with transmitted position data, and vice versa.If the position data of the transmitting strange vehicle other at least one is relevant, can use instituteThe position data of transmission is determined the number of the strange vehicle between this vehicle and recoil simulatorMeasure or be located immediately at the stop position of the prediction of the strange vehicle of this vehicle front. TransmitPosition data can be transmitted by wireless communication. Traffic infrastructure device can be to obtainBe taken at the device of the vehicle in the scope of recoil simulator, and can send and accessed carThe position data being associated. For example traffic infrastructure device can be constructed to pass through imageContact ring (Kontaktschleife) on analysis or track obtains vehicle.
On the contrary, the position data being drawn by the sensing device of vehicle can represent by vehicleThe data that environment harvester draws. Environment harvester can be occasionally image collecting device, as takes the photographPicture head. Can analyze the image being gathered by environment harvester by suitable graphical analysis,To gather strange vehicle and draw position data. Environment harvester (for example radar installations,Laser radar apparatus or ultrasonic unit) also can be configured to transmitted signal and based onThe reflection of the signal obtaining draws strange vehicle and position data. Drawn by environment harvesterData can be used by other miscellaneous function of vehicle.
This method can comprise the steps, determines display, with by interface to vehicleDriver show near information or according near the definite amount of information. For example display canBe suitable for speed, the throttle position of display optimization and/or the preferred position of demonstration gear of display optimizationPut. By showing, can help to optimize close to recoil simulator to driver.
This method can also comprise the steps, determines control signal, with based near informationAdjust the speed of vehicle. For example control signal can be used in automatic speed and regulates, and for example addsSpeed or " door of draining the oil ". Control signal also can be used in automatic retarding, for example braking. EspeciallyGround, in this way can be based on adjusting the speed of vehicle near information.
The present invention has also realized a kind of for analyzing vehicle to the close close situation of recoil simulatorDevice, it is constructed in corresponding equipment, to carry out or implement according to method of the present inventionStep. Can also separate fast and effectively with this enforcement modification of device form by the present inventionCertainly form the task on basis of the present invention.
Here device can be interpreted as a kind of electric device, and its processes sensor signal also accordinglyOutput control signal. This device can have can be with hardware mode and/or with software mode structureInterface. In the structure with example, in hardware, described interface can be for example so-called ASIC systemA part, the various functions that described ASIC system comprises device. But also possible that, instituteTo state interface be distinctive, integrated circuit or be made up of separate member at least in part. With softIn the structure of part form, described interface can be software module, and described software module is for example present inAlso have in addition on the microcontroller of other software modules.
Also be favourable with the computer program of program code, program code can be stored upThere is the machine-readable carrier such as semiconductor memory, harddisk memory or optical memoryUpper, in the time that this program is implemented on computer or device, carry out according to aforementioned embodimentsIn the method for arbitrary embodiment.
Brief description of the drawings
Exemplarily explain in detail the present invention according to appended accompanying drawing below. In accompanying drawing:
Fig. 1 shows the block diagram of embodiments of the invention;
Fig. 2 to Fig. 7 shows the schematic diagram according to the traffic conditions of embodiments of the invention;And
Fig. 8 shows the flow chart of the method for embodiments of the invention.
Detailed description of the invention
Below in the explanation of the preferred embodiments of the present invention, for shown in different figureThe element of similar action of rising adopt same or analogous Reference numeral, be no longer repeated in this description at thisThese elements.
Fig. 1 shows on track 104 to the recoil simulator fortune taking traffic lights 106 as formMoving vehicle 100 and strange vehicle 102. From the strange vehicle 102 of travel direction at vehicle100 motion above. Traffic lights 106 is constructed to transmitted signal data 108. Traffic for this reasonLamp 106 can comprise transmitting antenna. Signal data 108 can comprise about traffic lights 106The information of current traffic light status and about until the variation of traffic light status on the horizonThe information of time period. At this and traffic lights representation signal device in the following embodiments.
