NL2004849C2 - Method of steering a vehicle and such a vehicle. - Google Patents

Method of steering a vehicle and such a vehicle. Download PDF

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Publication number
NL2004849C2
NL2004849C2 NL2004849A NL2004849A NL2004849C2 NL 2004849 C2 NL2004849 C2 NL 2004849C2 NL 2004849 A NL2004849 A NL 2004849A NL 2004849 A NL2004849 A NL 2004849A NL 2004849 C2 NL2004849 C2 NL 2004849C2
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NL
Netherlands
Prior art keywords
vehicle
transfer system
steering wheel
stiffness value
value
Prior art date
Application number
NL2004849A
Other languages
Dutch (nl)
Inventor
Mauro Della Penna
Marinus Maria Paassen
David Alexander Abbink
Mark Mulder
Original Assignee
Univ Delft Tech
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Univ Delft Tech filed Critical Univ Delft Tech
Priority to NL2004849A priority Critical patent/NL2004849C2/en
Priority to PCT/NL2011/050402 priority patent/WO2011155825A1/en
Application granted granted Critical
Publication of NL2004849C2 publication Critical patent/NL2004849C2/en

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D15/00—Steering not otherwise provided for
    • B62D15/02—Steering position indicators ; Steering position determination; Steering aids
    • B62D15/025—Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation
    • B62D15/0265—Automatic obstacle avoidance by steering
    • 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
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • B60W50/16—Tactile feedback to the driver, e.g. vibration or force feedback to the driver on the steering wheel or the accelerator pedal
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
    • B62D6/008—Control of feed-back to the steering input member, e.g. simulating road feel in steer-by-wire applications

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Human Computer Interaction (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)

Abstract

Vehicle and method of steering such a vehicle, wherein the vehicle has a steering wheel and steerable driving wheels and a transfer system for converting steering wheel actions to a steering angle of the steerable driving wheels, and wherein the transfer system is provided with a predefined stiffness value that determines said transfer system's transfer characteristic pertaining to a required amount of torque that is required in turning the steering wheel to effect a desired steering angle of the steerable driving wheels. In this vehicle and method of steering this vehicle, an area in front of the vehicle is monitored for detecting objects that the vehicle may hit when it continues its current path of movement. Depending on the detection of any such object the stiffness value of the transfer system is reduced so as to ease turning the steering wheel for effecting the desired steering angle of the steerable driving wheels.

