BR112020000080A2 - método de geração de velocidade alvo de veículo e dispositivo de geração de velocidade alvo de veículo para veículo com direção assistida - Google Patents

método de geração de velocidade alvo de veículo e dispositivo de geração de velocidade alvo de veículo para veículo com direção assistida Download PDF

Info

Publication number
BR112020000080A2
BR112020000080A2 BR112020000080-9A BR112020000080A BR112020000080A2 BR 112020000080 A2 BR112020000080 A2 BR 112020000080A2 BR 112020000080 A BR112020000080 A BR 112020000080A BR 112020000080 A2 BR112020000080 A2 BR 112020000080A2
Authority
BR
Brazil
Prior art keywords
vehicle speed
speed control
target speed
vehicle
vehicle target
Prior art date
Application number
BR112020000080-9A
Other languages
English (en)
Other versions
BR112020000080B1 (pt
Inventor
Akinobu Gotou
Takashi FUKUSHIGE
Satoshi Tange
Original Assignee
Nissan Motor Co., Ltd.
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 Nissan Motor Co., Ltd. filed Critical Nissan Motor Co., Ltd.
Publication of BR112020000080A2 publication Critical patent/BR112020000080A2/pt
Publication of BR112020000080B1 publication Critical patent/BR112020000080B1/pt

Links

Classifications

    • 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
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • B60W60/001—Planning or execution of driving tasks
    • 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
    • B60W30/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K31/00—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator
    • 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
    • B60W30/10—Path keeping
    • 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
    • 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
    • B60W30/14—Adaptive cruise control
    • B60W30/143—Speed control
    • B60W30/146—Speed limiting
    • 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
    • B60W30/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
    • B60W30/162—Speed limiting therefor
    • 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
    • B60W30/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
    • B60W30/165—Automatically following the path of a preceding lead vehicle, e.g. "electronic tow-bar"
    • 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
    • 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
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
    • B60W40/105—Speed
    • 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
    • B60W2050/0062—Adapting control system settings
    • B60W2050/0075—Automatic parameter input, automatic initialising or calibrating means
    • B60W2050/0083—Setting, resetting, calibration
    • 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
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/10—Longitudinal speed
    • 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
    • B60W2552/00—Input parameters relating to infrastructure
    • B60W2552/30—Road curve radius
    • 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
    • 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
    • B60W2554/801—Lateral distance
    • 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
    • B60W2554/802—Longitudinal distance
    • 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
    • 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
    • B60W2720/00—Output or target parameters relating to overall vehicle dynamics
    • B60W2720/10—Longitudinal speed

Landscapes

  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Human Computer Interaction (AREA)
  • Mathematical Physics (AREA)
  • Physics & Mathematics (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
  • Traffic Control Systems (AREA)
  • Controls For Constant Speed Travelling (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)
  • Control Of Vehicle Engines Or Engines For Specific Uses (AREA)

Abstract

A presente invenção refere-se à aceleração desnecessária que é suprimida e, além disso, aos solavancos no momento da transição da aceleração para a desaceleração que são reduzidos quando viajando usando a assistência de direção. Refere-se também a um dispositivo para gerar uma velocidade alvo do veículo de um veículo com direção assistida (veículo acionado autonomamente) equipado com uma unidade de controle de direção autônoma (2) (controlador) que inclui uma pluralidade de unidades de geração de comando de velocidade do veículo (21) e gera uma velocidade alvo do veículo quando o veículo está viajando / parando, onde a unidade de controle de direção autônoma (2) compreende uma unidade de cálculo de comando de velocidade do veículo antecipada (22) e uma unidade de mediação de comando de menor velocidade do veículo (23). A unidade de cálculo de comando de velocidade do veículo antecipada (22) calcula um valor de comando de velocidade do veículo antecipada que vem após o decorrer de uma quantidade de tempo prescrita a partir de um momento presente para cada valor de comando de velocidade do veículo gerado pela pluralidade de unidades de geração de comando de velocidade do veículo (21). A unidade de mediação de comando de menor velocidade do veículo (23) seleciona um menor valor dentre a pluralidade de valores de comando de velocidade do veículo antecipada calculados pela unidade de cálculo de comando de velocidade de veículo antecipada (22).
BR112020000080-9A 2017-07-03 2017-07-03 Método de geração de velocidade alvo de veículo e dispositivo de geração de velocidade alvo de veículo para veículo com direção assistida BR112020000080B1 (pt)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/JP2017/024399 WO2019008647A1 (ja) 2017-07-03 2017-07-03 運転支援車両の目標車速生成方法及び目標車速生成装置