Vehicle 100 comprises for analyzing vehicle 100 to the close close situation of traffic lights 106Device 110. For example install 110 and can be configured to determine that vehicle is at traffic lights 106Front halt, vehicle lean on to traffic lights 106 to close path, the vehicle of traffic lights 106Nearly speed and/or vehicle are to the close acceleration of traffic lights 106. For example installing 110 is constructed toJust can pass through without stopping for being defined as vehicle 100 (if possible) near speedThe speed of traffic lights 106.
Except installing 110, vehicle 100 also comprise receiving interface 112, sensor device 114,Analytical equipment 116, display unit 118 and control device 120.
Receiving interface 112 can comprise reception antenna or transmission/reception antennas. Receiving interface112 are configured to receive the signal data 108 being sent by traffic lights 106, and it is defeatedGo out to device 110.
Sensor device 114 be configured to monitoring vehicle 100 environment at vehicleA part before 100 travel directions, and to analytical equipment 116 output environment data. Especially,Sensor device 114 is configured to obtain the strange vehicle in the front that is positioned at vehicle 100102. Analytical equipment 116 is configured to receive the also environment of analyte sensors device 114Data. Especially, analytical equipment 116 is configured to draw strange car based on environmental data102 and the position data of strange vehicle 102. According to this embodiment, position data comprisesThe position of strange vehicle 102 and speed. The speed of strange vehicle 102 can be by suitable biographySensor arrangement 114 is directly measured or many according to the strange vehicle 102 in succession drawing in timeIndividual position and drawing. Speed can also show that strange vehicle 102 remains static. Can be with(speed changes can be strange according to what draw at different time points in the speed change of strange vehicleThe speed of vehicle 102 and draw) carry out supplementary view data. Analytical equipment 116 is constructed to useIn exporting drawn position data to device 110.
Device 110 signal datas that are configured to based on being received by receiving interface 112And the position data being received by analytical equipment 116 is determined near information. Close in order to determineInformation, device 110 can also use the current location of vehicle 100 and use alternatively traffic lights106 position. The current location of vehicle 100 can be true by the suitable position of vehicle 100Determining device determines and is exported to device 110. For example root of the position of traffic lights 106Numerical map according to the navigation system of vehicle 100 obtains or is additional to signal by traffic lights 106Data 108 and send and receive and export to device 120 by receiving interface 112.
Device 120 is configured to the value near speed to display unit 118 outputs. AobviousShowing device 118 is configured to clearly illustrate near speed to the driver of motor vehicle 100Degree. Display unit 118 can comprise display screen with figure present near speed, or comprise and raisingSound device is exported near speed with sound. Additionally or alternatively, device 120 can be constructedFor the value for to the close speed of control device 120 output. Control device 120 is constructed to useIn the speed of vehicle 100 being adjusted near speed. Therefore, control device 120 can be car100 speed adjusting device.
According to an embodiment, strange vehicle 102 comprises dispensing device 122, and it is constructedFor the position data for sending strange vehicle 102, for example current location and speed. ThisIn situation, other devices of receiving interface 112 or vehicle 100 be configured to receive byThe position data that strange vehicle 102 transmits is also exported to device 110. Device 110 is by structureMake as for using transmitted position data, drawn by analytical equipment 116 to add or to substitutePosition data, determine near information, for example, near speed.
Therefore vehicle 100 comprises based on vehicle-mounted autonomic sensor 114 and vehicle infrastructureThe traffic light status of communication 108 auxiliary.
According to an embodiment, device 100 is parts of system, and this system is constructed toFor the treatment of the C2X data of light device for marking (as traffic lights 106), with given in advance closeSpeed. Be constructed to considering the vehicle 102 that travels of front by borrowing in this systemHelp the detection of vehicle-mounted autonomous sensor 114 to process C2X data.