Description

Method of steering a vehicle and such a vehicle
The invention relates to a vehicle and a method of steering such a vehicle, wherein the vehicle has a steering wheel and steerable driving wheels and a transfer system for converting steering wheel actions to a steering angle of the steerable driv-5 ing wheels, and wherein the transfer system is provided with a predefined stiffness value that determines said transfer system's transfer characteristic pertaining to a required amount of torque that is required in turning the steering wheel to effect a desired steering angle of the steerable driving wheels.
10 Nowadays traffic involves vehicles that all have the features of the preamble. The transfer system of the known vehicle for converting the steering wheel actions to the steering angle of the steerable driving wheels are either implemented conventionally with a fixed connection, or are provided with a hy-15 draulic or electrical system to convert rotational movement of the steering wheel to a corresponding angular position of the steerable driving wheels. When the transfer system is implemented with a fixed connection between the steering wheel and the driving wheels, it is also possible that the vehicle is provided with 20 further means to assist the driver in the turning of the steering wheel.
During recent years automobile manufacturers and scientists are striving to assist the driver in his operations when driving the vehicle, particularly by providing the driver with 25 feedback, for instance on the condition of the road. This may be done simply by advising the driver about the outside temperature, whereby a sufficiently low temperature may be indicative for freezing conditions and a slippery road. It may also be done more directly by manipulating the feel that the driver experiences 30 while turning the steering wheel.
Another example that is known from the prior art is to provide the vehicle with one or more sensor's to detect whether for instance a preceding vehicle comes to close which may result into a collision. For that situation it is proposed to provide 35 the driver with feedback by making it harder to press the gas pedal.
For a certain class of situations the existing proposals do not suffice. In the prior art the problem is that no useful method or system exists that may assist the driver while driving 2 the vehicle, in order to prevent hitting stationary objects or other road users, such as pedestrians.
It is an object of the invention to provide a solution to this problem, so as to assist the driver to avoid collisions 5 with stationary or slowly moving objects and other road users.
For this purpose a method and system are proposed in accordance with one or more of the appended claims.
In a first aspect of the invention a method for steering a vehicle is proposed which has the feature that an area in front 10 of the vehicle is monitored for detecting objects that the vehicle may hit when it continues its current path of movement, and that depending on the detection of any such object the stiffness value of the transfer system is reduced so as to ease turning the steering wheel for effecting the desired steering angle of the 15 steerable driving wheels.
Accordingly the vehicle of the invention is to that end appropriately embodied with at least one sensor for monitoring an area in front of the vehicle and to detect an object or objects in said area that the vehicle may hit when it continues its cur-20 rent path of movement. The vehicle then further comprises a control system which is arranged to reduce the stiffness value of the transfer system depending on the at least one sensor detecting any such object, so as to ease turning the steering wheel for effecting the desired steering angle of the steerable driving 25 wheels.
The reduction of the stiffness value of the transfer system that conveys the steering wheel action to the steerable driving wheels, makes maneuvering around objects and other road users that are to be avoided very easy.
30 It is preferred that a remaining spatio-temporal criti cal factor between the vehicle and the object, which may for instance be the remaining time to contact, is estimated and the stiffness value of the transfer system is then reduced in a manner that depends on said estimated remaining spatio-temporal 35 critical factor between the vehicle and the object. In this way it is possible to accommodate the level of the reduction of the stiffness value of the said transfer system to the severity of the threatening collision. One thing and another can be appropriately carried out in a vehicle that to that end comprises calcu-40 lating means to estimate a remaining spatio-temporal critical factor between the vehicle and the object, whereby the control 3 system is connected to the calculating means and arranged to reduce the stiffness value of the transfer system in a manner that depends on said estimated remaining spatio-temporal critical factor between the vehicle and the object.
5 The method of the invention is preferably executed in a way that the level of reduction of the stiffness value of the transfer system is increased in a manner that is inversely proportional to the estimated remaining spatio-temporal critical factor between the vehicle and the object. In this manner an 10 automatic accommodation is realized that takes account of the necessity to respond quicker as the time to collision reduces. Accordingly the control system of the vehicle of the invention is for that purpose arranged to increase the level of reduction of the stiffness value of the transfer system in a manner that is 15 inversely proportional to the remaining spatio-temporal critical factor between the vehicle and the object as estimated by the calculating means by the calculating means.
