CN101124103A - Method for recognising an imminent overtake - Google Patents
Method for recognising an imminent overtake Download PDFInfo
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- CN101124103A CN101124103A CNA2006800053981A CN200680005398A CN101124103A CN 101124103 A CN101124103 A CN 101124103A CN A2006800053981 A CNA2006800053981 A CN A2006800053981A CN 200680005398 A CN200680005398 A CN 200680005398A CN 101124103 A CN101124103 A CN 101124103A
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- 238000000034 method Methods 0.000 title claims abstract description 43
- 230000008569 process Effects 0.000 claims description 14
- 238000013461 design Methods 0.000 claims description 2
- 230000002093 peripheral effect Effects 0.000 claims 1
- 230000001133 acceleration Effects 0.000 abstract description 4
- 230000001419 dependent effect Effects 0.000 abstract description 2
- 230000004913 activation Effects 0.000 abstract 1
- 230000006870 function Effects 0.000 description 11
- 230000008859 change Effects 0.000 description 5
- 238000005259 measurement Methods 0.000 description 3
- 238000012545 processing Methods 0.000 description 3
- 230000003044 adaptive effect Effects 0.000 description 2
- NBIIXXVUZAFLBC-UHFFFAOYSA-N Phosphoric acid Chemical compound OP(O)(O)=O NBIIXXVUZAFLBC-UHFFFAOYSA-N 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000006978 adaptation Effects 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000008034 disappearance Effects 0.000 description 1
- 238000011156 evaluation Methods 0.000 description 1
- 230000002349 favourable effect Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000011835 investigation Methods 0.000 description 1
- 230000000750 progressive effect Effects 0.000 description 1
- 230000035807 sensation Effects 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
- 239000002023 wood Substances 0.000 description 1
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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
- 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
- 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
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/167—Driving aids for lane monitoring, lane changing, e.g. blind spot detection
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T2201/00—Particular use of vehicle brake systems; Special systems using also the brakes; Special software modules within the brake system controller
- B60T2201/02—Active or adaptive cruise control system; Distance 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
- B60W2554/00—Input parameters relating to objects
- B60W2554/40—Dynamic objects, e.g. animals, windblown objects
- B60W2554/404—Characteristics
- B60W2554/4041—Position
-
- 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
- B60W2554/4042—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
- 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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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Traffic Control Systems (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Abstract
The invention relates to a method for recognising an imminent overtake consisting in measuring a distance d with respect to a preceding vehicle (26), in evaluating the relative speed v of said preceding vehicle and in determining the overtake imminence with the aid of an d- and v-dependent function f (d, v). The blinker activation and/or acceleration/deceleration of the related vehicle are advantageously taken into account.
Description
Technical background
Invention relates to a kind of method that is used to discern the overtaking process that is faced.
Automobile is equipped with driver assistance system more and more, and this system is by the sensing device that is fit to, and for example by means of radar sensor, detects the ambient environment of self automobile and the driver is supported and/or give the alarm to prevent dangerous situation when driving a car.The example of such driver assistance system is so-called ACC (adaptive cruise control) system, with this system the speed of automobile is adjusted on a kind of speed of the hope of being selected by the driver, and, in front automobile is positioned on the track that self automobile travels if travel, and that is just measured to the distance of the automobile in front that travels and by the adaptation of self speed by means of radar sensor and automatically regulates.A kind of such system not only helps to improve driving comfort, and helps reducing accident hazard.If the driver wants to surpass the slow automobile that travels previously, it can be by handling acceleration pedal control ACC system and entering overtaking process by changing then so.
Yet when on high speed company or multiple tracks highway, travelling, change the especially overtaking process very big accident risk that is in covert of process, for example the driver has estimated the distance and/or the speed of automobile close from behind on passing track mistakenly, perhaps because this automobile is in the dead angle and is therefore ignored by the driver.
Developed driver assistance system for this reason, it provides support in the process of changing and/or exports an alarm signal the driver, if changing of can not being safe from danger.Such system is also referred to as and changes ancillary system, and it has a kind of sensing device of expansion usually, and for example a kind of behind Space-Based Radar is used to monitor the car a piece of wood serving as a brake to halt a carriage situation on the passing track behind, and/or position radar or sonac are used to monitor the dead angle near a kind of.If system knows: the driver wants to carry out one and changes process, and if learn by sensing data: can not carry out a kind of hazard free changing, that just exports an alarm signal to the driver.Yet accepting a kind of such system then depends on: whether overtaking other vehicles of driver is planned can learn fully reliably, because frequent false alarm has damaged traveling comfort and safety sensation greatly.