Realize the C2X data of " the traffic light status function " that receive traffic lights 106 for this reason108. C2X data 108 can be received by receiving interface 112. According to C2X data 108 withAnd the position of the current location of vehicle and traffic lights 106 can be by vehicle 100 near traffic lightsIt is auxiliary that 106 close speed is defined as traffic lights. If traffic lights is auxiliary only based on traffic lights 106C2X data 108, determining the footpath between fields of not considering to be positioned at vehicle 100 fronts when the speedRaw vehicle 102. Thus according to this embodiment by vehicle-mounted autonomic sensor 114 (for example radar,Video or laser radar) realize and detect the vehicle 102 travelling in front. Realize thus true approxDetermine detected associated vehicle 102 position in the future before traffic lights 106. For example canDetermine the stop position of associated vehicle 102, and additionally or alternatively can determine front rowThat sail or in the quantity of the front static vehicle 102 of traffic lights 106. By by C2X data108 merge mutually with the vehicle-mounted autonomic sensor data of sensor 114, can carry out traffic lights auxiliaryThe new calculating helping. Can in the case of having considered the existence of strange vehicle 102, determine thus car100 close speed near traffic lights 106.
Fig. 2 to Fig. 7 shows the schematic diagram according to the traffic conditions of embodiments of the invention.Show respectively at this vehicle 100 that drives towards traffic lights 106 on track 104. Traffic lights 106All, in red light phase, send stop signal. Vehicle 100 comprises that traffic light status is auxiliary,Vehicle 100 can be for example the vehicle shown in Fig. 1, and it comprises for determining that vehicle fills to signalThe device of the close speed of putting.
Fig. 2 shows a traffic conditions, wherein between vehicle 100 and traffic lights 106, does not haveThere is strange vehicle. Traffic lights 106 is configured to send at time point as shown in Figure 2C2X information, it comprises the information of " turing afterwards green at 3 seconds ". Vehicle 100 is configured toReceive C2X information, and obtain thus about until traffic lights on the horizon 100 from stoppingStop signal is to the information of the time period of the signal intensity of all-clear. Based on this C2X information andOther data, for example distance between vehicle 100 and traffic lights 106, traffic light status is auxiliaryHelp the close speed that is configured to determine vehicle 100, vehicle 100 exists near speed with thisWhen next green light phase, reach traffic lights 106. Value near speed can be output. According toThis embodiment, determines the value that close speed is 50km/h, and realizes and will " reach with 50km/hTo green light " export to the driver of vehicle 100. Auxiliary pure based on C2X at traffic light statusSituation under, under this traffic conditions, also can determine suitable close speed.
Fig. 3 shows a traffic conditions, wherein between vehicle 100 and traffic lights 106, hasStrange vehicle 102. Before traffic lights 106, there is the strange vehicle 102 of five waits of a row. Hand overLogical lamp 106 is constructed to send C2X information, and it comprises the information of " turing afterwards green at 3 seconds ".Corresponding to the embodiment in Fig. 2, vehicle 100 is configured to receive C2X information, andAnd by means of the auxiliary close speed of determining and export vehicle 100 of traffic light status. According to thisEmbodiment, traffic light status is auxiliary not to be determined close by the position data of strange vehicle 102Speed. This has caused or the value of 50km/h has been defined as near speed, and to vehicle 100Driver output " reaching green light with 50km/h ". Auxiliary pure based on C2X at traffic light statusSituation under, under this traffic conditions determine close speed improper because do not consider quietVehicle 102 only.
