DE112017007211B4 - Steuerung, Verfahren und Programm zur Fahrmodus-Umschaltung - Google Patents

Steuerung, Verfahren und Programm zur Fahrmodus-Umschaltung Download PDF

Info

Publication number
DE112017007211B4
DE112017007211B4 DE112017007211.5T DE112017007211T DE112017007211B4 DE 112017007211 B4 DE112017007211 B4 DE 112017007211B4 DE 112017007211 T DE112017007211 T DE 112017007211T DE 112017007211 B4 DE112017007211 B4 DE 112017007211B4
Authority
DE
Germany
Prior art keywords
driving mode
switching
steering wheel
wheels
control
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.)
Active
Application number
DE112017007211.5T
Other languages
German (de)
English (en)
Other versions
DE112017007211T5 (de
Inventor
Tomoyoshi Aizawa
Hatsumi AOI
Kazuyoshi OKAJI
Hiroshi Sugahara
Michie Uno
Koji Takizawa
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.)
Omron Corp
Original Assignee
Omron Corp
Omron Tateisi Electronics Co
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 Omron Corp, Omron Tateisi Electronics Co filed Critical Omron Corp
Publication of DE112017007211T5 publication Critical patent/DE112017007211T5/de
Application granted granted Critical
Publication of DE112017007211B4 publication Critical patent/DE112017007211B4/de
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
    • B62D6/007—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits adjustable by the driver, e.g. sport mode
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/20—Conjoint control of vehicle sub-units of different type or different function including control of steering systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/10—Path keeping
    • 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
    • B60W30/182—Selecting between different operative modes, e.g. comfort and performance modes
    • 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
    • B60W50/08—Interaction between the driver and the control system
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • 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
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/082—Selecting or switching between different modes of propelling
    • 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
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • B60W60/005—Handover processes
    • B60W60/0051—Handover processes from occupants to 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
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • B60W60/005—Handover processes
    • B60W60/0053—Handover processes from vehicle to occupant
    • 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
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • B60W60/005—Handover processes
    • B60W60/0059—Estimation of the risk associated with autonomous or manual driving, e.g. situation too complex, sensor failure or driver incapacity
    • 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
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • B60W60/007—Emergency override
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D15/00—Steering not otherwise provided for
    • B62D15/02—Steering position indicators ; Steering position determination; Steering aids
    • B62D15/025—Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D5/00—Power-assisted or power-driven steering
    • B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
    • B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
    • B60W2420/403—Image sensing, e.g. optical camera
    • 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
    • B60W2540/21—Voice
    • 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
    • B60W2540/215—Selection or confirmation of options
    • 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
    • B60W2540/223—Posture, e.g. hand, foot, or seat position, turned or inclined
    • 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
    • B60W2540/225—Direction of gaze
    • 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
    • B60W2540/229—Attention level, e.g. attentive to driving, reading or sleeping
    • 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

Landscapes

  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Human Computer Interaction (AREA)
  • Combustion & Propulsion (AREA)
  • Chemical & Material Sciences (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
  • Traffic Control Systems (AREA)
DE112017007211.5T 2017-03-09 2017-07-20 Steuerung, Verfahren und Programm zur Fahrmodus-Umschaltung Active DE112017007211B4 (de)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
JP2017-045173 2017-03-09
JP2017045173A JP6690581B2 (ja) 2017-03-09 2017-03-09 運転モード切替制御装置、方法およびプログラム
PCT/JP2017/026346 WO2018163456A1 (ja) 2017-03-09 2017-07-20 運転モード切替制御装置、方法およびプログラム

Publications (2)

Publication Number Publication Date
DE112017007211T5 DE112017007211T5 (de) 2019-11-21
DE112017007211B4 true DE112017007211B4 (de) 2021-05-06

Family

ID=63448372

Family Applications (1)

Application Number Title Priority Date Filing Date
DE112017007211.5T Active DE112017007211B4 (de) 2017-03-09 2017-07-20 Steuerung, Verfahren und Programm zur Fahrmodus-Umschaltung

Country Status (5)