It is to be noted that in the method and system of the invention the required response to the threatening collision can 20 require that the stiffness value of the transfer system is reduced to a negative value. This is quite remarkable considering that the negative value of the stiffness between the steering wheel and the steerable driving wheels results in an unstable system. This instability however makes that the vehicle can re-25 spond as quickly as possible to a dangerous situation that the driver wishes to avoid by appropriately turning the steering wheel.
Advantageously further at least one lane is calculated pertaining to a trajectory that the vehicle may follow so as to 30 avoid hitting the object, wherein the stiffness value of the transfer system is controlled to approach its original predefined value in as much as the path that the vehicle follows actually approaches said trajectory. To that end the vehicle of the invention is preferably provided with a trajectory planner to calcu-35 late at least one lane pertaining to a trajectory that the vehicle may follow so as to avoid hitting the object, whereby the control system is arranged to control the stiffness value of the transfer system so as to have it approach to its original predefined value in as much as the path that the vehicle follows actu-40 ally approaches said calculated trajectory.
4
The invention will hereinafter be further elucidated with reference to the drawing.
In the drawing: -figure 1 shows a vehicle of the invention which in the 5 usual way is provided with a steering wheel and in steerable driving wheels, and is maneuvered in accordance with the method of the invention to avoid colliding a stationary object; -figure 2 shows a graph representing various stiffness values of transfer characteristics pertaining to a required 10 amount of torque that is required in turning the steering wheel of the vehicle shown in figure 1 to effect a desired steering angle of the steerable driving wheels of this vehicle; -figure 3 shows the main components of the control logic that is implemented in the vehicle of the invention in order to 15 enable that it is operated in accordance with the method of the invention .
Referring first to figure 2 several graphs are shown wherein the X-axis represents a desired steering angle of the steerable driving wheels 11, 12 (see figure 3), and wherein the 20 Y-axis represents the required amount of torque that has to be applied to the steering wheel 10 (see figure 3). Figure 2 shows three graphs, notably fa, fb, and fc.
Graph fa shows a relaxed case in which the stiffness is only slightly decreased compared to a nominal stiffness.
25 Graph fb shows a case in which the stiffness has a nega tive value when the desired steering angle does not deviate much from the vehicle going straightforward.
Graph fc represents the case that these stiffness as a negative value in a large range of desired steering angles.
30 The mentioned graphs fa, fb, and fc correspond to the trajectories a, b, and c that are indicated in figure 1, and which relate to the shown vehicle 1 following the path to the left L or the path to the right R to avoid collision with the object 2.
35 The path indicated with a is an example of a relaxed avoidance of the object 2. The paths indicated with b and c are examples of more critical situations, whereby the time to contact (or another spatio-temporal critical factor) that the vehicle 1 collides with the object 2 is for example c less than the time to 40 contact for example b.
5
To enable that the vehicle 1 of the invention is operated in accordance with the method of the invention for steering such a vehicle 1, the vehicle 1 comprises at least one sensor 3, 4 for monitoring an area 5 in front of the vehicle 1 and to de-5 tect an object 2 or objects in said area 5 that the vehicle 1 may hit when it continues its current path of movement 6.
The vehicle 1 further comprises a control system 7 as shown in figure 3 which is arranged to reduce the stiffness value fa, fb, and fc of the transfer system 13 for converting a rota-10 tional position of the steering wheel 10 to a corresponding angular position of the driving wheels 11, 12 of the vehicle 1. The reduction of the stiffness value fa, fb, and fc of the transfer system 13 depends on the at least one sensor 3, 4 detecting any such object 2 so as to ease turning the steering wheel for ef-15 fecting the desired steering angle of the steerable driving wheels 11, 12. Although the steering wheel 10, the steerable driving wheels 11, 12 and the transfer system 13 that links these wheels 10, 11, 12 together are depicted in the figures, these features per se are also known from the vehicle of the prior art. 20 A further elucidation thereof can therefore be dispensed with.
Figure 3 further shows that part of the control logic (generally depicted with reference 14) are calculating means 8 to estimate a remaining time to contact TTC between the vehicle 1 and the object 2, whereby the control system 7 is connected to 25 the calculating means 8 and arranged to reduce the stiffness value of the transfer system 13 in a manner that depends on said estimated remaining time to contact between the vehicle 1 and the object 2 as calculated by the calculating means 8.
The control system 7 as shown in figure 3 is arranged to 30 increase the level of reduction of the stiffness value fa, fb, and fc of the transfer system 13 in a manner that is inversely proportional to the remaining time to contact TTC between the vehicle 1 and the object 2 as estimated by the calculating means 8.
Figure 3 further shows that the control logic 14 is pro-35 vided with a trajectory planner 9 to calculate at least one lane pertaining to a trajectory a, b, c that the vehicle 1 may follow so as to avoid hitting the object 2. The control system 7 is further arranged to control the stiffness value of the transfer system 13 so as to have it approach to its original predefined value 40 in as much as the path that the vehicle 1 follows actually approaches said calculated trajectory a, b, c.

