EP1791101A1 - Verfahren und Vorrichtung zur Erkennung einer Gefahrensituation infolge gefährdeter Verkehrsteilnehmer und zur Warnung eines Fahrzeuglenkers vor dieser Gefahrensituation - Google Patents

Verfahren und Vorrichtung zur Erkennung einer Gefahrensituation infolge gefährdeter Verkehrsteilnehmer und zur Warnung eines Fahrzeuglenkers vor dieser Gefahrensituation Download PDF

Info

Publication number
EP1791101A1
EP1791101A1 EP05425841A EP05425841A EP1791101A1 EP 1791101 A1 EP1791101 A1 EP 1791101A1 EP 05425841 A EP05425841 A EP 05425841A EP 05425841 A EP05425841 A EP 05425841A EP 1791101 A1 EP1791101 A1 EP 1791101A1
Authority
EP
European Patent Office
Prior art keywords
vehicle
user
condition
warning
danger
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.)
Granted
Application number
EP05425841A
Other languages
English (en)
French (fr)
Other versions
EP1791101B1 (de
Inventor
Francesco Lilli
Luca Capra
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.)
Centro Ricerche Fiat SCpA
Original Assignee
Centro Ricerche Fiat SCpA
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 Centro Ricerche Fiat SCpA filed Critical Centro Ricerche Fiat SCpA
Priority to DE602005004931T priority Critical patent/DE602005004931T2/de
Priority to AT05425841T priority patent/ATE386998T1/de
Priority to EP05425841A priority patent/EP1791101B1/de
Publication of EP1791101A1 publication Critical patent/EP1791101A1/de
Application granted granted Critical
Publication of EP1791101B1 publication Critical patent/EP1791101B1/de
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/161—Decentralised systems, e.g. inter-vehicle communication
    • G08G1/163—Decentralised systems, e.g. inter-vehicle communication involving continuous checking

