CN104228820A - 利用偏航率来防止车辆碰撞的系统和方法 - Google Patents
利用偏航率来防止车辆碰撞的系统和方法 Download PDFInfo
- Publication number
- CN104228820A CN104228820A CN201410274193.XA CN201410274193A CN104228820A CN 104228820 A CN104228820 A CN 104228820A CN 201410274193 A CN201410274193 A CN 201410274193A CN 104228820 A CN104228820 A CN 104228820A
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- China
- Prior art keywords
- vehicle
- yaw rate
- control part
- steering operation
- steering angle
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- 238000000034 method Methods 0.000 title claims abstract description 20
- 238000001514 detection method Methods 0.000 abstract 2
- 238000010586 diagram Methods 0.000 description 5
- 239000000470 constituent Substances 0.000 description 3
- 238000004891 communication Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000036962 time dependent Effects 0.000 description 1
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
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
- B60W10/184—Conjoint control of vehicle sub-units of different type or different function including control of braking systems with wheel brakes
-
- 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
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
-
- 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
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
-
- 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
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/20—Conjoint control of vehicle sub-units of different type or different function including control of steering systems
-
- 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
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/09—Taking automatic action to avoid collision, e.g. braking and 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
- 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
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/095—Predicting travel path or likelihood of collision
- B60W30/0953—Predicting travel path or likelihood of collision the prediction being responsive to vehicle dynamic parameters
-
- 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
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/095—Predicting travel path or likelihood of collision
- B60W30/0956—Predicting travel path or likelihood of collision the prediction being responsive to traffic or environmental parameters
-
- 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
- B60W40/114—Yaw movement
-
- 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
-
- 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
- B60W2520/14—Yaw
-
- 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
-
- 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
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/18—Braking system
-
- 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
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/20—Steering systems
- B60W2710/207—Steering angle of wheels
-
- 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
- B60W30/18163—Lane change; Overtaking manoeuvres
Landscapes
- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Physics & Mathematics (AREA)
- Mathematical Physics (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
- Regulating Braking Force (AREA)
Abstract
Description
Claims (7)
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
KR10-2013-0070166 | 2013-06-19 | ||
KR1020130070166A KR101464883B1 (ko) | 2013-06-19 | 2013-06-19 | 요 레이트를 이용한 차량 충돌 방지 방법 |
Publications (2)
Publication Number | Publication Date |
---|---|
CN104228820A true CN104228820A (zh) | 2014-12-24 |
CN104228820B CN104228820B (zh) | 2017-02-22 |
Family
ID=52010513
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201410274193.XA Active CN104228820B (zh) | 2013-06-19 | 2014-06-18 | 利用偏航率来防止车辆碰撞的系统和方法 |
Country Status (4)
Country | Link |
---|---|
US (1) | US9254845B2 (zh) |
KR (1) | KR101464883B1 (zh) |
CN (1) | CN104228820B (zh) |
DE (1) | DE102014009129B4 (zh) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN106904163A (zh) * | 2015-12-22 | 2017-06-30 | 现代自动车株式会社 | 车辆及控制车辆的方法 |
Families Citing this family (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP3078556B1 (en) * | 2015-04-09 | 2017-12-20 | Ford Global Technologies, LLC | Method of controlling a brake-by-wire system |
US10539961B2 (en) | 2016-11-01 | 2020-01-21 | Ford Global Technologies | Steering capability prediction |
