DE102016213660A1 - Adaptive cruise control with vehicle to vehicle communication - Google Patents
Adaptive cruise control with vehicle to vehicle communication Download PDFInfo
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- DE102016213660A1 DE102016213660A1 DE102016213660.7A DE102016213660A DE102016213660A1 DE 102016213660 A1 DE102016213660 A1 DE 102016213660A1 DE 102016213660 A DE102016213660 A DE 102016213660A DE 102016213660 A1 DE102016213660 A1 DE 102016213660A1
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- 230000003044 adaptive effect Effects 0.000 title description 4
- 238000000034 method Methods 0.000 claims abstract description 17
- 125000004122 cyclic group Chemical group 0.000 claims description 3
- 238000012935 Averaging Methods 0.000 claims 1
- 230000006978 adaptation Effects 0.000 description 2
- BUHVIAUBTBOHAG-FOYDDCNASA-N (2r,3r,4s,5r)-2-[6-[[2-(3,5-dimethoxyphenyl)-2-(2-methylphenyl)ethyl]amino]purin-9-yl]-5-(hydroxymethyl)oxolane-3,4-diol Chemical compound COC1=CC(OC)=CC(C(CNC=2C=3N=CN(C=3N=CN=2)[C@H]2[C@@H]([C@H](O)[C@@H](CO)O2)O)C=2C(=CC=CC=2)C)=C1 BUHVIAUBTBOHAG-FOYDDCNASA-N 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 230000009191 jumping Effects 0.000 description 1
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Classifications
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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
- B60W30/143—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
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/22—Platooning, i.e. convoy of communicating vehicles
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W84/00—Network topologies
-
- 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
- B60K2310/00—Arrangements, adaptations or methods for cruise controls
- B60K2310/24—Speed setting methods
- B60K2310/244—Speed setting methods changing target speed or setting a new target speed, e.g. changing algorithms
-
- 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
- B60W2050/0001—Details of the control system
- B60W2050/0019—Control system elements or transfer functions
- B60W2050/0022—Gains, weighting coefficients or weighting functions
- B60W2050/0025—Transfer function weighting factor
-
- 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
- B60W2050/0001—Details of the control system
- B60W2050/0043—Signal treatments, identification of variables or parameters, parameter estimation or state estimation
- B60W2050/005—Sampling
- B60W2050/0051—Sampling combined with averaging
-
- 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
- B60W2554/804—Relative 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
- 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
- B60W2555/80—Country specific, e.g. driver age limits or right hand drive
-
- 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
- B60W2556/00—Input parameters relating to data
- B60W2556/45—External transmission of data to or from the 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
- B60W2556/00—Input parameters relating to data
- B60W2556/45—External transmission of data to or from the vehicle
- B60W2556/50—External transmission of data to or from the vehicle of positioning data, e.g. GPS [Global Positioning System] data
-
- 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
- B60W2556/00—Input parameters relating to data
- B60W2556/45—External transmission of data to or from the vehicle
- B60W2556/65—Data transmitted between vehicles
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Computer Networks & Wireless Communication (AREA)
- Signal Processing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Abstract
Verfahren zum Betrieb eines Geschwindigkeitsreglers in einem Egofahrzeug mit den Schritten, Empfangen einer Geschwindigkeits- und Abstandsinformation von mindestens zwei Fahrzeugen, Ermitteln einer Geschwindigkeitsvorgabe aus den empfangenen Geschwindigkeits- und Abstandsinformation, Einstellen der Geschwindigkeitsvorgabe am Geschwindigkeitsregler, wobei die empfangene Geschwindigkeitsinformation von Fahrzeugen mit größeren Abständen zum Egofahrzeug niedriger gewichtet wird als von Fahrzeugen mit kleineren Abständen.A method of operating a speed controller in an ego vehicle comprising the steps of receiving speed and distance information from at least two vehicles, determining a speed indication from the received speed and distance information, setting the speed default on the speed controller, wherein the received speed information is from vehicles at greater distances from the vehicle Ego vehicle is weighted lower than vehicles with smaller distances.
Description
Die Erfindung betrifft einen adaptiven Geschwindigkeitsregler für ein Fahrzeug, der mit anderen Fahrzeugen kommunizieren kann, sowie ein Verfahren zum Betrieb des adaptiven Geschwindigkeitsreglers. The invention relates to an adaptive cruise control for a vehicle that can communicate with other vehicles, and to a method of operating the adaptive cruise control.
