CN202271993U - Vehicle drive-assistant device - Google Patents
Vehicle drive-assistant device Download PDFInfo
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- CN202271993U CN202271993U CN2011202752762U CN201120275276U CN202271993U CN 202271993 U CN202271993 U CN 202271993U CN 2011202752762 U CN2011202752762 U CN 2011202752762U CN 201120275276 U CN201120275276 U CN 201120275276U CN 202271993 U CN202271993 U CN 202271993U
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Abstract
The utility model relates to a vehicle drive-assistant device, which accurately distinguishes the road shape ahead a vehicle from the vehicles which run ahead or oppositely on the road, assists a driver to appropriately drive the vehicle according to the distinguished road shape and the vehicles which run ahead or oppositely, and improves the safety and driveability of the vehicle. The environment ahead the vehicle (1) is distinguished according to the image which is shot by a camera, so the road shape or the vehicle and an obstacle which is/are in front of the vehicle (1) is/are distinguished, and the vehicle drive-assistant device carries out the running control for passing the road (particularly curves) ahead, the vehicle line deviation prevention control for running along the road shape ahead, the steering manipulation assist control for running along the road shape ahead under the consideration of the front solid object information and the like.
Description
Technical field
The utility model relates to a kind of vehicle parking assistance device, and the road shape in its identification the place ahead is assisted with can be suitably in this travels down the driver.
Background technology
In recent years, in vehicle,, improve the safety and the driving of vehicle, used the various vehicle parking assistance devices that the driver is assisted for preceding vehicle or the obstacle of discerning this vehicle front.For example in japanese kokai publication hei 09-159759 communique (below be called patent documentation 1); The technology of following controlling device for vehicle running is disclosed; It for example utilizes and has used laser, super sonic, electromagnetic radar installation, constitutes the distance detection device that detects the distance between this vehicle and objects in front and export range signal, according to the information of utilizing this distance detection device to obtain; Control the moving velocity of this vehicle, make this vehicle follow the vehicle ' control of preceding driving automatically.
Patent documentation 1: japanese kokai publication hei 09-159759 communique
The utility model content
But; Discern on one side the route of vehicle ', detect and be positioned at obstacle this route on one side, and obtain with the process of the distance of obstacle or speed very complicated; Carry out these processing in real time and follow very big difficulty; As shown in open in the above-mentioned patent documentation 1, utilize and used laser, super sonic, electromagnetic radar installation, can only detect the object that exists on the specific direction.On the other hand, must be in the going of vehicle, know where detected obstacle is positioned at go the road, and this point exists and utilizes said apparatus can't obtain the shortcoming of sufficient information.Promptly; On road, also there is bend etc., needs to detect along the interior very on a large scale obstacle of bend, still; Utilization has used road shapes such as above-mentioned laser, super sonic, electromagnetic radar installation detection bend to be difficult to; And shown in patent documentation 1, because can only detect the obstacle of specific direction, the problem that existence can't be controlled fully.
The utility model In view of the foregoing proposes; Purpose is to provide a kind of vehicle parking assistance device; It can discern road shape and the preceding driving on the road or the subtend car of this vehicle front exactly; The driver assistance person goes with corresponding suitable this vehicle of the road shape that can realize recognizing with this, preceding driving, subtend car, thereby improves the safety and the driving of vehicle.
First kind of mode of the vehicle parking assistance device of the utility model has: the place ahead environment diagnosis unit, and it discerns the place ahead environment of this vehicle according to the image by camera; The road shape detecting unit, it discerns the road shape in the place ahead according to the place ahead environment of above-mentioned vehicle; And control unit, it is according to the above-mentioned road ahead shape that recognizes, control brake power.
The second way of the vehicle parking assistance device of the utility model is: above-mentioned control unit; Utilizing above-mentioned road shape detection under the situation of the bend of the road shape in the place ahead; Precompute and be suitable for the setting speed that on above-mentioned detected bend, goes, control makes the speed of this vehicle be no more than this setting speed.