Definitions

  • the present invention relates to a method and an apparatus for detecting a condition of danger deriving from the presence of vulnerable road users and for warning the driver of a vehicle, in particular a motor vehicle, of said condition of danger.
  • the aim of the present invention is hence to provide an apparatus that will enable detection and advanced warning to the driver of the vehicle of a condition of danger due to the presence of vulnerable road users.
  • the above aim is achieved by the present invention in so far as it regards a method designed to detect, and warn the driver of a vehicle of, a condition of danger originating from the presence of vulnerable road users, according to what is specified in Claim 1 and, preferably, in any one of the subsequent claims that depend directly or indirectly upon Claim 1.
  • an apparatus designed to detect ,and warn the driver of a vehicle of, a condition of danger deriving from the presence of vulnerable road users, according to what is specified in Claim 10 and, preferably, in any one of the subsequent claims that depend directly or indirectly upon Claim 10.
  • number 1 designates as a whole an apparatus having the function of detecting, and warning the driver of a vehicle 2 of, a condition of danger associated to a collision or impact that may occur between the vehicle 2 and one or more vulnerable road users 3 (only one of which, for reasons of simplicity of description, is shown in Figure 1) so as to achieve a greater road safety for the users 3. It remains, however, clear that said apparatus 1 is able to operate in the presence of any number of vulnerable road users 3.
  • the apparatus 1 is able to implement the following operations: detecting the presence of one or more vulnerable road users 3 in an area within which displacement of the vehicle 2 occurs; calculating a set of kinematic parameters correlated to the position and to the displacement of the vehicle 2 and of the user 3 within the area; verifying, on the basis of a set of comparisons between the displacements of the vehicle 2 and the displacements performed by the user 3, whether there exists or not a condition of potential impact between the two; and, in the case where said condition of impact is ascertained, warning the driver of the vehicle 2 of a condition of danger so as to warn him, in sufficient advance, of the possible impact between the vehicle 2 and the vulnerable road user 3.
  • the apparatus 1 basically comprises: an identification device 4, which is designed to be carried or worn by a vulnerable road user 3, corresponding, for example, to a pedestrian, and/or to a cyclist, and/or to a motorcyclist, etc.; and a warning apparatus 5, which is installed on board the vehicle 2, and has the function of identifying the position and the displacement of the identification device 4 worn by the user 3, and of comparing said information with the position and the displacement of the vehicle 2, in such a way as to be able to foresee, on the basis of said comparison, a possible condition of impact between the vehicle 2 and the user 3.
  • an identification device 4 which is designed to be carried or worn by a vulnerable road user 3, corresponding, for example, to a pedestrian, and/or to a cyclist, and/or to a motorcyclist, etc.
  • a warning apparatus 5 which is installed on board the vehicle 2, and has the function of identifying the position and the displacement of the identification device 4 worn by the user 3, and of comparing said information with the position and the displacement of the vehicle 2, in such a
  • the identification device 4 that can be worn by the user 3 may be, for example, a transponder (TAG), preferably, but not necessarily, of a passive type, which is activated following upon reception of an inquiry signal, and has the function of transmitting to the warning apparatus 5 a response signal to enable identification of the position of the user 3, as well as identification of the kind of user.
  • TAG transponder
  • the identification device 4 can be provided with a storage module 6 containing an identification code associated preferably, but not necessarily, to the type of user (pedestrian, cyclist, motorcyclist), and a transceiver module 7, which is able to receive and/or transmit radiofrequency signals to and from the warning apparatus 5.
  • a storage module 6 containing an identification code associated preferably, but not necessarily, to the type of user (pedestrian, cyclist, motorcyclist), and a transceiver module 7, which is able to receive and/or transmit radiofrequency signals to and from the warning apparatus 5.
  • the warning apparatus 5 comprises a transceiver device 8, constituted, for example, by a known electronic circuit that is able to transmit and receive radiofrequency signals, which is designed to transmit the inquiry signal to the identification device 4 and to receive from the latter the response signal identifying the user.
  • the warning apparatus 5 further comprises, preferably but not necessarily, a satellite positioning device 9, for example a GPS (Global Positioning System) module capable of determining the instantaneous position of the vehicle 2 (in terms of longitude and latitude) with respect to a pre-set reference system, and an electronic control unit 10, which implements a set of operations (described in detail hereinafter) for verification and comparison of the displacements between the vehicle and the user, on the basis of which the possible condition of danger is identified.
  • a satellite positioning device 9 for example a GPS (Global Positioning System) module capable of determining the instantaneous position of the vehicle 2 (in terms of longitude and latitude) with respect to a pre-set reference system