Claims (10)

1. Werkwijze voor het besturen van een voertuig (1), waarin het voertuig (1) een stuurwiel (10) en bestuurbare wielen (11, 12) heeft en een overdrachtssysteem (13) voor het converteren van acties van het stuurwiel (10) naar een stuurhoek van de 5 bestuurbare wielen (11, 12), en waarin het overdrachtssysteem (13) voorzien is van een voorafbepaalde stijfheidswaarde (fa, fb/ fc) die de overdrachtskarakteristiek van genoemd overdrachtssysteem bepaalt die betrekking heeft op een vereiste hoeveelheid koppel die nodig is voor het verdraaien van het stuurwiel (10) 10 om een gewenste stuurhoek van de bestuurbare wielen (11, 12) te bewerkstelligen, met het kenmerk, dat een gebied (5) voor het voertuig (1) bewaakt wordt voor het detecteren van objecten (2) die het voertuig (1) kan raken wanneer deze zijn huidig bewe-gingspad (6) voortzet, en dat afhankelijk van de detectie van 15 enig object (2) de stijfheidswaarde (fa, fb, fc) van het overdrachtssysteem (13) verminderd wordt teneinde het draaien van het stuurwiel (10) voor het effectueren van de gewenste stuurhoek van de bestuurbare wielen (11, 12) te vergemakkelijken.A method for controlling a vehicle (1), wherein the vehicle (1) has a steering wheel (10) and steerable wheels (11, 12) and a transfer system (13) for converting actions of the steering wheel (10) to a steering angle of the steerable wheels (11, 12), and in which the transfer system (13) is provided with a predetermined stiffness value (fa, fb / fc) which determines the transfer characteristic of said transfer system that relates to a required amount of torque that is required for turning the steering wheel (10) to achieve a desired steering angle of the steerable wheels (11, 12), characterized in that an area (5) for the vehicle (1) is monitored for detecting objects (2) that can hit the vehicle (1) when it continues its current movement path (6), and that depending on the detection of any object (2) the stiffness value (fa, fb, fc) of the transmission system ( 13) is reduced in order to make it turn facilitate the steering wheel (10) to effectuate the desired steering angle of the steerable wheels (11, 12). 2. Werkwijze voor het besturen van een voertuig (1) 20 volgens conclusie. 1, met het kenmerk, dat een overblijvende ruimte-tijd kritische factor tussen het voertuig (1) en het object (2) geschat wordt en de stijfheidswaarde (fa, fb, fc) van het overdrachtssysteem (13) verminderd wordt op een manier die afhankelijk is van genoemde geschatte ruimte-tijd kritische fac-25 tor tussen het voertuig (1) en het object (2).Method for driving a vehicle (1) according to claim. 1, characterized in that a remaining space-time critical factor between the vehicle (1) and the object (2) is estimated and the stiffness value (fa, fb, fc) of the transfer system (13) is reduced in a manner that is dependent on said estimated space-time critical factor between the vehicle (1) and the object (2). 3. Werkwijze voor het besturen van een voertuig volgens conclusie 2, met het kenmerk, dat de mate van reductie van de stijfheidswaarde (fa, fb, fc) van het overdrachtssysteem (13) verhoogd wordt in een mate die invers proportioneel is met de 30 geschatte overblijvende ruimte-tijd kritische factor tussen het voertuig (1) en het object (2).Method for driving a vehicle according to claim 2, characterized in that the degree of reduction of the stiffness value (fa, fb, fc) of the transmission system (13) is increased to an extent that is inversely proportional to the 30 estimated remaining space-time critical factor between the vehicle (1) and the object (2). 4. Werkwijze voor het besturen van een voertuig volgens één der conclusies 1-3, met het kenmerk, dat de stijfheidswaarde (fa, fb, fc) van het overdrachtssysteem (13) verminderd wordt tot 35 een negatieve waarde.Method for driving a vehicle according to one of claims 1 to 3, characterized in that the stiffness value (fa, fb, fc) of the transmission system (13) is reduced to a negative value. 5. Werkwijze voor het besturen van een voertuig volgens j één der conclusies 1-4, met het kenmerk, dat ten minste één laan berekend wordt die betrekking heeft op een trajectorie (a, b, c) die het voertuig (1) kan volgen voor het vermijden van een botsing met het object (2), en dat de stij fheidswaarde (fa, fb, fc) van het overdrachtssysteem (13) geregeld wordt teneinde zijn oorspronkelijke voorafbepaalde waarde te benaderen naar mate het 5 pad dat het voertuig (1) volgt daadwerkelijk genoemde trajecto-rie (a, b, c) benadert.Method for driving a vehicle according to one of claims 1-4, characterized in that at least one lane is calculated which relates to a trajectory (a, b, c) that the vehicle (1) can follow for avoiding a collision with the object (2), and the rigidity value (fa, fb, fc) of the transmission system (13) being controlled in order to approximate its original predetermined value as the path the vehicle (1) ) actually follows the said trajectory (a, b, c). 