The third mode of the vehicle parking assistance device of the utility model is: above-mentioned setting speed is set corresponding to the condition of road surface of road at least.
The 4th kind of mode of the vehicle parking assistance device of the utility model is: above-mentioned control unit calculates the yaw moment that this vehicle is produced according to the road ahead shape of above-mentioned identification, corresponding to the wheel brake activation power of this yaw moment to regulation.
The 5th kind of mode of the vehicle parking assistance device of the utility model is: have the handling maneuver Auxiliary Control Element, it corresponding to the information of driving a vehicle before this, carries out handling maneuver control according to the preceding driving of this vehicle front of the place ahead environment identification of above-mentioned vehicle.
The effect of utility model
The vehicle parking assistance device that relates to according to the utility model; Can accurately discern road shape and the preceding driving on the road or the subtend car of this vehicle front; The driver assistance person with realize with corresponding suitable this vehicle of this road shape that recognizes, preceding driving, subtend car go raising vehicle safety and driving.
Description of drawings
Fig. 1 is the whole summary construction diagram of the vehicle of the equipped vehicle drive assistance device that relates to of an embodiment of the utility model.
Fig. 2 is the functional block diagram of the vehicle parking assistance device that relates to of an embodiment of the utility model.
Fig. 3 is the diagram of circuit of the ride control that relates to of an embodiment of the utility model.
Fig. 4 is the diagram of circuit that anti-fare that an embodiment of the utility model relates to departs from control.
Fig. 5 is the diagram of circuit of the handling maneuver aux. controls that relates to of an embodiment of the utility model.
Fig. 6 is the go instruction diagram of turning radius of route of this car that embodiment relates to of the utility model.
Fig. 7 is that expression is the instruction diagram of departure of this vehicle that departs from from this route or travel by vehicle at the setpoint distance LB place that relates to of the embodiment of the utility model.
Fig. 8 is the instruction diagram of the target yaw moment of setting corresponding to the departure of this vehicle location that departs from from this route or travel by vehicle that relates to of an embodiment of the utility model.
Fig. 9 is this vehicle that embodiment relates to of expression the utility model and the instruction diagram of the relation of the coordinate position of preceding driving.
Figure 10 is the instruction diagram that there is the correction under the situation of obstacle in the left side in preceding driving that an embodiment of the utility model relates to.
Figure 11 is the instruction diagram that there is the correction under the situation of obstacle in the right side in preceding driving that an embodiment of the utility model relates to.
The specific embodiment
Below, according to the embodiment of description of drawings the utility model.
In Fig. 1, vehicles (this vehicle) such as label 1 expression automobile on this vehicle 1, carry road shape, preceding driving or the obstacle of discerning this vehicle front and the vehicle parking assistance device 2 that carries out various vehicular drive aux. controlss.The vehicular drive aux. controls of this embodiment, specifically, for the road shape along the place ahead goes and the driver is assisted.At this moment, under the situation of preceding driving, carry out constant-speed traveling control unidentified with the state that keeps the predefined speed of a motor vehicle of driver; On the other hand; Before recognizing, under the situation of driving, target vehicle speed is set at the preceding speed of a motor vehicle of driving a vehicle, follows ride control; That is, go to keep the driver's predefined workshop time (vehicle headway/this car speed V) or the state of vehicle headway with respect to preceding driving.
Therefore, vehicle parking assistance device 2 is like Fig. 1 and shown in Figure 2, mainly has stereocamera 11, environment identification part 12, the place ahead and control unit 13 and constitutes.