  • an electronic control unit 10 which implements a set of operations (described in detail hereinafter) for verification and comparison of the displacements between the vehicle and the user, on the basis of which the possible condition of danger is identified.
  • the electronic control unit 10 can be constituted by an electronic control unit capable of co-operating with a HMI (Human-Machine Interface) device 11 present on board the vehicle 2 so as to warn, through the latter, the driver of the vehicle 2 of the condition of danger.
  • HMI Human-Machine Interface
  • the electronic control unit 10 comprises: a control module 12, which cooperates with the transceiver device 8 for managing the transmission/reception of the radiofrequency signals from and to the identification device 4; a calculation module 13, which processes the response signal received by the control module 12 to determine (with the modalities described in detail hereinafter) a set of kinematic parameters associated to the user 3, such as position, speed, and acceleration.
  • the electronic control unit 10 further comprises: a detection module 14, which detects a set of kinematic parameters of the vehicle 2, such as, for example, the position, speed and acceleration; and a storage module 15, which contains a geographical map of the area involved in the displacement of the vehicle 2 and of the user 3.
  • the geographical map can contain a digital geographical representation (i.e., in an electronic format), in which are indicated the real elements and/or objects present in the geographical area represented.
  • the real elements and/or objects can comprise for instance roads, car parks, service areas, buildings, bridges, squares, green areas, cycle tracks, pavements, etc.
  • said elements and/or objects are described within the digital geographical map on the basis of their geometrical characteristics, such as for example their position with respect to a pre-set reference system, the perimeter or the area occupied, and on the basis of other properties of an operative type, such as for example the state of accessibility of the object.
  • the electronic control unit 10 further comprises: a processing module 16, which is capable of determining the positions and the displacements of the user 3 and of the vehicle 2 within the geographical map contained in the storage module 15 in order to verify, as a function of the outcome of said processing, whether there exists or not a condition of danger; and a warning module 17, which sends to the HMI device 11 the signal warning of danger to be supplied to the driver of the vehicle 2.
  • a processing module 16 which is capable of determining the positions and the displacements of the user 3 and of the vehicle 2 within the geographical map contained in the storage module 15 in order to verify, as a function of the outcome of said processing, whether there exists or not a condition of danger
  • a warning module 17 which sends to the HMI device 11 the signal warning of danger to be supplied to the driver of the vehicle 2.
  • the identification device 4 can be provided with a warning module 4a for warning the user 3 of a condition of danger detected by the warning apparatus 5.
  • the warning module 17 in addition to activating the warning of danger to the driver of the vehicle through the HMI device 11, operates a command for transmission of a signal that encodes said condition of danger.
  • Said signal is designed to be received by the transceiver module 7 and is converted into an acoustic and/or visual and/or vibrational message by the warning module 4a comprised in the identification device 4.
  • the warning module 4a comprised in the identification device 4 could comprise an acoustic and/or visual and/or vibrational message device designed to warn the user of the possible condition of impact with the vehicle 2.
  • the electronic control unit 10 controls transmission of the inquiry signal (block 100) via the transceiver device 8, and remains in a temporary condition of waiting (block 110) for detection of a response signal by at least one identification device 4 worn by a user 3 present within an area that surrounds the path of the vehicle 2.
  • control module 12 In this step, if the control module 12 does not receive at input any response signal transmitted by the identification device 4 (output NO from block 110), then it transmits, after a pre-set time interval (block 120), a new inquiry signal.
  • control block 12 receives a response signal transmitted by the identification device 4 (output YES from block 110), then the calculation module 13 identifies the presence of a vulnerable road user 3 and accordingly processes the radiofrequency response signal to determine a set of kinematic quantities such as for example the position, speed, and possibly acceleration of the user 3, and preferably, but not necessarily, the type of user (block 130).
  • a set of kinematic quantities such as for example the position, speed, and possibly acceleration of the user 3, and preferably, but not necessarily, the type of user (block 130).
  • the detection module 14 measures a set of vehicle parameters to supply a set of information regarding the position, speed and acceleration of the vehicle 2 to the processing module 16, which verifies whether there exists a correspondence between the positions of the vehicle and of the user and the objects indicated in the digital map. If the processing module 16 identifies said correspondence, it then represents the vehicle 2 and the user 3 on the digital geographical map stored in the storage module 15 (block 140) according to the respective positions calculated.
