DE102017220004A1 - Method and driver assistance system for controlling the driving dynamics of a vehicle - Google Patents

Method and driver assistance system for controlling the driving dynamics of a vehicle

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Publication number
DE102017220004A1
DE102017220004A1 DE102017220004.9A DE102017220004A DE102017220004A1 DE 102017220004 A1 DE102017220004 A1 DE 102017220004A1 DE 102017220004 A DE102017220004 A DE 102017220004A DE 102017220004 A1 DE102017220004 A1 DE 102017220004A1
Authority
DE
Germany
Prior art keywords
vehicle
follower
distance
leader
determining
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
DE102017220004.9A
Other languages
German (de)
Inventor
Tommy Ikonen
Roland Rehtanz
Costanza Cascelli
Marcus Hiemer
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
ZF Friedrichshafen AG
Original Assignee
ZF Friedrichshafen AG
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by ZF Friedrichshafen AG filed Critical ZF Friedrichshafen AG
Priority to DE102017220004.9A priority Critical patent/DE102017220004A1/en
Publication of DE102017220004A1 publication Critical patent/DE102017220004A1/en
Application status is Pending legal-status Critical

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT 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
    • B60W30/00Purposes 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, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/10Path keeping
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT 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
    • B60W30/00Purposes 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, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/14Adaptive cruise control
    • B60W30/16Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02Control of position or course in two dimensions
    • G05D1/021Control of position or course in two dimensions specially adapted to land vehicles
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02Control of position or course in two dimensions
    • G05D1/021Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0287Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT 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
    • B60W2550/00Input parameters relating to exterior conditions
    • B60W2550/10Input parameters relating to exterior conditions from obstacle detection
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT 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
    • B60W2550/00Input parameters relating to exterior conditions
    • B60W2550/20Traffic related input parameters
    • B60W2550/30Distance or speed relative to other vehicles
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT 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
    • B60W2550/00Input parameters relating to exterior conditions
    • B60W2550/20Traffic related input parameters
    • B60W2550/30Distance or speed relative to other vehicles
    • B60W2550/308Distance between vehicles

Abstract

A method and driver assistance system for controlling the driving dynamics of a follower vehicle following a leader vehicle, determining a distance between the follower vehicle and the leader vehicle and determining a direction angle from the follower vehicle to the leader vehicle and controlling the lateral dynamics of the follower vehicle based on the distance and the direction angle.