Various method is arranged for the plan of overtaking other vehicles of learning the driver is known.
For example at DE 3500152A1, the method described in DE3622091A1 and the DE29620357U1, it is based on the analyzing and processing to the state of travel direction indicating device.Can think that the driver makes the people understand its plan of overtaking other vehicles by setting the travel direction indicating device.But this method reliability is limited, this because of the setting of (left steering lamp) travel direction indicating device on the one hand not mandatory declaration always to overtake other vehicles, also must consider the possibility that the driver overtakes other vehicles on the other hand, and before and the inoperation steering indicating light.
Also known have a driver assistance system, its has a video system as subsidiary Sensor section, can recognize road signal and therefore also can understand with this system and discern automobile and be close to one of them limit, track with respect to the position or the automobile on left-lane limit and right lane limit.A kind of common applicable cases of ancillary system is, if the driver is not the centre that is kept closer to self track with automobile, just can export a deviation caution with this ancillary system.Approach the left-lane border and when such system, also can be understood as the mark that the driver overtakes other vehicles and plans.Yet disadvantageously expense is higher relatively for the video sensing device, and a kind of such sensing device easy et out of order comparatively speaking, therefore the explanation that this sensing device especially leads to errors under can poor according to circumstances situation also causes flase alarm or the necessary warning of disappearance itself.
A kind of method has been described in DE 10118265A1, in the method by means of the slipspeed of sailing inclined to one side sensor measurement self automobile.In addition by means of angle-resolved alignment sensor, the radar sensor measurement cireular frequency of automobile in front that travels for example.Just can recognize the situation of changing that is faced by comparing these data.When fast running on the expressway, however very little at the slipspeed that changes in the process slowly to be occurred, to such an extent as to because the restriction of measuring noise and/or sensor resolution enough survey precision of out of reach usually.Also following situation may appear in this external this method: judge mistakenly and the plan of changing perhaps do not identify the plan of changing of real existence.A kind of example is for example for following situation: the driver of self automobile changes when sailing a right bend into.Though measure in this case with the automobile in front of travelling from zero different cireular frequency, can not measure self automobile and break away accordingly, this is because the driver does not follow hard on highway to turn, but walk straight at first, to transform to by the left side on the track.
Summary of the invention
What have the described feature of claim can be used for identifying the overtaking process that is faced with less relatively sensor cost reliably according to method of the present invention.
This method based near one more slowly in front during traveling automobile to the evaluation of drivers ' behavior.The plan if the driver does not overtake other vehicles is just reducing its speed so when in front the automobile distance of travelling is relatively large, near-earth drives towards the automobile in front that travels so that he is unlikely to too.If opposite he wants to overtake other vehicles, he does not just slow down, and sometimes even quicken, so that can be incorporated among the wagon flow on the track, next door.By target range and the relative velocity of relatively being surveyed, relative velocity can by means of a radar system directly record or also can be selectively by range finding from calculating by the time differentiate, therefore before the driver begins to change, just can recognize driver's the plan of overtaking other vehicles.If automobile be positioned in the dead angle or on passing track an automobile approaching with high relative velocity, that just can export a warning to the driver.Even driver's behavior is once explained mistakenly and is exported a warning under exception, the plan although the driver does not overtake other vehicles, however this warning is not useless, because it has been pointed out to the driver: he is just too near from the fwd automobile.
This method can not identify the plan of overtaking other vehicles yet when the driver plays bright left steering lamp.On the contrary, if the driver can identify the plan of not overtaking other vehicles owing to other reason has been handled steering indicating light.
Need the sensor of a measuring distance in order to implement the method following of the simplest situation, thereby even this method also can be performed for the automobile that only has a kind of very limited ambient sensors.This method does not especially depend on whether have video system, has avoided thus owing to using the interference source that such system causes yet.Correspondingly also be suitable for being applied in the deflection efficiency that other sensor element in the usual way for example is used to measure self automobile, the cireular frequency of the automobile in front that travels etc.
Also can combine according to method of the present invention on the other hand, so that reach higher identification probability and reliability with orthodox method recited above.
Favourable design plan of the present invention is illustrated in the dependent claims.The driver assistance system that is used to implement this method is seen independently claim to a product.
In a kind of form of implementation of practicality by the relative velocity V of the automobile in front that travels with draw ratio v/d apart from d to the measurement of this automobile.