Publications (2)

Publication Number Publication Date
BR112020000080A2 true BR112020000080A2 (pt) 2020-07-07
BR112020000080B1 BR112020000080B1 (pt) 2023-10-17

Family

ID=64949815

Family Applications (1)

Application Number Title Priority Date Filing Date
BR112020000080-9A BR112020000080B1 (pt) 2017-07-03 2017-07-03 Método de geração de velocidade alvo de veículo e dispositivo de geração de velocidade alvo de veículo para veículo com direção assistida

Country Status (10)

Country Link
US (1) US11052925B2 (pt)
EP (1) EP3650258B1 (pt)
JP (1) JP6680403B2 (pt)
KR (1) KR20200010577A (pt)
CN (1) CN110770064B (pt)
BR (1) BR112020000080B1 (pt)
CA (1) CA3068898A1 (pt)
MX (1) MX2019015633A (pt)
RU (1) RU2723010C1 (pt)
WO (1) WO2019008647A1 (pt)

Families Citing this family (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102017221097A1 (de) * 2017-11-24 2019-05-29 Daimler Ag Verfahren und Vorrichtung zum Betreiben eines Kraftfahrzeugs
DE102018210650A1 (de) * 2018-06-28 2020-01-02 Bayerische Motoren Werke Aktiengesellschaft Längsführendes Fahrerassistenzsystem in einem Kraftfahrzeug
JP7208106B2 (ja) * 2019-05-30 2023-01-18 日産自動車株式会社 走行支援方法および走行支援装置
CN110816530B (zh) * 2019-11-14 2021-05-11 东风商用车有限公司 一种自适应巡航系统的速度跟随控制方法及系统
RU2746533C1 (ru) * 2020-01-15 2021-04-15 Роман Павлович Курганов Система и способ контроля скорости автомобиля, автомобиль с системой контроля скорости
JP2022110452A (ja) * 2021-01-18 2022-07-29 日立Astemo株式会社 車両制御装置
US11794779B2 (en) * 2021-03-19 2023-10-24 Waymo Llc Pullover maneuvers for autonomous vehicles
JP2023013304A (ja) * 2021-07-15 2023-01-26 株式会社Subaru 車両制御システム
US11919451B2 (en) 2022-02-28 2024-03-05 Nissan North America, Inc. Vehicle data display system
CN116061933B (zh) * 2023-03-31 2023-06-16 深圳海星智驾科技有限公司 一种基于限速信息的车辆速度规划方法、装置和域控制器

Family Cites Families (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6199001B1 (en) * 1996-12-19 2001-03-06 Toyota Jidosha Kabushiki Kaisha Control system for controlling the behavior of a vehicle based on accurately detected route information
JP4515725B2 (ja) 2003-07-11 2010-08-04 日産自動車株式会社 車両の車速制御装置
JP5061776B2 (ja) * 2007-08-03 2012-10-31 日産自動車株式会社 車両用走行制御装置および車両用走行制御方法
JP4712830B2 (ja) * 2008-06-19 2011-06-29 日立オートモティブシステムズ株式会社 車両制御装置
US20130297196A1 (en) * 2010-12-22 2013-11-07 Toyota Jidosha Kabushiki Kaisha Vehicular driving assist apparatus, method, and vehicle
JP2015095907A (ja) * 2013-11-08 2015-05-18 トヨタ自動車株式会社 車両制御装置
JP6032213B2 (ja) * 2014-01-08 2016-11-24 トヨタ自動車株式会社 車速制御装置及び車速制御方法
SE539599C2 (sv) * 2014-05-21 2017-10-17 Scania Cv Ab Förfarande och system för att anpassa ett fordons acceleration vid framförande av fordonet utmed en färdväg
JP6446245B2 (ja) 2014-11-28 2018-12-26 日立オートモティブシステムズ株式会社 自動運転制御装置
JP6494020B2 (ja) 2015-02-05 2019-04-03 株式会社Ｓｕｂａｒｕ 車両の運転支援制御装置
JP6344695B2 (ja) 2015-10-28 2018-06-20 本田技研工業株式会社 車両制御装置、車両制御方法、および車両制御プログラム
WO2018057455A1 (en) * 2016-09-21 2018-03-29 Apple Inc. Vehicle control system
JP6642413B2 (ja) * 2016-12-27 2020-02-05 トヨタ自動車株式会社 車両走行制御装置