6. Voertuig (1) omvattende een stuurwiel (10) en bestuurbare wielen (11, 12) en een overdrachtssysteem (13) voor het converteren van stuurwielacties naar een stuurhoek van de 10 bestuurbare wielen (11, 12), waarin het overdrachtssysteem (13) is voorzien van een voorafbepaalde stijfheidswaarde (fa, fb, fc) die de overdachtskarakteristiek van genoemd overdrachtssysteem bepaalt met betrekking tot een gewenste hoeveelheid koppel die nodig is voor het verdraaien van het stuurwiel (10) om een ge-15 wenste stuurhoek van de bestuurbare wielen (11, 12) te bewerkstelligen, met het kenmerk, dat deze verder ten minste één sensor (3, 4) omvat voor het bewaken van een gebied (5) voor het voertuig (1) en het detecteren van een object (2) of objecten in genoemd gebied (5) welke het voertuig (1) kan raken wanneer deze 20 zijn huidig bewegingspad (6) voortzet, en dat deze een regelsysteem (7) omvat welke is ingericht voor het reduceren van de stijfheidswaarde (fa, fb/ fc) van het overdrachtssysteem (13) die afhankelijk is van genoemde ten minste ene sensor (3, 4) welke een object. (2) detecteert, teneinde het verdraaien van het 25 stuurwiel (10) te vergemakkelijken voor het effectueren van de gewenste stuurhoek van de bestuurbare wielen (11, 12).A vehicle (1) comprising a steering wheel (10) and steerable wheels (11, 12) and a transfer system (13) for converting steering wheel actions to a steering angle of the steerable wheels (11, 12), wherein the transfer system (13 ) is provided with a predetermined stiffness value (fa, fb, fc) which determines the transfer characteristic of said transfer system with respect to a desired amount of torque required for turning the steering wheel (10) about a desired steering angle of the steerable wheels (11, 12), characterized in that it further comprises at least one sensor (3, 4) for monitoring an area (5) for the vehicle (1) and for detecting an object (2) or objects in said area (5) which may hit the vehicle (1) when it continues its current path of movement (6), and that it comprises a control system (7) which is adapted to reduce the stiffness value (fa, fb / fc) of the transfer system (1 3) which is dependent on said at least one sensor (3, 4) which is an object. (2), in order to facilitate the rotation of the steering wheel (10) for effecting the desired steering angle of the steerable wheels (11, 12). 7. Voertuig (1) volgens conclusie 6, met het kenmerk, dat deze rekenmiddelen (8) omvat voor het schatten van een overblijvende ruimte-tijd kritische factor tussen het voertuig (1) 30 en het object (2), waarbij het regelsysteem (7) is verbonden met de rekenmiddelen (8) en ingericht voor het verminderen van de stijfheidswaarde (fa, fb, fc) van het overdrachtssysteem (13) op een wijze die afhankelijk is van genoemde geschatte overblijvende ruimte-tijd kritische factor tussen het voertuig (1) en het 35 object (2).A vehicle (1) according to claim 6, characterized in that it comprises calculating means (8) for estimating a remaining space-time critical factor between the vehicle (1) and the object (2), wherein the control system ( 7) is connected to the computing means (8) and adapted to reduce the stiffness value (fa, fb, fc) of the transfer system (13) in a manner that is dependent on said estimated remaining space-time critical factor between the vehicle ( 1) and the object (2). 8. Voertuig (1) volgens conclusie 7, met het kenmerk, dat het regelsysteem (7) is ingericht voor het verhogen van het reductieniveau van de stijfheidswaarde (fa, fb, fc) van het overdrachtssysteem (13) op een wijze, die inverse proportineel is met 40 de overblijvende ruimte-tijd kritische factor tussen het voer- tuig (1) en het object (2) zoals geschat met de rekenmiddelen (8) .Vehicle (1) according to claim 7, characterized in that the control system (7) is adapted to increase the reduction level of the stiffness value (fa, fb, fc) of the transfer system (13) in a manner which inverse proportional with 40, the remaining space-time is critical factor between the vehicle (1) and the object (2) as estimated with the calculation means (8). 9. Voertuig (1) volgens één der conclusies 6-8, met het kenmerk, dat het regelsysteem (7) is ingericht voor het vermin- 5 deren van de stijfheidswaarde (fa, fc) van het overdrachts- systeem (13) naar een negatieve waarde.A vehicle (1) according to any one of claims 6-8, characterized in that the control system (7) is adapted to reduce the stiffness value (fa, fc) from the transfer system (13) to a negative value. 10. Voertuig (1) volgens één der conclusies 6-9, met het kenmerk, dat deze voorzien is van een trajectorie-planner (9) voor het berekenen van ten minste één laan die betrekking 10 heeft op een trajectorie (a, b, c) welke het voertuig (1) kan volgen voor het vermijden van een botsing met het object (2), en dat het regelsysteem (7) is ingericht om de stijfheidswaarde (fa, fb, fc) van het overdrachtssysteem (13) te regelen zodanig dat deze haar originele voorafbepaalde waarde benadert naarmate 15 het pad dat het voertuig (1) volgt daadwerkelijk genoemde berekende trajectorie (a, b, c) benadert.Vehicle (1) according to one of claims 6-9, characterized in that it is provided with a trajectory planner (9) for calculating at least one lane that relates to a trajectory (a, b, c) which the vehicle (1) can follow for avoiding a collision with the object (2), and that the control system (7) is adapted to control the stiffness value (fa, fb, fc) of the transfer system (13) such that it approaches its original predetermined value as the path followed by the vehicle (1) actually approaches said calculated trajectory (a, b, c).
NL2004849A 2010-06-08 2010-06-08 Method of steering a vehicle and such a vehicle. NL2004849C2 (en)