The function that the another kind of this ratio or parameter v and d (or v/d) is fit to (in general to v be increasing function and be subtraction function to d) constitute a degree that has the probability of planning of overtaking other vehicles.If this probability is positioned at the words (this threshold value also can according to circumstances have change where necessary) on the threshold value of a regulation, that has just been judged: the driver plans and will change, and if not changing, that just exports a warning with being safe from danger.
Threshold value for example can depend on: whether the driver has handled turn signal lamp.Because beat the sign that bright steering indicating light itself has represented that just the driver overtakes other vehicles and plans, therefore be to reduce threshold value aptly, because the sign that just also needs little subsidiary having to overtake other vehicles and plan, other known being used to is discerned change the result of the system of planning to influence threshold value by similar mode, and on the other hand also can with according to parameter v and d resulting overtake other vehicles the probability of planning with accumulate a total probability according to the resulting probability of other method, compare with threshold value then.
Description of drawings
One embodiment of the present of invention are represented to be narrated in detail in the accompanying drawings and in the following description.Accompanying drawing is depicted as:
Fig. 1: the scheme drawing of an automobile has a driver assistance system that is drawn as diagram of block;
Fig. 2: be used to illustrate a kind of traffic conditions figure according to the method for invention;
Fig. 3 to 5: the figure that is used for the action principle of illustration method.
The specific embodiment
Fig. 1 has schematically illustrated an automobile, and it is equipped with a kind of driver assistance system, and it for example satisfies the function of ACC-system (adaptive speed controller) and the function of changing ancillary system.Be provided with a kind of radar sensor 12 of differentiating angle as sensor element, it is contained in the automobile front and monitors the front area of automobile, also be provided with the traffic conditions that a back space radar 14 is used to monitor back on passing track, and be provided with a ultrasonic transduter 16, especially can identify automobile on the passing track with it, these automobiles are located in the dead angle between inside rear-view mirror, outside rear-view mirror and the driver visual field and also are positioned at outside the bearing zone of radar sensor 12,14.The signal of these sensor elements carries out analyzing and processing for 18 li at an electronic control unit, if having identified the driver overtakes other vehicles and plans and by sensor 14, these signals of 16 are learnt: current can not changing non-dangerously on the track, next door, the left side, then a kind of warning signal producer 20, for example the sender unit of a sound is initiated the signal that is used to export warning by control unit 18.
The precondition of this warning function is: can recognize fully reliably that changing of driver plan or the plan of overtaking other vehicles.Below the method for Xiang Xishuominging is used for this.
Fig. 2 has illustrated a kind of representative type traffic, the automobile 10 that be equipped with driver assistance system this moment on the right lane 22 of a multi-lane highway 24 near a slower automobile 26 that travels in front.By means of the distance that radar sensor 12 is measured between automobile 10 and 26, equally also measure the relative velocity v of automobile 26 with respect to automobile 10.Can also recognize that according to the angular resolution of radar sensor 12 it also is on the right lane 22 that is crossed by automobile 10 that automobile 26 is positioned at.
Data processing system in 18 li realizations of control unit must be understood now: whether the driver of automobile 10 plans to surpass automobile 26, and perhaps whether he wants to reduce its speed, so that follow automobile 26 with the distance that is fit to.If the ACC-system activates in this case, it is suitable that this system automatically makes the speed of automobile 10 so, but the driver can come this system of toning by handling acceleration pedal.This might not mean also that certainly the driver also really has plan will surmount automobile 26.
In Fig. 2, represented the route that the driver of automobile 10 plans to walk with arrow 28.The driver plans to transform on the left-lane 30 then, so that surmount automobile 26.
In Fig. 3, represented how to depend on that at this process middle distance d time t changes.Can suppose for simplicity: automobile 10 and 26 keeps their absolute velocitye, so relative velocity v is changed to invariable, such as shown in Figure 4 in time.Therefore diminish in time linearly apart from d.
Ordinate is ratio v/d among Fig. 5, and abscissa is time t.This ratio represents that by a progressive curve that increases this curve surpasses the threshold value S of a regulation at some moment t0.
Select threshold value S (for example rule of thumb investigation), making also has a bigger probability to illustrate until moment t0 for general automobilist: the driver does not want to overtake other vehicles, but also to reduce its speed, so that following automobile 26, after exceeding threshold value S, then can infer at moment t0; Overtaking process is carried out in driver's plan.Therefore can discern driver's the wish of overtaking other vehicles according to this simple criterion, thereby export warning signals by means of warning signal transmitter 20 where necessary.