  • the processing module 16 identifies on the digital geographical map the objects or elements which the user 3 and the vehicle 2 occupy.
  • the user 3 could occupy an object corresponding to a road, or an object corresponding to a cycle track, or an object corresponding to a car park, etc.
  • the vehicle 2 could occupy an object corresponding to a road, or else an object corresponding to a bridge, or an object corresponding to a car park, etc.
  • the processing module 16 verifies the presence/absence of a possible situation of impact between the vehicle and the user, and hence a condition of danger.
  • the processing module 16 makes a forecast of the paths that will be followed by the vehicle 2 and by the user 3 and, on the basis of the points of intersection of the paths and as a function of the speed of the vehicle 2 and of the user 3, determines the presence/absence of a condition of danger deriving from an impact between the user and the vehicle.
  • the processing module 16 identifies a condition of absence of danger (output NO from block 160), whilst otherwise, i.e., in the case where a condition of danger due to impact is forecast, the warning module 17 warns the driver of the vehicle 2, through the HMI device 11, of the condition of danger (block 170).
  • the warning module 17 transmits the danger signal to the identification device 4, which issues to the user 3 an acoustic and/or visual and/or vibrational warning of the presence of the danger of impact (block 180).
  • the processing module 16 verifies whether there exists an effective correspondence between the positions assumed by the vehicle 2 and by the user 3 and the objects and/or elements represented within the digital geographical map (block 200). In the case where said correspondence has a negative outcome, i.e., if, on account of their positions, the vehicle 2 and/or the user 3 do not find a correspondence, i.e., they cannot be represented within the geographical map (output NO from block 200), then the processing module 16 processes the kinematic parameters of the vehicle 2 and of the user 3 in order to predict the path that will be followed by the user 3 and by the vehicle 2 starting from their respective positions previously determined (block 210).
  • the processing module 16 moreover determines a set of safety parameters, such as the point of intersection P T between the path of the vehicle 2 and the path of the user 3, a safety distance r s (described hereinafter) that must be maintained between the vehicle 2 and the user 3 to guarantee safety of the latter, and a stopping distance d s for arrest of the vehicle 2.
  • a set of safety parameters such as the point of intersection P T between the path of the vehicle 2 and the path of the user 3, a safety distance r s (described hereinafter) that must be maintained between the vehicle 2 and the user 3 to guarantee safety of the latter, and a stopping distance d s for arrest of the vehicle 2.
  • the stopping distance d s of the vehicle 2 represents the total distance along which the vehicle 2 is travelling between the initial instant, in which the driver has the perception of the presence of a user 3 on the road along which the vehicle 2 is travelling, and the final instant, in which the vehicle 2 stops following upon a stop command imparted by the driver of the vehicle 2 itself.
  • the stopping distance d s can be determined through a table contained in the storage module 15 and as a function of a set of parameters such as the speed of the vehicle 2, the model of vehicle 2 (determined via a customization of the system), the driving skill of the driver (determined via a set of information associated to the driving "historic file” of the driver), the type of road along which the vehicle is travelling, and the external environmental conditions (which can be determined via a sensor for detection of the state of the road).
  • the stopping distances d s included in the table can be determined by measuring the stopping distances d S as the parameters indicated above vary and by implementing on the data thus obtained a statistic calculation procedure.
  • this corresponds to the minimum distance required between the vehicle 2 and a user 3 along a stretch of road, below which a condition of danger for the user 3 arises.
  • the processing module 16 determines the safety distance r s on the basis of the stopping distance d s .
  • the coefficient c v can also be stored in a table that represents a biunique function between the coefficients c v and the type of road users 3. Said table can be contained in the storage module 15 in such a way as to be accessible by the processing module 16 during calculation of the safety distance r s .
  • the processing module 16 verifies whether the distance measured between the vehicle 2 and the point of intersection P T of the paths is smaller than the safety distance r s and at the same time whether the speed of the vehicle 2 and the speed of the user 3 are such as to be able to cause an impact between the vehicle and the user in the point of intersection P T itself (block 220).
  • output NO from block 220 If the verification has a negative outcome (output NO from block 220), i.e., if the distance measured between the vehicle 2 and the point of intersection P T is greater than the safety distance r s , and the speed of the vehicle 2 and of the user 3 along the respective paths are such as not to be able to cause an impact between the vehicle and the user in the point of intersection P T itself, then a condition of absence of danger is determined.
  • the processing module 16 verifies whether the object or element in which the user 3 is located is or is not contiguous, i.e., adjacent, to the road along which the vehicle 2 is travelling (block 240).