Fig. 4 shows the traffic conditions of having described according to Fig. 3, wherein vehicle 100 HesBetween traffic lights 106, there are five static strange vehicles 102 of a row. With according to Fig. 3 describeEmbodiment is different, and according to the embodiment shown in Fig. 4, traffic light status is auxiliary except usingOutside the C2X information of traffic lights 106 " turing afterwards green at 3 seconds ", also use vehicle-mounted autonomous biographyThe data of sensor, the data of the sensor device 114 of for example describing according to Fig. 1. Vehicle-mounted autonomousSensor is constructed to obtain the strange vehicle 102 travelling in front. Schematically show vehicle 100The scope of obtaining of sensor, one of the caudal end of the strange vehicle 102 of a row is positioned at this and obtainsIn scope. Thus, can determine the static footpath between fields being located immediately at before vehicle 100 by sensorRaw vehicle 102. For example can determine caudal end a strange vehicle 102 current location andSpeed. According to the position of caudal end strange vehicle 102 and known traffic lights 106The estimate amount that is positioned at the strange vehicle 102 before traffic lights 106 can further be determined in position.Traffic light status assists the position data being configured to based on being drawn by sensor again trueFixed as pure based on C2X information and definite close speed in described according to Fig. 3. This trafficThe auxiliary speed that is configured to recalculate optimization of lamp state, although there is strange vehicle 102Vehicle 100 arrives traffic lights 106 with the speed of this optimization in green light phase. Alternatively, trafficAuxiliary can being configured to of lamp state directly determined excellent according to C2X information and position dataThe close speed of changing. Because according to this embodiment, the auxiliary at least caudal end that uses of traffic light statusThe position data of a strange vehicle 102 determine near speed, and describe according to Fig. 3Embodiment compares, the less close speed that is 30km/h by the value of determining. Traffic light statusVehicle 100 is exported in output " reaching green light with 30km/h " by auxiliary being configured toDriver. At the traffic lights shape that also uses the mixing of this car sensor device except C2X technologyDuring state is auxiliary, under the traffic conditions shown in Fig. 4, also can determine suitable close speed,Because this car sensor device makes at least to consider one of caudal end in static vehicle 102Become possibility.
Fig. 5 shows the traffic conditions of having described according to Fig. 3, wherein vehicle 100 HesBetween traffic lights 106, there are five static strange vehicles 502 of a row. With according to Fig. 3 describeEmbodiment is different, and all strange vehicles 502 are constructed to send its positional number separatelyAccording to. Vehicle 100 is constructed to receive the position data of strange vehicle 502 and uses it for definiteNear speed. Traffic lights 106 is still configured to send C2X information, and this information comprisesThe information that " turned afterwards green at 3 seconds ". According to this embodiment, traffic light status is auxiliary to be made on the one handBy the C2X information of traffic lights 106, use on the other hand the position data of strange vehicle 502Determine near speed. This has caused the close speed that determined value is 32km/h, and will export" reach green light with 32km/h " and export to the driver of vehicle 100, auxiliary at traffic light statusHelp and purely all dispose in the situation of C2X based on C2X and all strange vehicles 502, energyThe position data that enough considerations are sent by strange vehicle 502 is with the speed of the optimization of calculating vehicle 100Degree.