Also can adopt the parameter that is fit in addition to replace ratio v/d for threshold value, this parameter is relative velocity v and apart from the function of d.If according to surpassing the wish of overtaking other vehicles that threshold value S discerns the driver, so this function should make its reducing and increase with the increase of v and d.
If judgment criterion is to be lower than a suitable threshold value, considerably be with it to investigate a kind of function on the mathematics, it reduces with the increase of v and the minimizing of d, for example the function of ratio d/v.
Also can investigate a kind of function according to a kind of improvement project, it is also relevant with the acceleration/accel of the plus or minus of automobile 10.
Here the ratio v/d that is utilized can be interpreted as until colliding the time that also will spend with automobile 26, if two words that automobile 10,26 continues to travel with immovable speed from physical significance.
Claims (6)
1. discern the method for the overtaking process that is faced, it is characterized in that following steps:
-measure in front the automobile (26) of travelling apart from d,
The relative velocity v of-automobile in front of determining to travel and
-(d, value v) judges whether be faced with overtaking process according to the function f that depends on d and v.
2. by the described method of claim 1, it is characterized in that, if (d v) surpasses the threshold value of predesignating (S) to function f, judges to face overtaking process.
3. by the described method of claim 2, it is characterized in that described function f is the monotone increasing function of ratio v/d.
4. by the described method of claim 3, it is characterized in that described function f and ratio v/d are proportional.
5. by described method one of in the claim 2 to 4, it is characterized in that described threshold value (S) changes according to different situations.
6. the driver assistance system that is used for automobile (10), sensor (12) with at least one measuring distance is used to detect peripheral traffic conditions and has control unit (18) and is used to implement additional function, it is characterized in that, design described control unit (18) and be used for implementing by the described method of one of claim 1 to 5.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE102005007800A DE102005007800A1 (en) | 2005-02-21 | 2005-02-21 | Procedure for detecting an imminent overtaking maneuver |
| DE102005007800.1 | 2005-02-21 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN101124103A true CN101124103A (en) | 2008-02-13 |
Family
ID=36283673
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNA2006800053981A Pending CN101124103A (en) | 2005-02-21 | 2006-02-08 | Method for recognising an imminent overtake |
Country Status (4)
| Country | Link |
|---|---|
| EP (1) | EP1853454A1 (en) |
| CN (1) | CN101124103A (en) |
| DE (1) | DE102005007800A1 (en) |
| WO (1) | WO2006087282A1 (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102610125A (en) * | 2011-01-21 | 2012-07-25 | 奥迪股份公司 | Method for operating a driver assistance system on a motor vehicle outputting a recommendation related to an overtaking manoeuvre and motor vehicle |
| CN103153748A (en) * | 2010-10-07 | 2013-06-12 | 罗伯特·博世有限公司 | Method and information system for informing a vehicle driver about conditions of a planned passing maneuver |
| CN104812650A (en) * | 2012-09-12 | 2015-07-29 | 罗伯特·博世有限公司 | Method and information system for determining a lane change which is intended or not intended by the driver when driving a vehicle |
| CN105216795A (en) * | 2014-06-27 | 2016-01-06 | 富士重工业株式会社 | The drive assistance device of vehicle |
| CN105513423A (en) * | 2015-11-30 | 2016-04-20 | 惠州华阳通用电子有限公司 | Vehicle overtaking early-warning method and device |
| CN105593497A (en) * | 2013-09-26 | 2016-05-18 | 罗伯特·博世有限公司 | Method and device for operating a vehicle |
| CN110869989A (en) * | 2017-05-15 | 2020-03-06 | 大陆汽车有限公司 | Method for generating a passing probability set, method for operating a control device of a motor vehicle, passing probability collection device and control device |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102007063606B4 (en) | 2007-11-13 | 2020-10-01 | Bayerische Motoren Werke Aktiengesellschaft | Method for controlling energy management in a motor vehicle |