  • the geographical element of the map corresponding, for example, to a cycle track is contiguous to the road if the following two conditions arise: if the intersection between the object, i.e., the cycle track, and a corridor of width D that develops along the road is not empty, and if there does not exist any physical separation that will prevent the user travelling along the cycle track from entering the road along which the vehicle 2 is travelling.
  • the processing module 16 determines the safety distance r s in the modalities described above, and the point P s of intersection between the road along which the vehicle 2 is travelling and the path of the user 3 (block 250).
  • the processing module 16 verifies whether the distance between the vehicle 2 and the point of intersection P s is smaller than the safety distance r s .
  • the processing module 16 performs a forecast of the path followed by the vehicle 2 and of the path followed by the user 3, calculates the point of intersection P T between the paths and determines the safety distance r S implementing the operations described above (block 270).
  • the processing element 16 implements the same operations as those of block 220, i.e., it verifies whether the distance measured between the vehicle 2 and the point of intersection P T of the paths is smaller than the safety distance r s and, at the same time, checks whether the speed of the vehicle 2 and the speed of the user 3 are such as to be able to cause an impact between the vehicle and the user in the point of intersection P T itself (block 280).
  • the processing module 16 verifies whether the position of the user is comprised within the corridor of pre-set width D and whether the user 3 is at a distance from the vehicle smaller than the safety distance r s (block 290).
  • the processing module 16 detects a condition of absence of danger.
  • the apparatus 1 is capable of measuring a set of quantities provided hereinafter.
  • the apparatus 1 is able to determine the vectors C - A and D - B , which represent both the distances C-A and D-B of the user 3 with respect to the vehicle 2 in two successive instants t 1 and t 2 and the directions along which the distances C-A and D-B are determined with respect to the direction of displacement of the vehicle 2, where C and D are the positions of the user 3 in the two instants t 1 and t 2 , A is the position of the vehicle 2 at the instant t 1 and B is the position of the vehicle 2 at the instant t 2 .
  • the processing module 16 of the apparatus 1 determines the vectors C - A and D - B , processing in a known way (and consequently not described in detail) the time of flight associated to the radiofrequency signals exchanged between the warning apparatus 5 and the identification device 4.
  • the apparatus 1 determines the vectors C - A and C - B that indicate both the distances C-A and C-B of the user 3 with respect to the vehicle 2 in two successive instants t 1 and t 2 and the directions along which the distances C-A and C-B are determined with respect to the direction of displacement of the vehicle 2, where C is the position of the user 3, A is the position of the vehicle 2 at the instant t 1 , and B is the position of the vehicle 2 at the instant t 2 . Also here the processing module 16 of the apparatus 1 determines the vectors C - A and C - B , processing in a known way (and consequently not described in detail) the time of flight associated to the radiofrequency signals exchanged between the warning apparatus 5 and the identification device 4.
  • the apparatus 1 is provided with a satellite positioning device 9, it is then able to determine also the vector B - A indicating the distance between the positions A and B assumed by the vehicle in the two consecutive instants t 1 and t 2 , its direction of displacement with respect to a pre-set reference system, and the speed V a and V b of the vehicle 2 in the two instants t 1 and t 2 .
  • the apparatus 1 co-operates with a set of directional antennas (not illustrated), such as for example a plurality of smart antennas arranged on the vehicle according to a pre-set known geometrical configuration (for example, according to a circular geometrical configuration), it is capable of detecting also the angles ⁇ 1 and ⁇ 2 that form the direction of advance of the vehicle 2 with respect to a straight line that joins the latter with the user 3 in the successive instants t 1 and t 2 . Also this type of calculation is known and consequently will not be further described.
  • the processing module 16 of the apparatus is capable of identifying the instantaneous positions of the vehicle 2 and of the user 3 and the relative directions and speeds of displacement. It is evident that, following upon determination of the instantaneous speeds, the processing module 16 is able to determine also the acceleration of the vehicle 2 and of the user 3.
  • the apparatus 1 gives the driver of the vehicle timely warning of the presence of a danger when a condition of potential impact between the vehicle 2 and a vulnerable road user 3 is predicted. Said warning in fact enables the driver to prepare himself with sufficient advance in a condition of particularly careful driving, which considerably reduces the risk of impact between the vehicle and the user identified, and advantageously excludes all the conditions of alarm associated to the detection of the presence of road users 3, who, albeit vulnerable, are in a condition of non-impact with respect to the vehicle itself.
EP05425841A 2005-11-29 2005-11-29 Verfahren und Vorrichtung zur Erkennung einer Gefahrensituation infolge gefährdeter Verkehrsteilnehmer und zur Warnung eines Fahrzeuglenkers vor dieser Gefahrensituation Active EP1791101B1 (de)