And; From the car speed sensor 21 that detects this car speed V forwards environment identification part 12, control unit 13 this car speed of input V; From the bearing circle angle transducer 22 that detects bearing circle angle θ H to control unit 13 input direction dish angle θ H; Import yaw rate gamma from the yaw rate sensor 23 that detects yaw rate gamma to control unit 13; From the surface friction coefficient estimating device 24 that is used to infer the road coefficientoffriction to the surface friction coefficient μ of control unit 13 inputs as the condition of road surface of road, from the ACC switch 25 that carries out the various settings relevant with the vehicular drive aux. controls to control unit 13 incoming signals.Here, ACC switch 25 have the main switch of the ON/OFF that carries out the vehicular drive aux. controls, the speed of a motor vehicle of setting the target vehicle speed in the constant-speed traveling control be provided with switch, mainly with target vehicle speed to reduce the side change setting slide switch, mainly with target vehicle speed to the functions such as reduction switch that increase the side change setting.In addition; ACC switch 25 has follows the switching function that driver in the ride control carries out the workshop time selection; Following in the ride control of this embodiment, can select the workshop time to be " L " interval (for example 2.2 seconds), " M " interval (for example 2.0 seconds), " S " interval (for example 1.8 seconds) this interval of 3 grades arbitrarily.
Environment identification part, the place ahead 12 has the image processing engine that the image that is photographed by stereocamera 11 is carried out high speed processing, constitutes as the processing unit of discerning processing according to the output result of this image processing engine and the driving information of this vehicle 1 driving informations such as () this car speed V.The image processing of the stereocamera 11 in this environment identification part, the place ahead 12 is for example carried out in the following manner.
That is, environment identification part, the place ahead 12 is at first right to 1 group of stereo-picture of the travel direction of this vehicle 1 of being taken by stereocamera 11, obtains range information according to the departure of correspondence position, generates range image.Then; Carry out known packet transaction according to these data; Compare with the framework (window) of the three-dimensional road shape data of storing in advance, sidewall data, three-dimensional thing data etc.; Sidewall data such as the guardrail that extracts the white line data, exists along road, curb, and with three-dimensional thing be categorized as vehicle, cross the pedestrian, kind such as other three-dimensional things and extracting.These data are as shown in Figure 6; As being initial point with this vehicle 1, being the Z axle, being data and the computing in the system of axes of X axle with the Width with the fore-and-aft direction of this vehicle 1, sidewall data such as white line data, the guardrail that exists along road, curb, and the kind of three-dimensional thing, distance, speed (the time diffusion value of distance+this car speed V), acceleration/accel (the time diffusion value of speed), center, end positions etc. apart from this vehicle 1 as three-dimensional thing information and to control unit 13 outputs.At this moment, particularly for road shape, the curve (or straight line) that for example will connect the middle body between left white line and the right white line is inferred as this route or travel by vehicle, to control unit 13 outputs.In addition; Especially, be categorized as vehicle and in the three-dimensional thing that is identified, the speed and the nearest vehicle that have with this vehicle 1 equidirectional are identified as preceding driving; And the vehicle that has with the rightabout speed of velocity reversal of this vehicle 1 is identified as the subtend car, to control unit 13 outputs.In addition; In this embodiment 1; According to the place ahead environment of discerning this vehicle 1 from the graphicinformation of stereocamera 1, but in addition, also can be applied to the vehicle parking assistance device of discerning according to from the graphicinformation of single-lens, color camera; In addition, can certainly on this photographic camera, make up other identification sensors such as millimeter wave radar, inter-vehicular communication and use.Thus, stereocamera 11, environment identification part, the place ahead 12 are as the place ahead environment diagnosis unit, road shape detecting unit and be provided with.
The 13a of ride control portion is environment identification part 12 these route or travel by vehicle of input from the place ahead, from car speed sensor 21 this car speed of input V, from surface friction coefficient estimating device 24 input surface friction coefficient μ.And, for example according to the diagram of circuit of ride control shown in Figure 3, carry out for ride control through road ahead (especially, being bend), the necessary control amount is exported to engine control portion 32, drg control part 31.
Utilize the ride control of the flowchart text of Fig. 3 by the 13a of this ride control portion execution.
At first, in step (hereinafter to be referred as " S ") 101,, calculate for through the predefined allowable lateral acceleration value (d that allows apart from the bend of Zs (with reference to Fig. 6) in the place ahead through following (1) formula
2Y/dt
2) al.
(d
2y/dt
2)al＝μ·Kμs·g …(1)
Here, K μ s be consider surface friction coefficient μ infer precision or vehicle feature and predefined constant, g is an acceleration due to gravity.