Fig. 6 shows the traffic conditions of having described according to Fig. 4, wherein vehicle 100 HesBetween traffic lights 106, there are five static strange vehicles 102,502 of a row. With according to Fig. 4The embodiment describing is different, and two strange vehicles 502 are implemented as C2X vehicle, itsBe constructed to send its position data separately. Last in strange vehicle 102,502 of one rowOne, the strange vehicle 102 of middle and tail end are not constructed to send its positional numberAccording to. Vehicle 100 is configured to receive the position data of strange vehicle 502 and use it forDetermine near speed. If only by using the position data being sent by strange vehicle 502 to determineThe close speed of vehicle 100, may be wrong near the value of speed, because tail end is strangeVehicle 102 is not constructed to send its position data. But according to the present embodiment, vehicle 100Be configured to as described according to Fig. 4, obtain tail end by vehicle-mounted autonomic sensorStrange vehicle 102 also draws the position data of the strange vehicle 102 of this tail end. According to this tail endThe position of strange vehicle 102 and the position of known traffic lights 106 can further determine positionThe estimate amount of the strange vehicle 102,502 before traffic lights 106. According to this embodiment,Can also determine more accurately the quantity of strange vehicle 102,502, because can consider togetherThe position data being sent by strange vehicle 502. Traffic light status is auxiliary be configured to based onThe position data of a strange vehicle 102 of the caudal end being obtained by sensor and alternatively based onReceive from strange vehicle 502 the positional information of coming, redefine as described pure according to Fig. 3Determine near speed based on C2X information. Traffic light status is auxiliary to be also configured to againThe speed of calculation optimization, although there is the speed of strange vehicle 102,502 vehicles 100 with this optimizationDegree arrives traffic lights 106 in green light phase. Alternatively, traffic light status is auxiliary can be constructedFor for according to C2X information, the position data of being determined by sensor with alternatively from strange car502 position datas that receive are directly determined the close speed of optimizing. Because according to this enforcementExample, the auxiliary position of that uses at least caudal end in strange vehicle 102 of traffic light statusData are determined close speed, and compared with the embodiment describing according to Fig. 3, the value of determining isThe less close speed of 30km/h. Traffic light status is auxiliary be configured to by output " with30km/h reaches green light " export to the driver of vehicle 100. In traffic light status is auxiliary,Vehicle-mounted autonomic sensor obtains the strange vehicle 102 travelling in front the C2X that passes through to consider otherVehicle 502 recalculates the speed of the optimization of vehicle 100, draws thus better approximate.
Fig. 7 shows a traffic conditions, wherein between vehicle 100 and traffic lights 106, hasThree strange vehicles 102. Relate to two at this and be parked in traffic lights 106 static strange car above102. The 3rd strange vehicle 102 that is wherein positioned at vehicle 100 fronts is cars of braking102, its at time point as shown in Figure 4 also in motion, and to static strange car102 motions. Vehicle 100 be configured to as describe according to Fig. 4 by vehicle-mounted fromMaster reference obtains the vehicle 102 of tail end and draws the strange vehicle of this tail end of braking102 position data. This position data just can also comprise this except comprising present speedIn the trend of speed or the trend of velocity variations of strange vehicle 102 of the tail end of braking. TrafficThe auxiliary positional number that is constructed to the strange vehicle 102 based on this tail end of braking of lamp stateAccording to halt future, that calculate of strange vehicle 102 of determining this tail end of braking730. Owing to also having other strange vehicle 102, the strange vehicle of this tail end of braking102 are not directly parked in before traffic lights 106, but are parked in the strange car of last waitAfter 102. Traffic lights 106 is configured to send C2X information, and it comprises " 3Second after turn green " information. Vehicle 100 is configured to receive C2X information. Traffic lightsThe auxiliary C2X information and stopping of calculating being configured to based on traffic lights 106 of statePoint 730 calculates and exports the close speed of vehicle 100. For example determine near speed and beThe value of 42km/h, and will export " reaching green light with 42km/h " and export to driving of vehicle 100The person of sailing.
In traffic light status is auxiliary, vehicle-mounted autonomic sensor obtains the strange car travelling in front102. Calculate possible halt 730 and draw thus the speed of the optimization of vehicle 100.The deceleration value of this strange vehicle 100 that can for example travel according to front realizes.
, be apparent that to embodiment illustrated in fig. 7 according to Fig. 2, with respect to pure based on C2XTraffic light status auxiliary, by adopting at least one vehicle-mounted distinctive sensor to determine at leastThe position data of a front strange vehicle 102 that travel or that front is static is favourable.
