DE102021132711A1 - Verfahren zum betreiben eines fahrzeugs, computerprogramm, steuerungssystem sowie fahrzeug - Google Patents

Verfahren zum betreiben eines fahrzeugs, computerprogramm, steuerungssystem sowie fahrzeug Download PDF

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Publication number
DE102021132711A1
DE102021132711A1 DE102021132711.3A DE102021132711A DE102021132711A1 DE 102021132711 A1 DE102021132711 A1 DE 102021132711A1 DE 102021132711 A DE102021132711 A DE 102021132711A DE 102021132711 A1 DE102021132711 A1 DE 102021132711A1
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DE
Germany
Prior art keywords
vehicle
radius
ahead
lane
determined
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
DE102021132711.3A
Other languages
German (de)
English (en)
Inventor
Graziano Nardelli
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.)
Valeo Schalter und Sensoren GmbH
Original Assignee
Valeo Schalter und Sensoren GmbH
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 Valeo Schalter und Sensoren GmbH filed Critical Valeo Schalter und Sensoren GmbH
Priority to DE102021132711.3A priority Critical patent/DE102021132711A1/de
Priority to PCT/EP2022/084511 priority patent/WO2023104764A1/en
Priority to JP2023557818A priority patent/JP7646017B2/ja
Priority to KR1020237035547A priority patent/KR20230158091A/ko
Priority to CN202280030423.0A priority patent/CN117203109A/zh
Priority to US18/289,006 priority patent/US12472948B2/en
Priority to EP22818455.2A priority patent/EP4444592B1/en
Publication of DE102021132711A1 publication Critical patent/DE102021132711A1/de
Pending legal-status Critical Current

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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
    • 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
    • B60W40/02—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 ambient conditions
    • B60W40/06—Road conditions
    • B60W40/072—Curvature of the road
    • 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
    • B60W30/18145—Cornering
    • 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
    • B60W50/0097—Predicting future conditions
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/50—Context or environment of the image
    • G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
    • G06V20/588—Recognition of the road, e.g. of lane markings; Recognition of the vehicle driving pattern in relation to the road
    • 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
    • B60W2540/00—Input parameters relating to occupants
    • B60W2540/18—Steering angle
    • 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
    • B60W2552/00—Input parameters relating to infrastructure
    • B60W2552/30—Road curve radius
    • 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
    • B60W2552/00—Input parameters relating to infrastructure
    • B60W2552/53—Road markings, e.g. lane marker or crosswalk
    • 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
    • B60W2710/205—Steering 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
    • 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
    • B60W2720/00—Output or target parameters relating to overall vehicle dynamics
    • B60W2720/10—Longitudinal speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
    • B60Y2300/00—Purposes or special features of road vehicle drive control systems
    • B60Y2300/18—Propelling the vehicle
    • B60Y2300/18008—Propelling the vehicle related to particular drive situations
    • B60Y2300/1815—Cornering

Landscapes

  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Human Computer Interaction (AREA)
  • Mathematical Physics (AREA)
  • General Physics & Mathematics (AREA)
  • Multimedia (AREA)
  • Theoretical Computer Science (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
DE102021132711.3A 2021-12-10 2021-12-10 Verfahren zum betreiben eines fahrzeugs, computerprogramm, steuerungssystem sowie fahrzeug Pending DE102021132711A1 (de)

Priority Applications (7)

Application Number Priority Date Filing Date Title
DE102021132711.3A DE102021132711A1 (de) 2021-12-10 2021-12-10 Verfahren zum betreiben eines fahrzeugs, computerprogramm, steuerungssystem sowie fahrzeug
PCT/EP2022/084511 WO2023104764A1 (en) 2021-12-10 2022-12-06 Method for operating a vehicle, computer program, control system and vehicle
JP2023557818A JP7646017B2 (ja) 2021-12-10 2022-12-06 車両を操作するための方法、コンピュータプログラム、制御システム、および車両
KR1020237035547A KR20230158091A (ko) 2021-12-10 2022-12-06 차량 작동 방법, 컴퓨터 프로그램, 제어 시스템 및 차량
CN202280030423.0A CN117203109A (zh) 2021-12-10 2022-12-06 用于操作车辆的方法、计算机程序、控制系统和车辆
US18/289,006 US12472948B2 (en) 2021-12-10 2022-12-06 Method for operating a vehicle, computer program, control system and vehicle
EP22818455.2A EP4444592B1 (en) 2021-12-10 2022-12-06 Method for operating a vehicle, computer program, control system and vehicle

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE102021132711.3A DE102021132711A1 (de) 2021-12-10 2021-12-10 Verfahren zum betreiben eines fahrzeugs, computerprogramm, steuerungssystem sowie fahrzeug

Publications (1)

Publication Number Publication Date
DE102021132711A1 true DE102021132711A1 (de) 2023-06-15