Then, get into S102,, calculate for through the predefined permissible speed Val that allows apart from the bend of Zs (with reference to Fig. 6) through following (2) formula.
Val＝((d
2y/dt
2)al·Rs)
1/2 …(2)
Here, Rs is the predefined turning radius apart from the Zs place in the place ahead, is that (Xs Ys), then for example calculates through following (3) formula if make the predefined coordinate apart from Zs in the place ahead of this vehicle running path among Fig. 6.
Rs＝(Xs
2+Zs
2)/(2·Xs) …(3)
Get into S103 then, carry out deceleration control according to the permissible speed Val that in above-mentioned S102, calculates.Specifically; Current this car speed V and permissible speed Val to from car speed sensor 21 compare; Can't stably turn under the situation of curve ahead (the predefined bend in the place ahead) with current driving condition (speed of a motor vehicle state) in judgement apart from the Zs place; Calculate required moment of torsion reduction amount Tdw (until making engine drive power be reduced to this torque rating), export it to engine control portion 32.That is, if V≤Val then judge under current driving condition and also can stably turn, not to the signal of engine control portion 32 output torque reductions etc.Relative with it, under the situation of V＞Val, judge and can't carry out stable turning, so for example provide required moment of torsion reduction amount Tdw through following (4) formula with the current speed of a motor vehicle.
Tdw＝a·m+b·Val …(4)
Here, a is the anti-upsetting ratio of vehicle, and m is a vehicle mass, and b is the aerodynamic drag factor of vehicle.
In addition, also can't make under the situation that car speed V descends reducing control through moment of torsion,, make it produce predefined braking force to drg control part 31 output signals to above-mentioned engine control portion 32.
Anti-fare departs from control part 13b and imports these vehicle running paths in environment identification part 12 from the place ahead, from car speed sensor 21 this car speed of input V, from bearing circle angle transducer 22 input direction dish angle θ H.And; The diagram of circuit that for example departs from control according to anti-fare shown in Figure 4; Be used for departing from control, export required controlling quantity (with the corresponding brake-power control amount of yaw moment that vehicle is produced) to drg control part 31 along the anti-fare that the road ahead shape is gone.
Utilize the flowchart text of Fig. 4 to depart from control by the anti-fare that this anti-fare departs from control part 13b execution.
At first, in S201, continue to infer this vehicle location (with reference to Fig. 7) at preset distance LB place under the situation of current motoring condition.Inferring of this vehicle location at this setpoint distance LB place, for example carry out the horizontal position of this vehicle 1 at the setpoint distance LB place through calculating vehicle front.That is, on X-Z plane (Y=0) shown in Figure 7, this vehicle 1 at setpoint distance LB place, the place ahead infer horizontal position Xe, use speed V, bearing circle angle θ H, for example obtain through following formula (5).
Xe＝(θH·LB
2)/(2·(1+A·V
2)·1w·nsgr)…(5)
Here, A is the margin of stability as the vehicle intrinsic constant, and 1w is a wheelbase, and nsgr is a steering gear ratio.In addition, infer inferring of horizontal position Xe, calculate through above-mentioned formula (5), but be not limited thereto, for example, also can be through following formula (5) ' calculate.
Xe＝LB
2·γ/2·V …(5)’
Get into S202 then, through following (6) formula calculate setpoint distance LB place, the place ahead from the go departure Δ XB of this vehicle location of path deviation of this car.
ΔXB＝Xe-XB …(6)
Here, XB is the go coordinate of horizontal position at setpoint distance LB place, the place ahead of route of this car.
Get into S203 then, for example with reference to predefined corresponding diagram shown in Figure 8, setting makes this vehicle 1 produce current this vehicle 1 can not depart from required target yaw moment Mt from this vehicle running path in setpoint distance LB place forwardly.
Get into S204 then,, calculate and be applied to front and back wheel braking force Bf, br on the front and back wheel, and export it to drg control part 31 to the road center side for example through following (7) formula, (8) formula.