Priority Applications (3)

Application Number Priority Date Filing Date Title
DE602005004931T DE602005004931T2 (de) 2005-11-29 2005-11-29 Verfahren und Vorrichtung zur Erkennung einer Gefahrensituation infolge gefährdeter Verkehrsteilnehmer und zur Warnung eines Fahrzeuglenkers vor dieser Gefahrensituation
AT05425841T ATE386998T1 (de) 2005-11-29 2005-11-29 Verfahren und vorrichtung zur erkennung einer gefahrensituation infolge gefährdeter verkehrsteilnehmer und zur warnung eines fahrzeuglenkers vor dieser gefahrensituation
EP05425841A EP1791101B1 (de) 2005-11-29 2005-11-29 Verfahren und Vorrichtung zur Erkennung einer Gefahrensituation infolge gefährdeter Verkehrsteilnehmer und zur Warnung eines Fahrzeuglenkers vor dieser Gefahrensituation

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
EP05425841A EP1791101B1 (de) 2005-11-29 2005-11-29 Verfahren und Vorrichtung zur Erkennung einer Gefahrensituation infolge gefährdeter Verkehrsteilnehmer und zur Warnung eines Fahrzeuglenkers vor dieser Gefahrensituation

Publications (2)

Publication Number Publication Date
EP1791101A1 true EP1791101A1 (de) 2007-05-30
EP1791101B1 EP1791101B1 (de) 2008-02-20

Family

ID=36177773

Family Applications (1)

Application Number Title Priority Date Filing Date
EP05425841A Active EP1791101B1 (de) 2005-11-29 2005-11-29 Verfahren und Vorrichtung zur Erkennung einer Gefahrensituation infolge gefährdeter Verkehrsteilnehmer und zur Warnung eines Fahrzeuglenkers vor dieser Gefahrensituation

Country Status (3)

Country Link
EP (1) EP1791101B1 (de)
AT (1) ATE386998T1 (de)
DE (1) DE602005004931T2 (de)

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2928482A1 (fr) * 2008-03-05 2009-09-11 Bernard Nicolas Vitkovsky Procede et dispositif de detection de presence d'un vehicule vulnerable.
US8510200B2 (en) 2011-12-02 2013-08-13 Spireon, Inc. Geospatial data based assessment of driver behavior
GB2560117A (en) * 2015-04-01 2018-08-29 Atsu Valentine Cycling glove
EP3840521A4 (de) * 2018-09-21 2021-10-06 Samsung Electronics Co., Ltd. Verfahren und vorrichtung zur durchführung von kommunikation in einem drahtloskommunikationssystem

Families Citing this family (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102010001869A1 (de) 2010-02-12 2011-08-18 Robert Bosch GmbH, 70469 Verfahren Vorrichtung zur Warnung eines Fussgängers vor herannahenden Fahrzeugen
US10169822B2 (en) 2011-12-02 2019-01-01 Spireon, Inc. Insurance rate optimization through driver behavior monitoring
DE102012111846B4 (de) 2011-12-05 2019-05-16 Xuan Zhou Kollisionsschutzverfahren und Kollisionsschutzsystem
DE102012211958A1 (de) * 2012-07-09 2014-05-08 Ewald Assion Sicherheitssystem
US9779379B2 (en) 2012-11-05 2017-10-03 Spireon, Inc. Container verification through an electrical receptacle and plug associated with a container and a transport vehicle of an intermodal freight transport system
US8933802B2 (en) 2012-11-05 2015-01-13 Spireon, Inc. Switch and actuator coupling in a chassis of a container associated with an intermodal freight transport system
US9779449B2 (en) 2013-08-30 2017-10-03 Spireon, Inc. Veracity determination through comparison of a geospatial location of a vehicle with a provided data
US20150186991A1 (en) 2013-12-31 2015-07-02 David M. Meyer Creditor alert when a vehicle enters an impound lot
US10235884B2 (en) 2014-01-28 2019-03-19 The Curators Of The University Of Missouri Wireless beacon collision warning system
DE102014114702A1 (de) * 2014-10-09 2016-04-14 Alessi Innovazioni GmbH Verfahren zur Vermeidung von Zusammenstößen im Verkehr
US9551788B2 (en) 2015-03-24 2017-01-24 Jim Epler Fleet pan to provide measurement and location of a stored transport item while maximizing space in an interior cavity of a trailer
DE102015210780A1 (de) * 2015-06-12 2016-12-15 Bayerische Motoren Werke Aktiengesellschaft Verfahren und Steuereinheit zur Kommunikation zwischen einem autonomen Fahrzeug und einem Insassen
DE102015215679A1 (de) * 2015-08-18 2017-02-23 Continental Automotive Gmbh Anordnung zum Überwachen der autonomen Fahrt eines Fahrzeugs
DE102017206704A1 (de) * 2017-04-20 2018-10-25 Continental Teves Ag & Co. Ohg Sicherheitssignalsender