Description

  • Known methods for controlling the driving dynamics of a follower vehicle following a leader vehicle include determining a distance between the follower vehicle and the leader vehicle.
  • A regulation of the driving dynamics of a vehicle may also be understood to mean adapting, modifying or controlling the driving dynamics or driving dynamics characteristics of the vehicle during a drive of the vehicle.
  • Among the driving dynamics of a vehicle falls among other things the longitudinal dynamics of the vehicle. The longitudinal dynamics can also be defined as longitudinal movement or longitudinal regulation of the vehicle. For generating the longitudinal dynamics means for inducing a longitudinal movement, for example a drive or a brake, may be provided.
  • As a vehicle, basically any means of transporting people, goods or tools can serve. The vehicle may in particular be an agricultural machine, for example a tractor.
  • A lead vehicle can be understood as a leading vehicle. The Leader Vehicle may be a preceding vehicle in a vehicle fleet.
  • A follower vehicle may be another vehicle that follows the lead vehicle. Consequences may include both descendants of the follower vehicle behind the leader vehicle and ahead of the follower vehicle ahead of the leader vehicle. In other words, the following vehicle can travel in the direction of travel of the host vehicle behind or in front of this.
  • In determining a distance, a distance may be measured, estimated, or predetermined. Distance can also be understood as a distance or a distance.
  • Known driver assistance systems for controlling the driving dynamics of a following vehicle, which follows a lead vehicle, have or communicate with a distance meter for determining the distance between the following vehicle and the lead vehicle.
  • A driver assistance system may be an electronic accessory in a vehicle to assist or replace the driver of the vehicle. The driver assistance system can partially autonomously or autonomously intervene in a drive, a control, for example gas or brake of the vehicle, or in a signaling device of the vehicle. The driver assistance system may also warn a driver through a man-machine interface prior to or during critical situations.
  • As a distance meter, a distance meter or a rangefinder may be provided.
  • Furthermore, an adaptive cruise control, which is also referred to as ACC (Adaptive Cruise Control) function, is known for regulating the longitudinal movement of a vehicle. Here, the distance of a behind-traveling vehicle is controlled to another vehicle with an engine intervention or a braking intervention. The steering of the following vehicle is actively carried out by a driver.
  • Solutions are provided to improve known methods for controlling vehicle dynamics and known driver assistance systems. In particular, solutions are to be provided which enable an autonomous following of a vehicle, that is to follow without driver intervention.
  • Such a solution for a method for controlling the driving dynamics of a follower vehicle comprises determining a direction angle from the follower vehicle to the leader vehicle and controlling the lateral dynamics of the follower vehicle based on the distance between the follower vehicle and the leader vehicle and the directional angle.
  • The control of the lateral dynamics may cause an autonomous following of one or more following vehicles, which may also be referred to as an automatic vehicle following function of the following vehicle. The follower vehicle or the following vehicles can thus drive automatically in or offset from the track of the leader vehicle.
  • For example, a farmer with a vehicle can drive from his yard to his field with a first vehicle, a car, or an agricultural machine, and a second vehicle can autonomously follow him without a driver on board. The farmer can also work in the field with an agricultural machine while the other agricultural machine follows it autonomously. The agricultural machines can do the same or different jobs in the field. These may be the same or different agricultural machines. For example, a farmer can work with two tractors on the field at the same time.
  • The driving dynamics of a vehicle also affect the lateral dynamics of the vehicle. The transverse dynamics can be used as transverse control, transverse movement or transverse alignment of the vehicle transversely to the Longitudinal axis of the vehicle movement are defined. To generate the transverse dynamics, means for causing the transverse movement or cornering, for example a steering, may be provided.
  • A direction angle can be defined as an angle between a reference direction and a target direction. The direction angle can therefore also be a direction indication. The reference direction may be a compass direction or a geodetic direction indication, in particular the direction angle may be an azimuth. The direction angle from the follower vehicle to the leader vehicle may also be defined as an angle in the follower vehicle, starting from a reference direction to the leader vehicle as a destination. In other words, the direction angle can specify the direction of travel of the following vehicle.
  • The solutions provided are based on the finding that autonomous driving of a follower vehicle can not be carried out solely on the basis of a longitudinal control, since a following along curved trajectories always requires a necessary and additional intervention in the lateral control by the driver.
  • A basic idea can be seen to provide for a follower vehicle in addition to a longitudinal dynamics control and a lateral dynamics control, both regulations in-situ, that is, during the vehicle ride done and for this no predetermined dynamic information must be specified. The information and data necessary for the longitudinal dynamics control and the lateral dynamics control can be obtained on the following vehicle itself during the following drive of the following vehicle. This is advantageous since a follow-up drive, in particular a steering drive, does not have to be preprogrammed. Rather, a lateral dynamics control of the follower vehicle can also be based on a new, previously unknown and thus not preprogrammable route of the host vehicle.