| DE102013003219A1 (en) | 2013-02-27 | 2013-09-05 | Daimler Ag | Method for assisting driver of motor car on fast lane of two-lane road, involves driving preceding vehicle longer than preset time on fast lane, without having recognizable overhauling intent or avoidance intent |
| DE102019101662A1 (en) * | 2019-01-23 | 2020-07-23 | Bayerische Motoren Werke Aktiengesellschaft | Method and control unit for operating an adaptive cruise control |
| CN113516846B (en) * | 2021-06-24 | 2022-12-13 | 长安大学 | Vehicle lane change behavior prediction model construction, prediction and early warning method and system |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE2900461A1 (en) * | 1979-01-08 | 1980-07-24 | Bosch Gmbh Robert | Speed control system for vehicle - has distance measuring radar automatically braking vehicle but capable of being overridden by accelerator pedal |
| DE4209060C2 (en) * | 1992-03-20 | 1994-12-15 | Daimler Benz Ag | Method for regulating the distance between moving motor vehicles |
| GB2328542A (en) * | 1997-08-20 | 1999-02-24 | Jaguar Cars | Vehicle adaptive cruise control |
| DE59810811D1 (en) * | 1997-12-15 | 2004-03-25 | Volkswagen Ag | METHOD FOR REGULATING SPEED AND DISTANCE IN A VEHICLE OVERHAUL PROCESS |
| DE10114187A1 (en) * | 2001-03-23 | 2002-09-26 | Bosch Gmbh Robert | Overtaking maneuver assistance system for motor vehicle computes overtaking speed from distances of vehicle to be overtaken and immediately preceding vehicle in overtaking lane |
-
2005
- 2005-02-21 DE DE102005007800A patent/DE102005007800A1/en not_active Withdrawn
-
2006
- 2006-02-08 WO PCT/EP2006/050756 patent/WO2006087282A1/en active Application Filing
- 2006-02-08 EP EP06708102A patent/EP1853454A1/en not_active Ceased
- 2006-02-08 CN CNA2006800053981A patent/CN101124103A/en active Pending
Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103153748B (en) * | 2010-10-07 | 2017-02-15 | 罗伯特·博世有限公司 | Method and information system for informing a vehicle driver about conditions of a planned passing maneuver |
| CN103153748A (en) * | 2010-10-07 | 2013-06-12 | 罗伯特·博世有限公司 | Method and information system for informing a vehicle driver about conditions of a planned passing maneuver |
| US9847023B2 (en) | 2010-10-07 | 2017-12-19 | Robert Bosch Gmbh | Method and information system for informing a vehicle driver regarding the conditions of a planned passing maneuver |
| CN102610125B (en) * | 2011-01-21 | 2015-06-10 | 奥迪股份公司 | Method for operating a driver assistance system on a motor vehicle outputting a recommendation related to an overtaking manoeuvre and motor vehicle |
| CN102610125A (en) * | 2011-01-21 | 2012-07-25 | 奥迪股份公司 | Method for operating a driver assistance system on a motor vehicle outputting a recommendation related to an overtaking manoeuvre and motor vehicle |
| CN104812650A (en) * | 2012-09-12 | 2015-07-29 | 罗伯特·博世有限公司 | Method and information system for determining a lane change which is intended or not intended by the driver when driving a vehicle |
| CN105593497A (en) * | 2013-09-26 | 2016-05-18 | 罗伯特·博世有限公司 | Method and device for operating a vehicle |
| CN105593497B (en) * | 2013-09-26 | 2019-02-22 | 罗伯特·博世有限公司 | Method and apparatus for running vehicle |
| CN105216795B (en) * | 2014-06-27 | 2017-08-25 | 株式会社斯巴鲁 | The drive assistance device of vehicle |
| CN105216795A (en) * | 2014-06-27 | 2016-01-06 | 富士重工业株式会社 | The drive assistance device of vehicle |
| CN105513423A (en) * | 2015-11-30 | 2016-04-20 | 惠州华阳通用电子有限公司 | Vehicle overtaking early-warning method and device |
| CN105513423B (en) * | 2015-11-30 | 2018-11-09 | 惠州华阳通用电子有限公司 | A kind of vehicle cut-ins method for early warning and device |
| CN110869989A (en) * | 2017-05-15 | 2020-03-06 | 大陆汽车有限公司 | Method for generating a passing probability set, method for operating a control device of a motor vehicle, passing probability collection device and control device |
| US11325601B2 (en) | 2017-05-15 | 2022-05-10 | Continental Automotive Gmbh | Method for producing a passing probability collection, method for operating a control device of a motor vehicle, passing probability collecting device and control device |
Also Published As
| Publication number | Publication date |
|---|---|
| DE102005007800A1 (en) | 2006-08-24 |
| WO2006087282A1 (en) | 2006-08-24 |
| EP1853454A1 (en) | 2007-11-14 |
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