Stand der Technik State of the art
Moderne Fahrzeuge weisen einen Geschwindigkeitsregler auf, der die Geschwindigkeit des Fahrzeugs an die Geschwindigkeit des vorausfahrenden Fahrzeugs bis zu einer eingestellten Höchstgeschwindigkeit anpasst, sodass ein voreingestellter Abstand gehalten wird. Modern vehicles include a cruise control that adjusts the speed of the vehicle to the speed of the vehicle ahead to a set maximum speed, such that a preset distance is maintained.
Eine solcher Geschwindigkeitsregler ist beispielsweise als ein adaptives cruise control System aus
Aus
Aufgabe und Lösung Task and solution
Aufgabe der vorliegenden Erfindung ist es einen Geschwindigkeitsregler und ein Verfahren zum Betrieb dieses Reglers bereitzustellen, das die Anzahl der Geschwindigkeitsanpassungen reduziert und gleichzeitig einfach und preiswert umzusetzen ist. It is an object of the present invention to provide a speed controller and a method of operating this controller which reduces the number of speed adjustments while being simple and inexpensive to implement.
Gelöst wird die Aufgabe durch ein Verfahren gemäß dem unabhängigen Anspruch, sowie einem Geschwindigkeitsregler gemäß dem Nebenanspruch. Weitere vorteilhafte Ausgestaltungen der Erfindung sind Gegenstand der Unteransprüche. The object is achieved by a method according to the independent claim, and a speed controller according to the independent claim. Further advantageous embodiments of the invention are the subject of the dependent claims.
Das erfindungsgemäße Verfahren zum Betrieb eines Geschwindigkeitsreglers in einem Egofahrzeug weist die folgende Schritte auf, Empfangen einer Geschwindigkeits- und Abstandsinformation von mindestens zwei Fahrzeugen, Ermitteln einer Geschwindigkeitsvorgabe aus den empfangenen Geschwindigkeits- und Abstandsinformation, Einstellen der Geschwindigkeitsvorgabe am Geschwindigkeitsregler, wobei die empfangene Geschwindigkeitsinformation von Fahrzeugen mit größeren Abständen zum Egofahrzeug niedriger gewichtet werden als von Fahrzeugen mit kleineren Abständen. The method according to the invention for operating a speed controller in an ego vehicle comprises the following steps, receiving speed and distance information from at least two vehicles, determining a speed specification from the received speed and distance information, setting the speed default at the speed controller, the received speed information from vehicles At lower distances to the ego vehicle are weighted lower than from vehicles with smaller distances.
In vorteilhafter Weise erfolgt ohne eigene Umgebungssensoren eine Geschwindigkeitsregelung des Egofahrzeugs auf die Geschwindigkeit der Fahrzeuge der Umgebung. Advantageously, without own environmental sensors, a speed control of the ego vehicle on the speed of the vehicles of the environment.
Bevorzugt kann die Geschwindigkeitsinformation ein Bestandteil von zyklischen V2X-Botschaften, insbesondere CAM oder BSM, der Fahrzeuge sein. The speed information may preferably be a component of cyclic V2X messages, in particular CAM or BSM, of the vehicles.
In vorteilhafter Weise werden aus den bekannten zyklischen Botschaften der umgebenden Fahrzeuge die benötigten Informationen gewonnen. Die Verfahren CAM und BSM beinhalten beispielsweise die Position und die Geschwindigkeit der umgebenden Fahrzeuge. Advantageously, the required information is obtained from the known cyclic messages of the surrounding vehicles. The CAM and BSM methods include, for example, the position and speed of the surrounding vehicles.
In einer weiteren Ausgestaltung der Erfindung kann die Geschwindigkeitsvorgabe zusätzlich aus einem Fahrerwunsch ermittelt werden. In a further embodiment of the invention, the speed specification can additionally be determined from a driver's request.
In vorteilhafter Weise bestimmt der Fahrer seine Wunschgeschwindigkeit und der Geschwindigkeitsregler ermöglicht durch Anpassungen an das Verkehrsaufkommen eine ruhigere Fahrweise. Advantageously, the driver determines his desired speed and the speed controller allows adjustments to the traffic calmer driving.
