EP2494537A1 - Surveillance anti-collision pour un véhicule automobile - Google Patents

Surveillance anti-collision pour un véhicule automobile

Info

Publication number
EP2494537A1
EP2494537A1 EP10768006A EP10768006A EP2494537A1 EP 2494537 A1 EP2494537 A1 EP 2494537A1 EP 10768006 A EP10768006 A EP 10768006A EP 10768006 A EP10768006 A EP 10768006A EP 2494537 A1 EP2494537 A1 EP 2494537A1
Authority
EP
European Patent Office
Prior art keywords
motor vehicle
predetermined minimum
reference state
surrounding area
distance
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.)
Withdrawn
Application number
EP10768006A
Other languages
German (de)
English (en)
Inventor
Joerg Zeller
Nico Latsch
Mike Schliemann
Florian Kloss
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.)
Robert Bosch GmbH
Original Assignee
Robert Bosch 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 Robert Bosch GmbH filed Critical Robert Bosch GmbH
Publication of EP2494537A1 publication Critical patent/EP2494537A1/fr
Withdrawn legal-status Critical Current

Links

Classifications

    • 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
    • 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
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B60W30/095—Predicting travel path or likelihood of collision
    • 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
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B60W30/095—Predicting travel path or likelihood of collision
    • B60W30/0953—Predicting travel path or likelihood of collision the prediction being responsive to vehicle dynamic parameters
    • 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
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B60W30/095—Predicting travel path or likelihood of collision
    • B60W30/0956—Predicting travel path or likelihood of collision the prediction being responsive to traffic or environmental parameters
    • 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
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/168—Driving aids for parking, e.g. acoustic or visual feedback on parking space
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2554/00—Input parameters relating to objects
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/80—Spatial relation or speed relative to objects
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/932—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles using own vehicle data, e.g. ground speed, steering wheel direction
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/9322—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles using additional data, e.g. driver condition, road state or weather data
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/9323—Alternative operation using light waves
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/9324—Alternative operation using ultrasonic waves
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/9327—Sensor installation details
    • G01S2013/93271—Sensor installation details in the front of the vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/9327—Sensor installation details
    • G01S2013/93272—Sensor installation details in the back of the vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/9327—Sensor installation details
    • G01S2013/93274—Sensor installation details on the side of the vehicles