For the pure traffic light status miscellaneous function based on C2X, as shown in Figure 2, knot conventionallyThe stop line that closes traffic lights 106 is given for the speed of the optimization that reaches green light phase. At this,As shown in Figure 3, do not consider that travel in front or static strange vehicle 102. This can causeThe speed of suggestion or regulation can cause that travel with front or static strange vehicle 102 to touchHit, because be not consider these in the speed of calculating vehicle 100. Therefore, only work as in trafficBetween lamp 106 and Ben Che 100, do not have in the situation of other strange vehicles 102, as shown in Figure 1,The pure system based on C2X is suitable. Can be as shown in Figure 3 by by by vehicle-mounted autonomousThe system of the strange vehicle 102 that the data of sensor are travelled for detection of front is improved this feelingsCondition.
It is strange that the pure system based on C2X can consider to travel in front by two modificationVehicle 102. If the Disposing rate of C2X function has absolutely, that is to say each vehicle100,502 all dispose C2X function, all vehicles 100,502 are all regularly to itHis vehicle or infrastructure send its position. Before traffic light status miscellaneous function can be considered thusThe vehicle 502 travelling in side, as shown in Figure 5. May ability in the decades of implementing after C2XFor example enough reach 50% high Disposing rate, and absolutely Disposing rate may reach not foreverArrive. If but infrastructure disposes additional sensor, for example video or contact ring, withDraw the position data of strange vehicle 102,502, and output it to vehicle 100, even ifThe strange vehicle 102 travelling in front does not configure C2X, and system also can come into operation immediately.But, if draw position data with the sensor of vehicle 100, also can save baseThe high development cost of the additional sensor on Infrastructure. Under many circumstances, on this car 100Sensor can be used for other functions, for example, for the radar of ACC.
According to an embodiment, such system is by receive necessary C2X number from infrastructureAccording to the auxiliary composition of traffic light status. Infrastructure can be traffic lights 106, C2X data energyEnough the information about state, state duration and the position of traffic lights 106. As Fig. 4 instituteShow, system thus calculated example as until the optimization of the stop line before traffic lights 106 closeSpeed. The vehicle-mounted autonomic sensor of vehicle 100 obtains that the front relevant with this car 100 travelOr static vehicle 102,502. Because for example by known car 100 of GPS self positionPut, the vehicle 100 that disposes this system can calculate the front relevant with traffic lights 106 and travelOr the position of the strange vehicle 102,502 that front is static. According to ride characteristic, for exampleDistance between deceleration characteristic or the strange vehicle 102,502 that travels in traffic lights 106 and frontFrom, can draw approx and between traffic lights 106 and Ben Che 100, have how many strange vehicles102,502. For example can draw by the starting characteristic of hypothesis according to this value, travel in frontWhen strange vehicle 102,502 passes through traffic lights 106 in green light situation. Can adjust thusThe speed of advising or specifying to vehicle 100.
If the strange vehicle travelling in front 102,502 slows down, can be according to strange vehicle102,502 deceleration characteristic draws stopping of the strange vehicle 102,502 that travels in front approxStop 730, as shown in Figure 7. Before the strange vehicle 102,502 so travelling forwardly stopsJust can draw approx the quantity of the strange vehicle 102,502 that is parked in traffic lights 106 places,And can adjust the speed of vehicle 100 suggestion or regulation.
That Fig. 8 shows is according to an embodiment of the invention, for analyzing vehicle to signalInstall the flow chart of the method for close close situation. The method can be at for example accompanying drawing aboveShown in the system of vehicle 100 in implement. In step 841, receive recoil simulator withThe relevant signal data of signal intensity on the horizon of recoil simulator. In step 843 bySuitable sensor draws at least one position data that is positioned at the strange vehicle of this vehicle front,And provided to further processing. In step 845 based on signal data and position dataDetermine near information, for example, near speed. For example so determine near speed, i.e. car at thisIdeally for example without stopping just can passing through recoil simulator. In optional other stepIn, can receive the position being sent by dispensing device by the strange vehicle that is positioned at this vehicle frontData, and additionally use it for and determine near information. Can repeat to carry out continuously the methodStep. Can adjust continuously by this way near information. For example can repeat reality alwaysBe applied to the step of the signal data that receives recoil simulator, until vehicle is by this recoil simulatorOr stop before this recoil simulator.