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2000048158A1 (en) * 1999-02-11 2000-08-17 Shai Jaffe Road safety devices
DE20208643U1 (de) * 2002-05-30 2002-09-12 Hagenbruch Olaf Einrichtung zum aktiven Schutz von Personen, Transportvorrichtungen, Bauwerken und Gegenständen im Straßenverkehr
DE10253192A1 (de) * 2002-11-15 2004-05-27 Philips Intellectual Property & Standards Gmbh Verfahren und Vorrichtung zur Vermeidung von Kollisionen

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2000048158A1 (en) * 1999-02-11 2000-08-17 Shai Jaffe Road safety devices
DE20208643U1 (de) * 2002-05-30 2002-09-12 Hagenbruch Olaf Einrichtung zum aktiven Schutz von Personen, Transportvorrichtungen, Bauwerken und Gegenständen im Straßenverkehr
DE10253192A1 (de) * 2002-11-15 2004-05-27 Philips Intellectual Property & Standards Gmbh Verfahren und Vorrichtung zur Vermeidung von Kollisionen

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2928482A1 (fr) * 2008-03-05 2009-09-11 Bernard Nicolas Vitkovsky Procede et dispositif de detection de presence d'un vehicule vulnerable.
US8510200B2 (en) 2011-12-02 2013-08-13 Spireon, Inc. Geospatial data based assessment of driver behavior
GB2560117A (en) * 2015-04-01 2018-08-29 Atsu Valentine Cycling glove
EP3840521A4 (de) * 2018-09-21 2021-10-06 Samsung Electronics Co., Ltd. Verfahren und vorrichtung zur durchführung von kommunikation in einem drahtloskommunikationssystem
US11432131B2 (en) 2018-09-21 2022-08-30 Samsung Electronics Co., Ltd. Method and device for performing communication in wireless communication system

Also Published As

Publication number Publication date
DE602005004931T2 (de) 2009-02-26
DE602005004931D1 (de) 2008-04-03
ATE386998T1 (de) 2008-03-15
EP1791101B1 (de) 2008-02-20

Similar Documents

Publication Publication Date Title
EP1791101B1 (de) Verfahren und Vorrichtung zur Erkennung einer Gefahrensituation infolge gefährdeter Verkehrsteilnehmer und zur Warnung eines Fahrzeuglenkers vor dieser Gefahrensituation
JP7052709B2 (ja) 車両制御装置及び車両制御方法
CN105518761B (zh) 用于对机动车的错误行驶进行可信度检验的方法以及控制和检测装置
CN104136260B (zh) 用于在紧急情况下使车辆安全地停车的方法
JP6985203B2 (ja) 挙動予測装置
CN101652802B (zh) 安全驾驶支持装置
EP2333742B1 (de) Fahrzeugunterstützungssystem für Fußgänger zur Überquerung von Straßen und Unterstützungsverfahren für Fußgänger zur Überquerung von Straßen
CN105324286B (zh) 用于运行车辆的方法和设备
CN108388240A (zh) 使用超视距情景感知来执行高级驾驶辅助系统功能的方法和系统
US10825339B2 (en) Method for providing drowsiness alerts in vehicles
JP3601451B2 (ja) 自動車位置情報による自動車の制御方法
KR101362706B1 (ko) 차량의 직진 주행성 확보 시스템 및 그 방법
CN112464229B (zh) 检测针对自动驾驶系统的欺骗攻击的方法和装置
JP4877364B2 (ja) 物体検出装置
CN104742901B (zh) 用于识别机动车逆向于行驶方向地驶入道路的行车带中的方法和控制与检测装置
JP4709099B2 (ja) 評価装置、交通情報システム、車載装置、評価装置の評価方法、交通情報システムの交通情報処理方法、車載装置の車載情報処理方法、評価装置の評価プログラムおよび車載装置の車載情報処理プログラム
JP2019028841A (ja) 車外報知装置
US20190295418A1 (en) Driving support device
CN110827575A (zh) 协同式车辆安全系统与方法
JP5766924B2 (ja) 車載装置、進入時間算出方法および進入時間算出プログラム
JP4983542B2 (ja) 車両の走行制御装置
JP5432331B2 (ja) 車載装置、交通情報システム、車載装置の車載情報処理方法および車載装置の車載情報処理プログラム
JP3945305B2 (ja) 運転者将来状況予測装置
JP7213265B2 (ja) 車両制御システム
JP4311647B2 (ja) 管理装置及び管理システム及び管理方法及びプログラム