  • An embodiment consists in determining a position of the follower vehicle, determining a trajectory of the follower vehicle to be traveled for controlling the lateral dynamics of the follower vehicle, wherein the trajectory to be traversed is determined depending on the position of the follower vehicle, the distance and the direction angle. To determine the trajectory to be traveled, the position of the lead vehicle can be determined. The position can be determined by polar attachment, interpolation or extrapolation. The trajectory to be traveled can be determined between the position of the follower vehicle and the position of the leader vehicle. The trajectory can be determined straightforward for straight-ahead travel or curved for cornering of the following vehicle. A position of the follower vehicle or the host vehicle may be understood to mean coordinates in a local or global coordinate system of the follower vehicle or the host vehicle. A local coordinate system in the follower vehicle can also be referred to as a co-moving coordinate system, that is, a coordinate system traveling with the follower vehicle. A position of one of the vehicles may also be a relative position with respect to the other vehicle. The trajectory to be traveled can also be defined as the travel path or route of the following vehicle. An automatic lateral dynamics control of the follower vehicle can thus enable an autonomous follow-up run of the follower vehicle.
  • A further embodiment consists in determining a trajectory of the lead vehicle and determining a trajectory of the following vehicle to be traversed for controlling the lateral dynamics of the following vehicle as a function of the particular trajectory of the lead vehicle of the lead vehicle, the distance and the direction angle. The trajectory of the lead vehicle can be traced by the follower vehicle. The descend can also be offset, whereby the trajectory of the follower vehicle to be traversed can be parallel to the trajectory of the leader vehicle. The trajectory of the lead vehicle can be formed by determining the position of individual positions along the travel path of the lead vehicle. The trajectory of the lead vehicle can be specified or determined only by the driving behavior of a driver. Multiple work tasks may be performed by multiple vehicles along a trajectory or along parallel trajectories with the same or different tools. By staggered or parallel driving, identical or different field work can be carried out in parallel.
  • A further embodiment consists in rules of the driving dynamics of the following vehicle, wherein the driving dynamics of the following vehicle is controlled along or parallel to a trajectory of the lead vehicle. The driving dynamics of the following vehicle may be the longitudinal dynamics of the following vehicle and / or the lateral dynamics of the following vehicle. The rules of driving dynamics can, in addition to the rules of lateral dynamics also have the rules of longitudinal dynamics of the follower vehicle. It is also possible to determine the speed of the lead vehicle and to control the longitudinal dynamics of the following vehicle on the basis of this speed. A distance between the vehicles can thus be maintained constant during the drive of the vehicles along a trajectory.
  • Another embodiment is to provide a sensor system for determining the distance and the direction angle the following vehicle and / or on the leader vehicle. The sensor system may also include sensors that are not provided on any of the vehicles. As a sensor system, a position indicator can be provided on the leader vehicle and the following vehicle, respectively. In particular, a satellite positioning system, for example a GPS receiver, may each be provided on the vehicles. Alternatively or additionally, a sensor system may be provided only on one of the vehicles, in particular, the sensor system may also be arranged solely on the follower vehicle.
  • A further embodiment consists in determining the distance with a distance meter, which is arranged on the follower vehicle. The distance meter may be any transmitter and / or receiver or a transmitter for measuring a distance. The distance meter can perform distance measurements contactless or by means of a reflector on the target object. The distance meter may be a radar or radar sensor, which can measure the distance between the following vehicle and leader vehicle. The follower vehicle may thus have a radar-based vehicle following function for following the leader vehicle. With the distance meter, the distance to the lead vehicle can be adjusted. The distance meter can also be a laser device, a laser scanner, a photogrammetric system or a camera system. It is also conceivable that the distance measurement is performed using a combination of several sensors in order to improve the redundancy and / or the accuracy of the measurement. The distance meter can measure in a measuring direction or measure in a fan-shaped measuring range. The distance meter can be pivotable in order to detect the leader vehicle in the measuring direction or in the measuring range spanned by the distance meter. The distance measurement or a position determination can be improved.
  • A pivotable distance meter provided on the following vehicle, in particular a radar device which can be pivoted to the left and to the right, can be pivoted relative to the lead vehicle on the following vehicle. The distance meter can be swiveled with a servomotor. With the distance meter so a specific area, such as the tail or a reflector can be targeted on the leader vehicle. The distance meter can also be operated by a driver by hand or automatically controlled by a control device or a software algorithm.
  • Based on a distance measurement to the lead vehicle, a target speed for the following vehicle can be calculated. When driving the following vehicle with the target speed, a constant distance between the vehicles can be maintained. For controlling the target speed, the engine drag torque for accelerating or decelerating, the gas or the brake can be operated.
  • A further embodiment consists in determining the directional angle with a directional meter, which is arranged on the follower vehicle. The distance meter can also serve as a direction indicator. In particular, both the distance and the direction angle can be determined with a radar device. Optionally, a measuring device for determining a reference direction may be provided for this purpose, for example a compass-type sensor or an inertial measuring unit (IMU) or a micro-electro-mechanical system (MEMS). With a directional meter on the follower vehicle so an angle between a reference direction and the leader vehicle can be determined.