Country Link
US (1) US20190210586A1 (enExample)
JP (1) JP6690581B2 (enExample)
CN (1) CN109689476B (enExample)
DE (1) DE112017007211B4 (enExample)
WO (1) WO2018163456A1 (enExample)

Families Citing this family (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102018216103B4 (de) * 2018-09-21 2021-06-24 Volkswagen Aktiengesellschaft Verfahren zum Betreiben einer Steuereinheit eines Kraftfahrzeugs sowie Kraftfahrzeug mit einer Steuereinheit zum Durchführen eines derartigen Verfahrens
JP2020168918A (ja) * 2019-04-02 2020-10-15 株式会社ジェイテクト 操舵装置
JP7298255B2 (ja) 2019-04-10 2023-06-27 トヨタ自動車株式会社 車両制御システム
CN110435754B (zh) * 2019-08-06 2021-10-01 南京航空航天大学 一种电液复合转向系统的人机共驾模式切换装置及方法
JP7158367B2 (ja) * 2019-12-09 2022-10-21 本田技研工業株式会社 車両制御システム
CN111267945A (zh) * 2020-01-22 2020-06-12 清华大学 乘用车的电动助力转向控制切换方法
CN111497867B (zh) * 2020-04-07 2021-05-25 南京航空航天大学 考虑驾驶员转向特性的线控转向系统容错策略
CN113650624B (zh) * 2021-08-30 2024-01-19 东风柳州汽车有限公司 驾驶提醒方法、设备、存储介质及装置
CN113619610B (zh) * 2021-09-18 2024-01-05 一汽解放汽车有限公司 车辆驾驶模式切换方法、装置、计算机设备和存储介质
US12594944B2 (en) * 2021-12-16 2026-04-07 Volkswagen Aktiengesellschaft Method and system for vehicle drive mode selection
CN115092187A (zh) * 2022-08-25 2022-09-23 山东港口渤海湾港集团有限公司 一种港口货物自卸车驾驶模式的切换方法及系统
JP7831444B2 (ja) 2023-08-17 2026-03-17 トヨタ自動車株式会社 自動車

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE112006002892T5 (de) * 2005-10-21 2008-11-06 Deere & Company, Moline Systeme und Verfahren zum Umschalten zwischen autonomer und manueller Bedienung eines Fahrzeugs
DE112010002279T5 (de) * 2009-05-13 2012-12-06 Toyota Jidosha Kabushiki Kaisha Fahrassistenzeinrichtung
DE102013012777A1 (de) * 2013-07-31 2015-02-05 Valeo Schalter Und Sensoren Gmbh Verfahren zum Nutzen eines Kommunikationsendgeräts in einm Kraftfahrzeug beim aktivierten Autopiloten und Kraftfahrzeug
JP2016132264A (ja) * 2015-01-15 2016-07-25 株式会社ジェイテクト 車両用操舵装置
JP2016210220A (ja) * 2015-04-30 2016-12-15 株式会社ジェイテクト 電動パワーステアリング装置

Family Cites Families (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP3912279B2 (ja) * 2002-12-24 2007-05-09 三菱自動車工業株式会社 自動操舵制御装置付き自動車
JP4231428B2 (ja) * 2004-01-30 2009-02-25 トヨタ自動車株式会社 車両の操舵装置
JP2008059459A (ja) * 2006-09-01 2008-03-13 Toyota Motor Corp 車両用注意喚起システム
US20100228417A1 (en) * 2009-03-06 2010-09-09 Gm Global Technology Operations, Inc. Driver hands on/off detection during automated lane centering/changing maneuver
JP2014108771A (ja) * 2012-12-04 2014-06-12 Honda Motor Co Ltd 車両制御装置
US9358925B2 (en) * 2013-10-23 2016-06-07 Jtekt Corporation Warning device for vehicle
JP6375237B2 (ja) * 2015-01-28 2018-08-15 日立オートモティブシステムズ株式会社 自動運転制御装置
JP6376059B2 (ja) * 2015-07-06 2018-08-22 トヨタ自動車株式会社 自動運転車両の制御装置