Embodiment shown in described and figure is only exemplary selection. DifferentEmbodiment can fully or about single feature be bonded to each other. An embodiment can alsoFeature by other embodiment is supplemented. In addition can repeat implement and to be different fromThe order of describing is implemented steps of a method in accordance with the invention.
Claims (9)
1. one kind for analyzing vehicle (100) to the close close feelings of recoil simulator (106)The method of condition, described method comprises the steps:
Determining step (845), in described determining step (845), based on described signalRelevant signal data (108), the Yi Jiyu of signal intensity on the horizon of device (106)Be positioned at the strange vehicle (102 in described vehicle (100) front; 502) relevant position dataDetermine near information, wherein, described close information comprises that described vehicle is before described recoil simulatorHalt, described vehicle near the close distance of described recoil simulator, described vehicle near instituteClose speed and/or the described vehicle of stating recoil simulator accelerate near the close of described recoil simulatorDegree, and described position data represents to be drawn by the sensor device (114) of described vehicleData, and described position data comprises about the position of described strange vehicle and the letter of speedBreath.
2. according to the method described in any one in aforementioned claim, wherein, described positional numberAccording to the information comprising about the velocity variations of described strange vehicle.
3. method according to claim 1, also comprises based on described position data and draws instituteState the step of the stop position (730) of strange vehicle, wherein, in described determining step (845)In, based on described signal data (108), described stop position and described vehicle (100)Self-position is determined described near information.
4. method according to claim 1, comprises based on described position data and described letterThe position of number device draw be positioned at described vehicle (100) and described recoil simulator (106) itBetween the step of quantity of strange vehicle, wherein in described determining step, based on described strangeThe quantity of vehicle is determined described near information.
5. method according to claim 1, wherein, in described determining step (845)In, the starting characteristic based on described strange vehicle is determined described near information.
6. method according to claim 1, comprise that position data to be transmitted substitutes orThe step of supplementing described position data, described transmitted position data represents by described strange car, be positioned at the number that another strange vehicle of described vehicle front or traffic infrastructure device sendAccording to.
7. method according to claim 1, wherein, described position data represents by describedThe data that the environment harvester of vehicle (100) draws.
8. method according to claim 1, comprises the steps: to determine display,To show described near information or according to described close to the driver of described vehicle by interfaceThe amount that information is definite, and/or comprise the steps: to determine control signal, with based on described closeInformation is adjusted the speed of described vehicle.
9. one kind for analyzing vehicle (100) to the close close situation of recoil simulator (106)Device, it is constructed to the method described in any one in implementation basis claim 1-8Step.
Applications Claiming Priority (2)
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| DE102011081609.7 | 2011-08-26 | ||
| DE102011081609A DE102011081609A1 (en) | 2011-08-26 | 2011-08-26 | Method for evaluating situation of vehicle approaching signaling system, involves determining approach information based on signaling data corresponding to upcoming signal change of signaling system |
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| CN102951152A CN102951152A (en) | 2013-03-06 |
| CN102951152B true CN102951152B (en) | 2016-05-11 |