CN109849913B (zh) * | 2017-11-29 | 2022-07-22 | 奥迪股份公司 | 辅助车辆停泊在路缘上的系统和方法 |
CN112193243B (zh) * | 2020-10-20 | 2022-01-28 | 河北工业大学 | 一种基于避障系统的多转向模式控制方法 |
Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US6571176B1 (en) * | 1999-06-16 | 2003-05-27 | Honda Giken Kogyo Kabushiki Kaisha | Vehicle travel safety device |
CN101522477A (zh) * | 2006-10-16 | 2009-09-02 | 奥托立夫开发公司 | 车辆安全系统 |
US20110106381A1 (en) * | 2009-10-30 | 2011-05-05 | Ford Global Technologies, Llc | Vehicle and method of tuning performance of same |
CN103057546A (zh) * | 2011-10-14 | 2013-04-24 | 株式会社万都 | 车辆控制设备以及车辆控制方法 |
CN103140403A (zh) * | 2010-10-01 | 2013-06-05 | 丰田自动车株式会社 | 行驶支援装置及方法 |
Family Cites Families (17)
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DE4407757A1 (de) * | 1993-03-08 | 1994-09-15 | Mazda Motor | Vorrichtung zur Erfassung von Hindernissen für ein Fahrzeug |
KR0164060B1 (ko) * | 1994-12-26 | 1998-12-01 | 정몽원 | 후방 경보 및 자동브레이크 장치 |
US5854987A (en) * | 1995-02-22 | 1998-12-29 | Honda Giken Kogyo Kabushiki Kaisha | Vehicle steering control system using navigation system |
JP2993400B2 (ja) * | 1995-06-09 | 1999-12-20 | 三菱自動車工業株式会社 | 車両の旋回制御装置 |
KR100428091B1 (ko) * | 1996-12-27 | 2004-07-30 | 현대자동차주식회사 | 자동차용 주차안전시스템 |
US7016783B2 (en) * | 2003-03-28 | 2006-03-21 | Delphi Technologies, Inc. | Collision avoidance with active steering and braking |
JP2005112007A (ja) * | 2003-10-02 | 2005-04-28 | Toyoda Mach Works Ltd | 車両の統合制御装置 |
KR100588563B1 (ko) | 2004-04-19 | 2006-06-14 | 현대자동차주식회사 | 영상을 이용한 차선 인식방법 |
KR101028284B1 (ko) * | 2004-12-16 | 2011-04-11 | 현대자동차주식회사 | 차량 충돌 방지 방법 |
US7734418B2 (en) * | 2005-06-28 | 2010-06-08 | Honda Motor Co., Ltd. | Vehicle operation assisting system |
JP2008018832A (ja) * | 2006-07-12 | 2008-01-31 | Fuji Heavy Ind Ltd | 車両運動制御装置 |
JP5272448B2 (ja) * | 2008-03-04 | 2013-08-28 | 日産自動車株式会社 | 車両用運転支援装置及び車両用運転支援方法 |
DE102009047360A1 (de) * | 2009-12-01 | 2011-06-09 | Robert Bosch Gmbh | Antizipative Regelung der Fahrzeugquerdynamik bei Ausweichmanövern |
WO2012020069A1 (de) * | 2010-08-10 | 2012-02-16 | Continental Teves Ag & Co. Ohg | Verfahren und system zur regelung der fahrstabilität |
DE102011102927A1 (de) * | 2011-05-31 | 2012-12-06 | GM Global Technology Operations LLC (n. d. Gesetzen des Staates Delaware) | Verfahren zum Betreiben eines Fahrerassistenzsystems eines Kraftfahrzeugs und Fahrerassistenzsystem für ein Kraftfahrzeug |
KR101309508B1 (ko) * | 2011-10-10 | 2013-09-24 | 주식회사 만도 | 차량의 차선 변경 보조 시스템 및 그 방법 |
US8694224B2 (en) * | 2012-03-01 | 2014-04-08 | Magna Electronics Inc. | Vehicle yaw rate correction |
-
2013
- 2013-06-19 KR KR1020130070166A patent/KR101464883B1/ko active IP Right Grant
-
2014
- 2014-06-18 DE DE102014009129.5A patent/DE102014009129B4/de active Active
- 2014-06-18 CN CN201410274193.XA patent/CN104228820B/zh active Active
- 2014-06-18 US US14/308,497 patent/US9254845B2/en active Active
Patent Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US6571176B1 (en) * | 1999-06-16 | 2003-05-27 | Honda Giken Kogyo Kabushiki Kaisha | Vehicle travel safety device |
CN101522477A (zh) * | 2006-10-16 | 2009-09-02 | 奥托立夫开发公司 | 车辆安全系统 |
US20110106381A1 (en) * | 2009-10-30 | 2011-05-05 | Ford Global Technologies, Llc | Vehicle and method of tuning performance of same |
CN103140403A (zh) * | 2010-10-01 | 2013-06-05 | 丰田自动车株式会社 | 行驶支援装置及方法 |
CN103057546A (zh) * | 2011-10-14 | 2013-04-24 | 株式会社万都 | 车辆控制设备以及车辆控制方法 |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN106904163A (zh) * | 2015-12-22 | 2017-06-30 | 现代自动车株式会社 | 车辆及控制车辆的方法 |
CN106904163B (zh) * | 2015-12-22 | 2023-06-30 | 现代自动车株式会社 | 车辆及控制车辆的方法 |
Also Published As
Publication number | Publication date |
---|---|
CN104228820B (zh) | 2017-02-22 |
US9254845B2 (en) | 2016-02-09 |
US20140379216A1 (en) | 2014-12-25 |
KR101464883B1 (ko) | 2014-11-25 |
DE102014009129A1 (de) | 2014-12-24 |
DE102014009129B4 (de) | 2021-04-22 |
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TR01 | Transfer of patent right |
Effective date of registration: 20211207 Address after: Gyeonggi Do, South Korea Patentee after: Wandu Mobile System Co.,Ltd. Address before: Gyeonggi Do, South Korea Patentee before: MANDO Corp. |
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Effective date of registration: 20220915 Address after: Inchon, Korea Patentee after: Halla Creedong Electronics Co.,Ltd. Address before: Gyeonggi Do, South Korea Patentee before: Wandu Mobile System Co.,Ltd. |
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