  • A further embodiment consists in a regulation of the longitudinal dynamics of the following vehicle and in an autonomous steering of the following vehicle along or parallel to a trajectory of the lead vehicle. The regulation of the longitudinal dynamics of the following vehicle can be done on the basis of the distance. The steering may trigger a tangential movement of the follower vehicle along a trajectory. The steering can be achieved with a pivoting wheels of the follower vehicle. A steering system aboard the follower vehicle may adjust the steering angle of the wheels based on a trajectory as a set point to follow the trajectory.
  • A further embodiment consists in recognizing an object between the follower vehicle and the leader vehicle and considering the detected object when controlling the lateral dynamics of the follower vehicle. Objects may be obstacles that are bypassed by the follower vehicle. Objects can also be target objects, which are targeted by the follower vehicle, wherein the trajectory can also be deviated. In particular, other vehicles, people or animals, which are in the trajectory to be traversed by the following vehicle, can also be detected with a distance meter.
  • In addition, a stop of the follower vehicle may be provided if an obstacle or an object is in front of him or in the trajectory to be traversed by him. A signal may then be transmitted to a portable unit or an optical or audible signal may be output and displayed to the driver in the leader vehicle.
  • A solution for driver assistance system for controlling the driving dynamics of a follower vehicle is to provide a directional meter for determining a direction angle from the follower vehicle to the leader vehicle, and providing a lateral dynamics controller for controlling the lateral dynamics of the follower vehicle based on the distance and the direction angle.
  • Activation of the driver assistance system on the follower vehicle may be activated by the driver who is in a cabin on the leader vehicle. The activation may be remotely controlled by a portable terminal or a portable unit, such as a mobile phone or a tablet.
  • The lateral dynamics controller may have a vehicle steering and be defined as an autonomous steering system. Another solution is a vehicle with such a driver assistance system.
  • Embodiments are described below with reference to the schematic 1 to 3 further explained.
    • 1 shows a driver assistance system for a follower vehicle, which follows a lead vehicle along the trajectory of the lead vehicle.
    • 2 shows a driver assistance system for a follower vehicle, which follows a lead vehicle along a trajectory, which is parallel to the trajectory of the lead vehicle.
    • 3 shows method steps for a method for controlling the driving dynamics of a follower vehicle.
  • 1 shows a follower vehicle 10 and a leader vehicle 20 , The following vehicle 10 follows the lead vehicle 20 along a trajectory T10 , which is a trajectory T20 of the lead vehicle 20 equivalent.
  • At the front of the following vehicle 10 is a distance meter 30 and a directional meter 40 arranged. The distance meter 30 measures a distance d to the lead vehicle 20 and the directional meter 40 determines a direction angle a starting from a reference direction 42 to the lead vehicle 20 ,
  • On the roof of the following vehicle 10 is also a position indicator 12 provided, which one position P10 of the following vehicle 10 detected. Also on the roof of the lead vehicle 20 is also a position indicator 22 provided, which one position P20 of the lead vehicle 20 detected. By calibration is any position of another component on a vehicle 10 . 20 determinable.
  • Further, located on the follower vehicle 10 a lateral dynamics controller 50 , which the lateral dynamics of the follower vehicle 10 regulates. This can especially with the front wheels 14 of the following vehicle 10 communicate and drive and swivel.
  • Also 2 shows a follower vehicle 10 and a leader vehicle 20 , The following vehicle 10 follows the lead vehicle 20 along a trajectory T10 which offset and parallel to the trajectory T20 of the lead vehicle 20 is.
  • At the front of the following vehicle 10 is a distance meter 30 and a directional meter 40 arranged. The distance meter 30 fan-wise measures a distance within an opening angle b d (not shown) to the lead vehicle 20 and the directional meter 40 then determines a direction angle a (not shown) to the lead vehicle 20 ,
  • 3 shows method steps for a method for controlling the driving dynamics of a follower vehicle.
  • As method steps are provided a determination S1 a distance d between the following vehicle 10 and the lead vehicle 20 , a determination S2 a directional angle a from the following vehicle 10 to the lead vehicle 20 and determining S3 a position P10 of the following vehicle 10 ,
  • As a method step is then further provided a set S4 a trajectory T10 of the following vehicle 10 based on the steps S1 . S2 and S3 ,
  • As further method steps are then further provided a rules S5 the lateral dynamics of the follower vehicle 10 , a rules S6 the longitudinal dynamics of the follower vehicle 10 and based on these steps, rules S7 the driving dynamics of the follower vehicle 10 ,
  • LIST OF REFERENCE NUMBERS
  • 10
    the following vehicle
    12
    Position gauge follower vehicle
    14
    Front wheels follower vehicle
    20
    lead vehicle
    22
    Position indicator Leader vehicle
    30
    Distance meter
    40
    direction meter
    42
    reference direction
    50
    Lateral dynamics regulator
    a
    directional angle
    d
    distance
    P10
    Position follower vehicle
    P20
    Position Leader vehicle
    T10
    Trajectory following vehicle
    T20
    Trajectory Leader vehicle
    S1
    Determining a distance
    S2
    Determining a directional angle
    S3
    Determine a position
    S4
    Set a trajectory
    S5
    Rules of lateral dynamics of the following vehicle
    S6
    Rules of longitudinal dynamics of the following vehicle
    S7
    Rules of the driving dynamics of the following vehicle