Weiter bevorzugt können die Geschwindigkeits- und Abstandsinformationen von einer Vielzahl von Fahrzeugen empfangen werden und die Geschwindigkeitsvorgabe durch Bilden eines Mittelwerts aus diesen Informationen ermittelt werden. More preferably, the speed and distance information may be received from a plurality of vehicles and the speed command determined by taking an average of that information.
In vorteilhafter Weise wird durch das Berücksichtigen von einer Vielzahl von Fahrzeugen die Geschwindigkeit einer Kolonne besser erfasst, sodass die Regelung für eine ruhige Fahrweise weiter verbessert werden kann. Advantageously, the consideration of a plurality of vehicles, the speed of a column is better detected, so that the scheme for a quiet driving style can be further improved.
Bevorzugt können Geschwindigkeitsinformationen von Fahrzeugen hinter dem Egofahrzeug niedriger gewichtet werden als von Fahrzeugen vor dem Egofahrzeug. Preferably, speed information of vehicles behind the ego vehicle may be weighted lower than vehicles in front of the ego vehicle.
In vorteilhafter Weise werden somit Fahrzeuge vor dem Egofahrzeug stärker berücksichtig und die Regelung noch weiter verbessert. Advantageously, vehicles are thus taken into greater account before the ego vehicle and the control is further improved.
In einer weiteren Ausgestaltung der Erfindung kann aus den Geschwindigkeitsinformationen eine typische Geschwindigkeitsbeschränkung ermittelt werden und diese als Geschwindigkeitsvorgabe dienen. In a further embodiment of the invention, a typical speed limitation can be determined from the speed information and used as a speed specification.
In vorteilhafter Weise wird aus der erfassten Geschwindigkeit auf ein Tempolimit geschlossen, das nach Art der Straße festgelegt ist. Beispielsweise gibt es die typischen Geschwindigkeitsbeschränkungen in Europa von 30, 50, 70, 100 km/h. Advantageously, it is concluded from the detected speed on a speed limit, which is set on the type of road. For example, there are typical speed limits in Europe of 30, 50, 70, 100 km / h.
Weiter bevorzugt können die typischen Geschwindigkeitsbeschränkungen in eine Liste länderspezifisch gespeichert sein. More preferably, the typical speed restrictions may be stored in a list country specific.
In vorteilhafter Weise ist damit eine Anpassung an landesspezifische Vorgaben möglich. In den USA sind beispielsweise 35, 55, 65 mph als typische Geschwindigkeitsbeschränkungen vorgegeben. Advantageously, an adaptation to country-specific requirements is possible. For example, in the US, 35, 55, 65 mph are given as typical speed limits.
In einer weiteren Ausgestaltung der Erfindung kann im Egofahrzeug eine Länderinformation vorliegt oder empfangen werden und aus dieser Länderinformation die typische Geschwindigkeitsbeschränkung aus der Liste ausgewählt werden. In a further embodiment of the invention, a country information can be present or received in the ego vehicle and from this country information the typical speed limit can be selected from the list.
In vorteilhafter Weise kann aus beispielsweise GNSS-Informationen auf das Land geschlossen werden, in dem sich das Egofahrzeug gerade bewegt. Anhand dieser Informationen und der erfassten Geschwindigkeitsinformationen ist somit eine Auswahl aus der Liste der typischen Geschwindigkeitsbeschränkungen möglich. Advantageously, for example, GNSS information can be deduced from the country in which the ego vehicle is currently moving. Based on this information and the detected speed information, a selection from the list of typical speed restrictions is thus possible.
Bevorzugt kann die Geschwindigkeitsvorgabe am Geschwindigkeitsregler in diskreten Schritten eingestellt werden. Preferably, the speed setting on the speed controller can be set in discrete steps.
In vorteilhafter Weise wird so ein häufiges Ändern der Geschwindigkeit vermieden und der Komfort durch eine ruhigere Fahrweise erhöht. Beispielsweise kann die Geschwindigkeit in 2 oder 5 km/h Schritten angepasst werden. Advantageously, such a frequent change of speed is avoided and increased comfort by a quieter driving. For example, the speed can be adjusted in 2 or 5 km / h increments.