Bf＝Kbr·Mt·Cy …(7)
Br＝Kbr·Mt-Bf …(8)
Here, Kbr is the conversion factor of yaw moment to braking force, Cy be through test in advance, the front axle burden rate of yaw moment that calculating etc. is set.
The handling maneuver aux. controls 13c of portion is the preceding running information of environment identification part 12 inputs, obstacle (comprising the subtend car) information etc. from the place ahead; From car speed sensor 21 this car speed of input V; From bearing circle angle transducer 22 input direction dish angle θ H, from yaw rate sensor 23 input yaw rate gamma.And; For example according to the diagram of circuit of handling maneuver aux. controls shown in Figure 5; The handling maneuver aux. controls that is used to consider the three-dimensional thing information in the place ahead and goes along the road ahead shape, and export the necessary control amount to electric power steering and handle control part 33.
Utilize the handling maneuver aux. controls of the flowchart text of Fig. 5 by this handling maneuver aux. controls 13c of portion execution.
At first, in S301, judge whether detect preceding driving.The result of determination of S301 be judged to be detect before under the situation of driving; Get into S302; Threshold value V1 (for example 35km/h) to this car speed V and the predefined speed of a motor vehicle compares, under the situation of this car speed V less than speed of a motor vehicle threshold value V1, and the step that gets into S304 and state thereafter.
On the other hand, in S301, judge under the situation of driving before not detecting, or in S302, judge under the situation of this car speed V more than or equal to speed of a motor vehicle threshold value V1, get into S303, keep current deflection angle, quit a program.
If in S301, detect preceding driving, and judge that in S302 this car speed V less than speed of a motor vehicle threshold value V1, gets into S304, then judge near preceding driving, whether there is obstacle (also comprising the subtend car).Result of determination judgement at this S304 exists near the preceding driving under the obstacle situation of (also comprising the subtend car), gets into S305, carries out the correction of preceding road location according to the position of obstacle (also comprising the object car), gets into S306.Otherwise, do not have the direct S306 of entering under the obstacle situation of (yet comprising the object car) near the preceding driving in judgement.
The correction of S305 based on the preceding road location of obstacle position; For example shown in Figure 10; Exist under the obstacle situation of (also comprising the subtend car) in the left side of preceding driving; The center-of-gravity position of the preceding driving that should follow changes to the position that on the X of obstacle right-hand member coordinate, increases length xh (for example 2.5m).
Otherwise, shown in figure 11, exist under the obstacle situation of (also comprising the subtend car) on the right side of preceding driving, the center-of-gravity position of the preceding driving that should follow changes to the position that cuts length xh (for example 2.5m) at the X coordinate from the obstacle left end.
Thus, if directly or among S305, carried out preceding road location and proofread and correct the back and get into S306 from S304, then through following (9) formula, according to the position of this current vehicle 1 and the position of preceding driving, the calculating target radius R t that goes.That is, if shown in Figure 9 be in the X-Z system of axes of initial point O with this vehicle 1, before making the coordinate of the center of driving for (xt, yt), then
Rt＝(xt
2+yt
2)/(2·xt) …(9)
Then, if get into step S307, judge then whether control area sign F is " 0 ".This control area is set sign F; At speed of a motor vehicle zone (0≤V＜V1: for example as controlled object; Zone less than 35km/h) in, under the situation of in the high-speed side zone, having carried out before control, is set to " 0 ", in the low speed side zone, carried out under the situation about controlling and be set to " 1 ".Of the back, this is between low speed side zone and high-speed side zone, makes it have gantry hysteresis and variable setting is carried out in the zone.
Result of determination at S307 is that control area setting sign F is set to " 0 ", that is, in the high-speed side zone, carried out under the situation of control before, gets into S308, judges whether this car speed V is higher than V2 (for example 20km/h).Result of determination at this S308 is higher than under the situation of V2 for this car speed V, in order to carry out the control in the high-speed side zone once more, gets into S309, and (10) formula below utilizing is calculated target yaw rate γ t.