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE112006002892T5 (de) * 2005-10-21 2008-11-06 Deere & Company, Moline Systeme und Verfahren zum Umschalten zwischen autonomer und manueller Bedienung eines Fahrzeugs
DE112010002279T5 (de) * 2009-05-13 2012-12-06 Toyota Jidosha Kabushiki Kaisha Fahrassistenzeinrichtung
DE102013012777A1 (de) * 2013-07-31 2015-02-05 Valeo Schalter Und Sensoren Gmbh Verfahren zum Nutzen eines Kommunikationsendgeräts in einm Kraftfahrzeug beim aktivierten Autopiloten und Kraftfahrzeug
JP2016132264A (ja) * 2015-01-15 2016-07-25 株式会社ジェイテクト 車両用操舵装置
JP2016210220A (ja) * 2015-04-30 2016-12-15 株式会社ジェイテクト 電動パワーステアリング装置

Also Published As

Publication number Publication date
JP6690581B2 (ja) 2020-04-28
US20190210586A1 (en) 2019-07-11
WO2018163456A1 (ja) 2018-09-13
CN109689476B (zh) 2021-04-13
CN109689476A (zh) 2019-04-26
DE112017007211T5 (de) 2019-11-21
JP2018144782A (ja) 2018-09-20

Similar Documents

Publication Publication Date Title
DE112017007211T5 (de) Steuervorrichtung, Verfahren und Programm zur Fahrmodusumschaltung
DE112017007190T5 (de) Steuerung, verfahren und programm zur fahrmodus-umschaltung
DE112017007197B4 (de) Fahrmodusumschaltsteuerungsvorrichtung, verfahren und programm
DE112012006226B4 (de) Fahrassistenzvorrichtung
DE112008002030B4 (de) Informationsbereitstellende Vorrichtung in Fahrzeug
DE112015002774B4 (de) Fahrunterstützungsvorrichtung
DE102022102697A1 (de) Parkunterstützungsverfahren und Parkunterstützungsvorrichtung
DE102018122133A1 (de) Fahrzeugsteuervorrichtung
DE112022000979T5 (de) Fahrzeugsteuervorrichtung
DE112017001198T5 (de) Fahrwechsel-steuerungsvorrichtung und fahrwechsel-steuerungsverfahren
DE102015115360A1 (de) Fahrtunterstützung-Steuerungseinrichtung
EP3826897A1 (de) Verfahren und vorrichtung zur unterstützung einer aufmerksamkeit und/oder fahrbereitschaft eines fahrers bei einem automatisierten fahrvorgang eines fahrzeugs
DE102010049351A1 (de) Verfahren zum Betreiben einer Bremsassistenzvorrichtung und Bremsassistenzvorrichtung für ein Fahrzeug
DE112021002344T5 (de) Steuervorrichtung und steuerprogramm
DE102018105163A1 (de) System zum automatisierten Fahren
DE102018002900A1 (de) Halteabsicht-Bestimmungsapparat und Halteabsicht-Bestimmungsverfahren
DE112017007216T5 (de) Steuereinrichtung, System und Verfahren zum Umschalten des Fahrmodus
DE102013225138A1 (de) Automatische Blinkerassistenz
WO2020178098A1 (de) Verfahren zum zumindest teilautomatisierten führen eines kraftfahrzeugs
DE112017007249T5 (de) Vorrichtung zum bestimmen von fahrumschaltung, verfahren zum bestimmen von fahrumschaltung und programm zum bestimmen von fahrumschaltung
DE102019119084A1 (de) Bestimmen eines Signalstatus einer Lichtsignalanlage
DE102018122526A1 (de) Fahrzeugsteuervorrichtung
DE112017007258T5 (de) Vorrichtung zur bestimmung des konzentrationsgrades, verfahren zur bestimmung des konzentrationsgrades und programm zur bestimmung des konzentrationsgrades
DE112017007248T5 (de) Vorrichtung zur bestimmung des konzentrationsgrades, verfahren zur bestimmung des konzentrationsgrades und programm zur bestimmung des konzentrationsgrades
DE102016209245A1 (de) Fahrassistenzvorrichtung und fahrassistenzverfahren für ein fahrzeug

Legal Events

Date Code Title Description
R012 Request for examination validly filed
R016 Response to examination communication
R018 Grant decision by examination section/examining division
R020 Patent grant now final