Claims (11)

  1. A method of controlling (S7) the driving dynamics of a follower vehicle (10) following a leader vehicle (20) by determining (S1) a distance (d) between the follower vehicle (10) and the leader vehicle (20), characterized by determining (S2 ) of a directional angle (a) of the follower vehicle (10) to the leader vehicle (20) and rules (S5) of the lateral dynamics of the follower vehicle (10) on the basis of the distance (d) and the direction angle (a).
  2. Method according to Claim 1 characterized by determining (S3) a position (P10) of the following vehicle (10), determining (S4) a trajectory (T10) of the following vehicle (10) to travel (S5) of the lateral dynamics of the following vehicle (10), the trajectory to be traveled (T10) is set depending on the position (P10) of the following vehicle (10), the distance (d) and the direction angle (a).
  3. Method according to one of Claims 1 or 2 characterized by determining a trajectory (T20) of the leader vehicle (20) and defining a trajectory (T10) of the follower vehicle (10) to control (S5) the lateral dynamics of the follower vehicle (10) in dependence on the determined trajectory (T20) of the leader craft ( 20), the distance (d) and the direction angle (a).
  4. Method according to one of Claims 1 to 3 , characterized by rules (S7) of the driving dynamics of the following vehicle (10), wherein the driving dynamics of the following vehicle (10) along or in parallel to a trajectory (T20) of the leader vehicle (20) is controlled.
  5. Method according to one of Claims 1 to 4 Characterized by providing a sensor system for determining the distance (d) and the direction angle (a) to the follower vehicle (10) and / or on the host vehicle (20).
  6. Method according to one of Claims 1 to 5 characterized by determining (S1) the distance (d) with a distance meter (30) disposed on the follower vehicle (10).
  7. Method according to one of Claims 1 to 6 characterized by determining (S2) the directional angle (a) with a directional gauge (40) disposed on the follower vehicle (10).
  8. Method according to one of Claims 1 to 7 characterized by rules (S6) of the longitudinal dynamics of the follower vehicle (10) and autonomous steering of the follower vehicle (10) along or parallel to a trajectory (T20) of the leader vehicle (20).
  9. Method according to one of Claims 1 to 8th characterized by recognizing an object between the follower vehicle (10) and the leader vehicle (20) and considering the detected object in controlling the lateral dynamics (S5) of the follower vehicle (10).
  10. Driver assistance system for controlling the driving dynamics of a follower vehicle (10), which follows a leader vehicle (20), with a distance meter (30) for determining the distance (d) between the follower vehicle (10) and the leader vehicle (20), characterized by a direction counter ( 40) for determining a direction angle (a) from the follower vehicle (10) to the leader vehicle (20) and a lateral dynamics controller (50) for controlling the lateral dynamics of the follower vehicle (10) based on the distance (d) and the direction angle (a).
  11. Vehicle with a driver assistance system after Claim 10 ,
DE102017220004.9A 2017-11-10 2017-11-10 Method and driver assistance system for controlling the driving dynamics of a vehicle Pending DE102017220004A1 (en)

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DE102017220004.9A DE102017220004A1 (en) 2017-11-10 2017-11-10 Method and driver assistance system for controlling the driving dynamics of a vehicle
PCT/EP2018/078321 WO2019091724A1 (en) 2017-11-10 2018-10-17 Method and driver assistance system for controlling the driving dynamics of a vehicle

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DE102008008172A1 (en) * 2008-02-08 2009-08-13 Daimler Ag Method for the longitudinal and transverse guidance assistance of the driver of a vehicle and driver assistance system for carrying out the method
DE102009050399A1 (en) * 2009-10-22 2011-05-05 Audi Ag Method for controlling the operation of a fully automatic, designed for independent vehicle management driver assistance system of a motor vehicle and motor vehicle
DE102012214206A1 (en) * 2012-08-09 2014-02-13 Bayerische Motoren Werke Aktiengesellschaft Method for detecting curvature of lane course during operation of fully-automatic driver assistance system of motor vehicle, involves determining future lane curvature based on position-dependent data of vehicle detected as target object

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Patent Citations (4)

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Publication number Priority date Publication date Assignee Title
DE19919644C2 (en) * 1999-04-30 2002-05-08 Daimler Chrysler Ag Measuring and control system for lateral control of successive vehicles and method therefor
DE102008008172A1 (en) * 2008-02-08 2009-08-13 Daimler Ag Method for the longitudinal and transverse guidance assistance of the driver of a vehicle and driver assistance system for carrying out the method
DE102009050399A1 (en) * 2009-10-22 2011-05-05 Audi Ag Method for controlling the operation of a fully automatic, designed for independent vehicle management driver assistance system of a motor vehicle and motor vehicle
DE102012214206A1 (en) * 2012-08-09 2014-02-13 Bayerische Motoren Werke Aktiengesellschaft Method for detecting curvature of lane course during operation of fully-automatic driver assistance system of motor vehicle, involves determining future lane curvature based on position-dependent data of vehicle detected as target object

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