Also Published As

Publication number Publication date
EP3650258A1 (en) 2020-05-13
CA3068898A1 (en) 2019-01-10
CN110770064A (zh) 2020-02-07
JPWO2019008647A1 (ja) 2020-01-23
BR112020000080B1 (pt) 2023-10-17
US11052925B2 (en) 2021-07-06
EP3650258B1 (en) 2023-03-15
CN110770064B (zh) 2021-08-10
US20200391764A1 (en) 2020-12-17
EP3650258A4 (en) 2020-08-19
WO2019008647A1 (ja) 2019-01-10
RU2723010C1 (ru) 2020-06-08
KR20200010577A (ko) 2020-01-30
MX2019015633A (es) 2020-02-20
JP6680403B2 (ja) 2020-04-15

Similar Documents

Publication Publication Date Title
BR112020000080A2 (pt) método de geração de velocidade alvo de veículo e dispositivo de geração de velocidade alvo de veículo para veículo com direção assistida
BR112019008805A2 (pt) sistema e método de controle adaptativo em um veículo terrestre para rastrear uma rota, particularmente em um cenário de condução autônoma
MX2019008716A (es) Dispositivo de control y metodo de control de vehiculo.
RU2018138937A (ru) Система отслеживания полосы для внедорожного транспортного средства
BR112017006355A2 (pt) segurança de uma função de assistência de condução em uma direção assistida
WO2017030878A8 (en) Model based diagnostics based on traction model
BR112018011827A2 (pt) doca autônoma
WO2015124429A3 (en) Control system and method
JP2018039401A5 (pt)
JP2017102828A5 (pt)
WO2016207078A3 (de) Bremssystem für ein schienenfahrzeug
EP2949546A3 (en) Steering system
MX2019008297A (es) Metodo de control para vehiculo electricamente accionado y dispositivo de control para vehiculo electricamente accionado.
MX356732B (es) Dispositivo de generación de velocidad del vehículo objetivo y dispositivo de control de desplazamiento.
MX351785B (es) Dispositivo de control para vehículo de motor eléctrico y método de control para vehículo de motor eléctrico.
MX2019008406A (es) Recuperacion de velocidad de traccion con base en dinamica de rueda de giro.
MX2017008861A (es) Dispositivo de generacion de ruta objetivo y dispositivo de control de conduccion.
ITMI20120423A1 (it) Dispositivo e procedimento per l'impiego di un veicolo
BR112019000747A2 (pt) método de controle de torque e dispositivo de controle de torque
MX2018001805A (es) Diagnosticos basados en modelos de acuerdo con el modelo de direccion.
RU2017130262A (ru) Система помощи при замедленном ходе для управления рулением
BR102015025777A8 (pt) Sistema de controle de acionamento para veículo híbrido
BR112018008871A2 (pt) veículo rodoviário com um sistema de assistência para manobras de atracação num cais e processo de atracação
EP2913250A3 (en) Steering assist device
JP2017013526A5 (pt)

Legal Events

Date Code Title Description
B350 Update of information on the portal [chapter 15.35 patent gazette]
B06W Patent application suspended after preliminary examination (for patents with searches from other patent authorities) chapter 6.23 patent gazette]
B06A Patent application procedure suspended [chapter 6.1 patent gazette]
B09A Decision: intention to grant [chapter 9.1 patent gazette]
B16A Patent or certificate of addition of invention granted [chapter 16.1 patent gazette]

Free format text: PRAZO DE VALIDADE: 20 (VINTE) ANOS CONTADOS A PARTIR DE 03/07/2017, OBSERVADAS AS CONDICOES LEGAIS