Priority Applications (2)

Application Number Priority Date Filing Date Title
NL2004849A NL2004849C2 (en) 2010-06-08 2010-06-08 Method of steering a vehicle and such a vehicle.
PCT/NL2011/050402 WO2011155825A1 (en) 2010-06-08 2011-06-07 Method of steering a vehicle

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
NL2004849 2010-06-08
NL2004849A NL2004849C2 (en) 2010-06-08 2010-06-08 Method of steering a vehicle and such a vehicle.

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP6661214B2 (en) * 2015-12-21 2020-03-11 株式会社Ｓｕｂａｒｕ Vehicle driving support control device
WO2018039661A1 (en) * 2016-08-26 2018-03-01 Trw Automotive Us Llc Method of controlling a vehicle

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6269307B1 (en) * 1998-08-06 2001-07-31 Honda Giken Kogyo Kabushiki Kaisha Travel safety system for vehicle
EP1285842A2 (en) * 2001-08-23 2003-02-26 Nissan Motor Co., Ltd. Driving-assist system

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6269307B1 (en) * 1998-08-06 2001-07-31 Honda Giken Kogyo Kabushiki Kaisha Travel safety system for vehicle
EP1285842A2 (en) * 2001-08-23 2003-02-26 Nissan Motor Co., Ltd. Driving-assist system

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