γt＝V/Rt …(10)
In S309, calculate after the target yaw rate γ t, get into S310, servo-steering instruction current value ic and output through following (11) formula is calculated based target yaw rate gamma t get into S311, and control area is set sign and is set to " 0 ", quits a program.
ic＝GSR·(γt-γ)+GVR·(d(γt-γ)/dt)
+GHR·∫(γt-γ)dt …(11)
Here, GSR is the proportional coefficient, and GVR is the differential term coefficient, and GHR is an integral item coefficient.
In addition, the result of determination in above-mentioned S308 is less than or equal under the situation of V2 for this car speed V, gets into S313 in order to change the control in the low speed side zone over to, through following (12) formula, calculates target steering angle St.
St＝(Lw·Ns)/Rt …(12)
Here, Lw is a wheelbase, and Ns is a steering gear ratio.
In S313, calculate after the target steering angle St, get into S314, servo-steering instruction current value ic and output through following (13) formula is calculated based target deflection angle St get into S315, and control area is set sign F and is set to " 1 ", quits a program.
ic＝GSS·(St-Sr)+GVS·(d(St-Sr)/dt)
+GHS·∫(St-Sr)dt …(13)
Here, Sr is actual steering angle (=θ H/Ns), and GSS is the proportional coefficient, and GVS is the differential term coefficient, and GHS is an integral item coefficient.
On the other hand, be that control area is set sign F and is set to " 1 " in the result of determination of S307, that is, in the low speed side zone, carried out under the situation of control before, get into S312, judge whether this car speed V is lower than V3 (for example 15km/h).Result of determination at this S312 is lower than under the situation of V3 for this car speed V, in order to carry out the control in the low speed side zone once more, gets into S313, calculates target steering angle St through above-mentioned (12) formula.
Then, get into S314, servo-steering instruction current value ic and output through above-mentioned (13) formula is calculated based target deflection angle St get into S315, and control area is set sign F and is set to " 1 ", quits a program.
In addition, be under the situation of this car speed V more than or equal to V3 in the result of determination of above-mentioned S312, in order to change the control in the high-speed side zone over to, get into S309, calculate target yaw rate γ t through above-mentioned (10) formula.
Then, get into S310, servo-steering instruction current value ic and output through above-mentioned (11) formula is calculated based target yaw rate gamma t get into S311, and control area is set sign and is set to " 0 ", quits a program.
Thus, in this embodiment, the handling maneuver aux. controls is carried out in the zone of this car speed V less than V1; Under the situation in the high-speed side speed of a motor vehicle zone in this speed of a motor vehicle zone; Corresponding to the current location of preceding driving and the current location of this vehicle 1, calculate the target yaw rate γ t of this vehicle 1, and according to this target yaw rate γ t; The servo-steering instruction current value ic of driving before calculating is followed exports it to electric power steering and handles control part 33.On the other hand; Under the situation in the low speed side speed of a motor vehicle zone in this speed of a motor vehicle zone; Corresponding to the current location of preceding driving and the current location of this vehicle 1, calculate the target steering angle St of this vehicle 1, and according to this target steering angle St; The servo-steering instruction current value ic of driving before calculating is followed exports it to electric power steering and handles control part 33.Therefore,, also can obtain the driving trace that to follow exactly, can carry out the high-precision control of following even low speed driving is regional.
Thus; According to the embodiment of the present invention; Can be according to the place ahead environment by this vehicle of image recognition 1 of camera, discern road shape or preceding driving, the obstacle in this vehicle 1 the place ahead, carry out departing from control for the ride control through road ahead (particularly bend), for the anti-fare that goes along the road ahead shape; And the three-dimensional thing information of considering the place ahead, the handling maneuver aux. controls that goes along the road ahead shape etc.Therefore; Discern road shape and the preceding driving on the road or the subtend car of this vehicle front exactly; The driver is assisted to realize improving the safety and the driving of vehicle corresponding to the going of this suitable vehicle 1 of the road shape of above-mentioned identification, preceding driving, subtend car.