Legal Events

Date Code Title Description
PUAI Public reference made under article 153(3) epc to a published international application that has entered the european phase

Free format text: ORIGINAL CODE: 0009012

17P Request for examination filed

Effective date: 20060616

AK Designated contracting states

Kind code of ref document: A1

Designated state(s): AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HU IE IS IT LI LT LU LV MC NL PL PT RO SE SI SK TR

AX Request for extension of the european patent

Extension state: AL BA HR MK YU

GRAP Despatch of communication of intention to grant a patent

Free format text: ORIGINAL CODE: EPIDOSNIGR1

GRAS Grant fee paid

Free format text: ORIGINAL CODE: EPIDOSNIGR3

GRAA (expected) grant

Free format text: ORIGINAL CODE: 0009210

AKX Designation fees paid

Designated state(s): AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HU IE IS IT LI LT LU LV MC NL PL PT RO SE SI SK TR

AK Designated contracting states

Kind code of ref document: B1

Designated state(s): AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HU IE IS IT LI LT LU LV MC NL PL PT RO SE SI SK TR

REG Reference to a national code

Ref country code: GB

Ref legal event code: FG4D

REG Reference to a national code

Ref country code: CH

Ref legal event code: EP

REG Reference to a national code

Ref country code: IE

Ref legal event code: FG4D

REF Corresponds to:

Ref document number: 602005004931

Country of ref document: DE

Date of ref document: 20080403

Kind code of ref document: P

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: FI

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20080220

Ref country code: ES

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20080531

Ref country code: IS

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20080620

NLV1 Nl: lapsed or annulled due to failure to fulfill the requirements of art. 29p and 29m of the patents act
PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: AT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20080220

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: PL

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20080220

Ref country code: LV

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20080220

Ref country code: SI

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20080220

Ref country code: BE

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20080220

ET Fr: translation filed
PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: CZ

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20080220

Ref country code: DK

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20080220

Ref country code: NL

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20080220

Ref country code: PT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20080721

Ref country code: SK

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20080220

Ref country code: SE

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20080520

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: RO

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20080220

PLBE No opposition filed within time limit

Free format text: ORIGINAL CODE: 0009261

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: NO OPPOSITION FILED WITHIN TIME LIMIT

26N No opposition filed

Effective date: 20081121

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: LT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20080220

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: BG

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20080520

Ref country code: EE

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20080220

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: MC

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20081130

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: CY

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20080220

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: IE

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20081201

REG Reference to a national code

Ref country code: CH

Ref legal event code: PL

GBPC Gb: european patent ceased through non-payment of renewal fee

Effective date: 20091129

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: HU

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20080821

Ref country code: LU

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20081129

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: TR

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20080220

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: CH

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20091130

Ref country code: LI

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20091130

Ref country code: GR

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20080521

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: GB

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20091129

REG Reference to a national code

Ref country code: DE

Ref legal event code: R082

Ref document number: 602005004931

Country of ref document: DE

Representative=s name: ZENZ PATENT- UND RECHTSANWAELTE GBR, DE

Ref country code: DE

Ref legal event code: R082

Ref document number: 602005004931

Country of ref document: DE

Representative=s name: ZENZ PATENT- UND RECHTSANWAELTE, DE

Ref country code: DE

Ref legal event code: R082

Ref document number: 602005004931

Country of ref document: DE

Representative=s name: ZENZ PATENTANWAELTE PARTNERSCHAFT MBB, DE

REG Reference to a national code

Ref country code: FR

Ref legal event code: PLFP

Year of fee payment: 11

REG Reference to a national code

Ref country code: FR

Ref legal event code: PLFP

Year of fee payment: 12

REG Reference to a national code

Ref country code: FR

Ref legal event code: PLFP

Year of fee payment: 13

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: IT

Payment date: 20231019

Year of fee payment: 19

Ref country code: FR

Payment date: 20231019

Year of fee payment: 19

Ref country code: DE

Payment date: 20231019

Year of fee payment: 19