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| CN201210310394.1A Active CN102951152B (en) | 2011-08-26 | 2012-08-23 | For analyzing method and the device of vehicle to the close close situation of recoil simulator |
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| DE (1) | DE102011081609A1 (en) |
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| CN105190723B (en) * | 2013-05-09 | 2017-05-10 | 丰田自动车株式会社 | Driving assist system |
| DE102013218127A1 (en) * | 2013-09-11 | 2015-03-12 | Continental Automotive Gmbh | Method for controlling the operation of at least one drive or load component of a hybrid or electric vehicle and method for generating an operation optimization notice for such operation |
| DE102014202503A1 (en) | 2014-02-12 | 2015-08-13 | Robert Bosch Gmbh | Method and device for determining a distance of a vehicle to a traffic-regulating object |
| EP2945140A1 (en) * | 2014-05-12 | 2015-11-18 | AVL List GmbH | System and method for operating a vehicle taking into account information on traffic lights and surrounding vehicles |
| FR3027109B1 (en) * | 2014-10-08 | 2019-05-31 | Valeo Schalter Und Sensoren Gmbh | DETERMINING AN OPTIMUM SPEED FOR A MOTOR VEHICLE APPROACHING A TRICOLOR FIRE |
| DE102015202451A1 (en) | 2015-02-11 | 2016-08-11 | Volkswagen Aktiengesellschaft | Device and method for accelerating a vehicle when starting at a traffic light system |
| DE102015016349B4 (en) | 2015-10-07 | 2023-02-23 | Volkswagen Aktiengesellschaft | Device and method for a driver assistance system for a vehicle and device and method for a control instance for a controllable traffic sign |
| CN107767679B (en) * | 2016-08-17 | 2021-04-02 | 上海交通大学 | Signal lamp intersection vehicle speed guiding device and method based on special short-range communication |
| DE102017218222A1 (en) * | 2017-10-12 | 2019-04-18 | Continental Automotive Gmbh | Determining the position of a later breakpoint of a vehicle |
| DE102018010003A1 (en) * | 2018-12-27 | 2020-07-02 | Volkswagen Aktiengesellschaft | Backflow detection from movement data |
| WO2023030647A1 (en) * | 2021-09-03 | 2023-03-09 | Zf Friedrichshafen Ag | Model-based predictive control of a motor vehicle |
| JP7359048B2 (en) * | 2020-03-16 | 2023-10-11 | 株式会社デンソー | Driving support devices and driving support programs |
| DE102020212072A1 (en) * | 2020-09-25 | 2022-03-31 | Volkswagen Aktiengesellschaft | Process and control system for the energy-optimized operation of a vehicle |
| DE102021205901A1 (en) | 2021-06-10 | 2022-04-21 | Zf Friedrichshafen Ag | Method and system for intervening in vehicle operation |
| GB2609674A (en) * | 2021-08-12 | 2023-02-15 | Continental Automotive Gmbh | Method and vehicles for cooperative operation at an intersection |
| DE102021133170A1 (en) | 2021-12-15 | 2023-06-15 | Bayerische Motoren Werke Aktiengesellschaft | Method and driving system for driving a vehicle at a barrier |
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| CN101032956A (en) * | 2006-03-10 | 2007-09-12 | 日产自动车株式会社 | Vehicle headway maintenance assisting system and method |
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| JP3617501B2 (en) * | 2002-03-18 | 2005-02-09 | 日産自動車株式会社 | Deceleration assist device for vehicle |
| JP2006131055A (en) * | 2004-11-04 | 2006-05-25 | Denso Corp | Vehicle traveling controlling device |
| DE102007043602A1 (en) | 2007-09-13 | 2009-03-19 | Robert Bosch Gmbh | Method for adjusting the speed of a vehicle in front of a signal system and vehicle system |
| EP2232458B1 (en) * | 2007-12-13 | 2018-06-27 | Continental Teves AG & Co. oHG | Method and device for assisting a vehicle operator |
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- 2011-08-26 DE DE102011081609A patent/DE102011081609A1/en not_active Withdrawn
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2012
- 2012-08-08 IT IT001408A patent/ITMI20121408A1/en unknown
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN101032956A (en) * | 2006-03-10 | 2007-09-12 | 日产自动车株式会社 | Vehicle headway maintenance assisting system and method |
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| DE102011081609A1 (en) | 2013-02-28 |
| ITMI20121408A1 (en) | 2013-02-27 |
| FR2979458A1 (en) | 2013-03-01 |
| CN102951152A (en) | 2013-03-06 |
| FR2979458B1 (en) | 2018-09-21 |
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