Claims (5)
1. vehicle parking assistance device is characterized in that having:
The place ahead environment diagnosis unit, it discerns the place ahead environment of this vehicle according to the image by camera;
The road shape detecting unit, it discerns the road shape in the place ahead according to the place ahead environment of above-mentioned vehicle; And
Control unit, it is according to the road ahead shape of above-mentioned identification, control brake power.
2. vehicle parking assistance device as claimed in claim 1 is characterized in that
Above-mentioned control unit; Utilizing above-mentioned road shape detection under the situation of the bend of the road shape in the place ahead; Precompute and be suitable for the setting speed that on above-mentioned detected bend, goes, control makes the speed of this vehicle be no more than this setting speed.
3. vehicle parking assistance device as claimed in claim 2 is characterized in that,
Above-mentioned setting speed is set corresponding to the condition of road surface of road at least.
4. vehicle parking assistance device as claimed in claim 1 is characterized in that,
Above-mentioned control unit calculates the yaw moment that this vehicle is produced according to the road ahead shape of above-mentioned identification, corresponding to the wheel brake activation power of this yaw moment to regulation.
5. vehicle parking assistance device as claimed in claim 1 is characterized in that,
Have the handling maneuver Auxiliary Control Element, it corresponding to the information of driving a vehicle before this, carries out handling maneuver control according to the preceding driving of this vehicle front of the place ahead environment identification of above-mentioned vehicle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011202752762U CN202271993U (en) | 2011-07-29 | 2011-07-29 | Vehicle drive-assistant device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011202752762U CN202271993U (en) | 2011-07-29 | 2011-07-29 | Vehicle drive-assistant device |
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| Publication Number | Publication Date |
|---|---|
| CN202271993U true CN202271993U (en) | 2012-06-13 |
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ID=46192370
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|---|---|---|---|
| CN2011202752762U Expired - Fee Related CN202271993U (en) | 2011-07-29 | 2011-07-29 | Vehicle drive-assistant device |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106476807A (en) * | 2015-08-27 | 2017-03-08 | 富士重工业株式会社 | The travel controlling system of vehicle |
| CN108136903A (en) * | 2015-10-22 | 2018-06-08 | 罗伯特·博世有限公司 | For manipulating a kind of method and apparatus of drive train |
| CN109987082A (en) * | 2017-12-26 | 2019-07-09 | 本田技研工业株式会社 | Controller of vehicle, control method for vehicle and storage medium |
| CN110316192A (en) * | 2019-07-01 | 2019-10-11 | 百度在线网络技术（北京）有限公司 | Automatic Pilot method, apparatus, vehicle and storage medium |
| CN112805197A (en) * | 2018-08-22 | 2021-05-14 | 日立安斯泰莫株式会社 | Vehicle control device, vehicle control method, and vehicle control system |
-
2011
- 2011-07-29 CN CN2011202752762U patent/CN202271993U/en not_active Expired - Fee Related
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106476807A (en) * | 2015-08-27 | 2017-03-08 | 富士重工业株式会社 | The travel controlling system of vehicle |
| CN106476807B (en) * | 2015-08-27 | 2018-11-13 | 株式会社斯巴鲁 | The travel controlling system of vehicle |
| CN108136903A (en) * | 2015-10-22 | 2018-06-08 | 罗伯特·博世有限公司 | For manipulating a kind of method and apparatus of drive train |
| CN109987082A (en) * | 2017-12-26 | 2019-07-09 | 本田技研工业株式会社 | Controller of vehicle, control method for vehicle and storage medium |
| CN109987082B (en) * | 2017-12-26 | 2022-09-09 | 本田技研工业株式会社 | Vehicle control device, vehicle control method, and storage medium |
| CN112805197A (en) * | 2018-08-22 | 2021-05-14 | 日立安斯泰莫株式会社 | Vehicle control device, vehicle control method, and vehicle control system |
| CN110316192A (en) * | 2019-07-01 | 2019-10-11 | 百度在线网络技术（北京）有限公司 | Automatic Pilot method, apparatus, vehicle and storage medium |
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