Weiter bevorzugt kann der Geschwindigkeitsregler eine Hysterese aufweisen, die ein springen der Geschwindigkeit verhindert. More preferably, the speed controller may have a hysteresis that prevents jumping of the speed.
Erfindungsgemäß ist ein Geschwindigkeitsregler in einem Fahrzeug zum Ausführen eines der beschriebenen Verfahren eingerichtet. According to the invention, a speed controller is arranged in a vehicle for carrying out one of the described methods.
Figurenbeschreibung figure description
Die Empfangseinheit
Diese ermittelten Informationen werden durch den Geschwindigkeitsregler
Nach Ermittlung einer Regelgeschwindigkeit wird ein Vergleich mit einer gespeicherten Liste
Der Geschwindigkeitsregler
ZITATE ENTHALTEN IN DER BESCHREIBUNG QUOTES INCLUDE IN THE DESCRIPTION
Diese Liste der vom Anmelder aufgeführten Dokumente wurde automatisiert erzeugt und ist ausschließlich zur besseren Information des Lesers aufgenommen. Die Liste ist nicht Bestandteil der deutschen Patent- bzw. Gebrauchsmusteranmeldung. Das DPMA übernimmt keinerlei Haftung für etwaige Fehler oder Auslassungen.This list of the documents listed by the applicant has been generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.
Zitierte PatentliteraturCited patent literature
- DE 10316313 A1 [0003] DE 10316313 A1 [0003]
- DE 102013007100 A1 [0004] DE 102013007100 A1 [0004]
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DE102016213660.7A DE102016213660A1 (en) | 2016-07-26 | 2016-07-26 | Adaptive cruise control with vehicle to vehicle communication |
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DE102016213660.7A DE102016213660A1 (en) | 2016-07-26 | 2016-07-26 | Adaptive cruise control with vehicle to vehicle communication |
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DE102016213660.7A Pending DE102016213660A1 (en) | 2016-07-26 | 2016-07-26 | Adaptive cruise control with vehicle to vehicle communication |
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Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102018211721A1 (en) * | 2018-07-13 | 2020-01-16 | Bayerische Motoren Werke Aktiengesellschaft | Method and control unit for adjusting the driving speed of a vehicle |
WO2020229153A1 (en) * | 2019-05-15 | 2020-11-19 | Daimler Ag | Method for operating a vehicle designed for automated, in particular highly automated or autonomous, driving |
FR3113479A1 (en) * | 2020-08-24 | 2022-02-25 | Renault S.A.S | Process for automated management of the longitudinal speed of a vehicle. |
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2016
- 2016-07-26 DE DE102016213660.7A patent/DE102016213660A1/en active Pending
Patent Citations (5)
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DE10316313A1 (en) | 2003-04-10 | 2004-10-21 | Daimlerchrysler Ag | Automatic distance control system |
DE102008036131A1 (en) * | 2007-08-29 | 2009-03-05 | Continental Teves Ag & Co. Ohg | Method and device for detecting the traffic situation in a vehicle environment |
DE102012204098A1 (en) * | 2012-03-15 | 2013-09-19 | Continental Automotive Gmbh | A method of congestion detection by means of a wireless vehicle-to-vehicle communication |
DE102013007100A1 (en) | 2013-04-24 | 2013-12-19 | Daimler Ag | Method for assisting rider during guiding of e.g. bus in traffic route network, involves determining and outputting recommendation for guiding motor vehicle to implement economical and safe driving styles in specific event |
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Cited By (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102018211721A1 (en) * | 2018-07-13 | 2020-01-16 | Bayerische Motoren Werke Aktiengesellschaft | Method and control unit for adjusting the driving speed of a vehicle |
WO2020229153A1 (en) * | 2019-05-15 | 2020-11-19 | Daimler Ag | Method for operating a vehicle designed for automated, in particular highly automated or autonomous, driving |
CN113853328A (en) * | 2019-05-15 | 2021-12-28 | 戴姆勒股份公司 | Method for operating a vehicle designed to be driven in an automated, in particular highly automated or autonomous manner |
FR3113479A1 (en) * | 2020-08-24 | 2022-02-25 | Renault S.A.S | Process for automated management of the longitudinal speed of a vehicle. |
WO2022042958A1 (en) | 2020-08-24 | 2022-03-03 | Renault S.A.S | Method for automatically managing the longitudinal speed of a vehicle |
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