Family

ID=84421182

Family Applications (1)

Application Number Title Priority Date Filing Date
DE102021132711.3A Pending DE102021132711A1 (de) 2021-12-10 2021-12-10 Verfahren zum betreiben eines fahrzeugs, computerprogramm, steuerungssystem sowie fahrzeug

Country Status (7)

Country Link
US (1) US12472948B2 (https=)
EP (1) EP4444592B1 (https=)
JP (1) JP7646017B2 (https=)
KR (1) KR20230158091A (https=)
CN (1) CN117203109A (https=)
DE (1) DE102021132711A1 (https=)
WO (1) WO2023104764A1 (https=)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102023201879A1 (de) * 2023-03-02 2024-09-05 Zf Friedrichshafen Ag Trajektorieplanungssystem für ein Fahrzeug und Fahrzeug
DE102024131630A1 (de) * 2024-10-30 2026-04-30 Valeo Schalter Und Sensoren Gmbh Verfahren zum anpassen einer steuereinrichtung in einem fahrzeug

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE112017000865T5 (de) 2016-02-17 2018-11-15 Denso Corporation Abschätzungsvorrichtung
DE102020216470A1 (de) 2019-12-26 2021-07-01 Mando Corporation Fahrerassistenzsystem, damit ausgestattetes fahrzeug und verfahren zum steuern des fahrzeugs

Family Cites Families (15)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP4427953B2 (ja) * 2003-01-29 2010-03-10 株式会社豊田自動織機 駐車支援装置
US8126642B2 (en) * 2008-10-24 2012-02-28 Gray & Company, Inc. Control and systems for autonomously driven vehicles
JP5136657B2 (ja) 2009-01-22 2013-02-06 トヨタ自動車株式会社 カーブ半径推定装置
JP5821288B2 (ja) 2011-05-31 2015-11-24 日産自動車株式会社 道路形状予測装置
US8988524B2 (en) * 2013-03-11 2015-03-24 The United States Of America As Represented By The Secretary Of The Army Apparatus and method for estimating and using a predicted vehicle speed in an indirect vision driving task
KR101504252B1 (ko) 2013-11-28 2015-03-19 현대모비스 주식회사 곡선 도로에서 차량의 속도를 제어하기 위한 시스템 및 그 방법
JP6600446B2 (ja) 2014-05-14 2019-10-30 株式会社豊田中央研究所 車両制御装置、及びプログラム
KR102159360B1 (ko) 2014-09-26 2020-09-23 현대모비스 주식회사 곡률 추정 장치 및 방법
KR102239010B1 (ko) 2014-10-29 2021-04-13 현대모비스 주식회사 차량의 지능형 순항제어 장치 및 방법
JP2017090339A (ja) 2015-11-13 2017-05-25 株式会社デンソー 位置記録装置
JP2018106589A (ja) 2016-12-28 2018-07-05 パナソニックＩｐマネジメント株式会社 車両軌道予測装置、方法、プログラム及び記録媒体、並びに、警報装置
JP6642522B2 (ja) * 2017-06-06 2020-02-05 トヨタ自動車株式会社 車線変更支援装置
CN110654320A (zh) 2018-06-29 2020-01-07 比亚迪股份有限公司 探测装置探测角度的调整方法、装置及具有其的车辆
JP6738377B2 (ja) 2018-07-31 2020-08-12 ヤマハ発動機株式会社 曲率情報算出装置およびそれを備える自動走行車両
IL272216B (en) 2020-01-20 2021-05-31 Elbit Systems Land Ltd Device and method for automatically controlled steering of a continuous track vehicle

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE112017000865T5 (de) 2016-02-17 2018-11-15 Denso Corporation Abschätzungsvorrichtung
DE102020216470A1 (de) 2019-12-26 2021-07-01 Mando Corporation Fahrerassistenzsystem, damit ausgestattetes fahrzeug und verfahren zum steuern des fahrzeugs

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102023201879A1 (de) * 2023-03-02 2024-09-05 Zf Friedrichshafen Ag Trajektorieplanungssystem für ein Fahrzeug und Fahrzeug
DE102024131630A1 (de) * 2024-10-30 2026-04-30 Valeo Schalter Und Sensoren Gmbh Verfahren zum anpassen einer steuereinrichtung in einem fahrzeug

Also Published As

Publication number Publication date
JP7646017B2 (ja) 2025-03-14
JP2024510676A (ja) 2024-03-08
EP4444592A1 (en) 2024-10-16
US12472948B2 (en) 2025-11-18
US20240217517A1 (en) 2024-07-04
EP4444592B1 (en) 2026-01-28
CN117203109A (zh) 2023-12-08
WO2023104764A1 (en) 2023-06-15
KR20230158091A (ko) 2023-11-17

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