Definitions

  • the present invention relates to a method and a device for collision monitoring for motor vehicles, wherein an environmental region of the motor vehicle is monitored by means of object sensors.
  • a method and a device for collision monitoring in a motor vehicle are known, wherein at each stop of the motor vehicle initially a position indication in the surrounding area befindaji objects is generated as a reference state. At regular intervals or in certain events, such as when the driver approaches, further position information is determined as actual states. If it is detected by comparing the respective actual state with the reference state that at least one object has approached the motor vehicle, a possible collision is detected and a warning signal is output to the driver.
  • a new reference state is generated in this known method when stopping again. If, for example, persons have moved into the surrounding area during maneuvering, they are classified as reference objects when they come to a standstill again.
  • This method has the disadvantage that in this case the driver did not have the opportunity to see all the objects that are within the surrounding area before stopping himself, since he is only a few centimeters in driving distance. can not see the dead area directly behind his motor vehicle (or, depending on the vehicle type, also directly in front of and / or laterally of the motor vehicle) during the entire route. The driver initially receives no information that now more objects have appeared in the surrounding area.
  • the driver Only when, in the further course, after determination of the reference state, the persons still approach the motor vehicle, the driver is warned of a possible collision. At this time, however, the driver may be poor at assessing this warning because he does not expect the reference state found at rest to include objects he could not see because they only moved into the surrounding area during maneuvering.
  • a method for collision monitoring for a motor vehicle wherein a surrounding area is monitored.
  • the method comprises:
  • a reference state is only newly determined when the motor vehicle has traveled a predetermined minimum distance between the first and the preceding second stopping process, and / or when a predetermined minimum time has elapsed, can ensure that the driver before stopping the opportunity had to completely survey the surrounding area.
  • the reference state includes only position information of objects known to the driver, and it can be ensured that the driver is warned of any unknown object moving in the surrounding area.
  • the motor vehicle covers only a very short distance during maneuvering, no new reference state is formed in the present invention, but the reference state determined during the penultimate stop process is used. If, for example, people move into the surrounding area of the motor vehicle during maneuvering, they will not be included as reference objects in the reference state during the renewed stop, but the driver will be warned of these persons since they do not contain the previously determined reference state are. Thus, in the present invention, the driver is reliably warned of objects in the surrounding area that he can not see himself, even if they move, for example, during maneuvering in a parking lot in the surrounding area.
  • the reference state determined during the first stopping process is updated with the position information of the motor vehicle.
  • a relative movement between the motor vehicle and the reference objects can be taken into account without generating unnecessary warning signals, for example when the motor vehicle has moved only a few centimeters closer to an object known to the driver.
  • the length of the predetermined minimum distance is selected such that it is at least as long as the driver's non-visible area in the vicinity of the motor vehicle to ensure that a new reference state is formed only if the driver had the opportunity to stop, to survey the entire surrounding area of the motor vehicle.
  • the length of the minimum distance may be selected such that it corresponds to the length of the motor vehicle, or the minimum distance may correspond to the sum of the length of the motor vehicle and the lengths of the surrounding area in front of and behind the motor vehicle.
  • the surrounding area is monitored by means of object sensors mounted on the motor vehicle, the object sensors comprising ultrasonic sensors and / or radar sensors and / or laser sensors and / or evaluating video recordings of the surrounding area.
  • a warning signal can be output to the driver, which may be an optical, an acoustic and / or a haptic warning signal. It is also possible for different situations, for example different driving conditions (starting of the driving rers), different distances of the collision-prone objects or different directions of the possible collision respectively different warning signals are output.
  • a device for collision monitoring for a motor vehicle with at least one object sensor for monitoring an environmental region is provided.
  • the device is designed
  • the reference state including a reference position indication of the at least one first object
  • the reference state with a position indication of at least one second object located in the surrounding area to update as a reference object
  • Fig. 1 shows a schematic representation of a motor vehicle with a
  • FIG. 2 is a flowchart of a collision monitoring method according to an embodiment of the present invention.
  • a motor vehicle 10 is equipped with a plurality of object sensors 12, such as ultrasound sensors.
  • Each object sensor 12 has a detection area D, as shown in Fig. 1 with dashed lines.
  • the individual detection areas D of the object sensors 12 overlap in such a way that the sum of all detection areas D covers a surrounding area 14 of the motor vehicle 10.
  • Radar sensors laser sensors, or any other suitable type of object sensor may be used instead of the ultrasonic sensors.
  • the surrounding area 14 is monitored by means of one or more video cameras, and that the object sensors 12
  • the object sensors 12 can detect the presence of objects 18 in the surrounding area 14 of the motor vehicle 10 and can furthermore be designed such that they can also determine distances between the respective object 18 and the motor vehicle 10.
  • a control unit 16 is connected to the object sensors 12 and determines from the signals of the object sensors 12 the position of an object 18 detected by the object sensors 12 in the surrounding area 14 of the motor vehicle 10.
  • the presence or absence of objects 18 in the individual detection areas D of the object sensors 12 can be determined, or the distance and the direction of each object 18 can be determined by the motor vehicle 10, or the position of each object 18 can be determined in a suitable coordinate system.
  • step S1 it is checked in step S1, whether the motor vehicle 10 has stopped, that is, whether it has just come to a standstill. Since the method according to the embodiment of the invention described here can be carried out only during the standstill of the motor vehicle 10, this query is repeated until it is determined that the motor vehicle 10 is stationary.
  • step S2 If the motor vehicle 10 has stopped (alternative "yes" in S1), it is checked in step S2 whether between the last two stopping operations of the
  • Motor vehicle 10 has been covered a minimum distance. This can be achieved either by determining the position of the motor vehicle 10, for example by GPS receiver, or alternatively it can be checked whether the motor vehicle 10 between the two last stopping operations for a
  • the minimum distance may in this case be selected such that after covering the minimum distance, the driver could survey the entire non-visible area in front of and behind the motor vehicle 10 immediately before stopping the motor vehicle 10.
  • the minimum distance may be exactly the length of the motor vehicle 10, it may be the sum of the length of the motor vehicle 10 and the lengths of the areas not visible to the driver before and behind the motor vehicle 10, or it may be the sum of the length of the motor vehicle 10 and the Length of the area monitored by the object sensors 12 surrounding area 14 in front of and behind the motor vehicle 10.
  • Motor vehicle 10 may be defined between the two last stopping operations, or may be a fixed predetermined time.
  • a reference state of a reference position information is determined in step S3 Motor vehicle 10 determined by means of the object sensors 12.
  • a reference position specification of an object 18 may in this case the Presence of an object in a detection area D of an object sensor 12 and / or the distance of the object 18 from the motor vehicle 10 and / or the direction of the object 18 from the motor vehicle 10.
  • no reference position can be determined as described above.
  • one or more preset distance values may be used as the reference position indication, which, for example, for each detection area D of the
  • Object sensors 12 are equal to the length of the respective detection area D.
  • step S4 If it is determined in step S2 that the motor vehicle 10 has traveled a shorter distance than the minimum distance between the last two stopping operations (alternative "no" in S2), in step S4 the
  • the new position of the motor vehicle 10 by means of GPS sensors or by means of an estimate from between the last two
  • Stops covered (based on time, speed and yaw angle determinations).
  • the stored reference position information may be obtained by vector addition of the path traveled by the motor vehicle 10 between the last two stopping operations
  • adapted distances of the reference objects 18 are converted by the motor vehicle 10 in its new position. If the reference position information only indicates the presence or absence of objects 18 in the respective detection areas D of the object sensors 12, it can be calculated whether an object 18 should now appear in the detection area D of another object sensor 12 as a result of the movement of the motor vehicle 10.
  • step S5 an actual position information is determined in step S5. This step is carried out at predetermined time intervals or at predetermined events when, for example, based on the position of the brake and / or accelerator pedal and / or based on the position of the drive train of a manual or automatic transmission, a driver's approach is detected.
  • the presence and / or the actual positions in the Surrounding area 14 located objects 18 determined.
  • actual position information of the objects 18 in a suitable coordinate system can also be determined here, or distance values and direction information of the objects 18 can be determined by the motor vehicle 10.
  • step S6 a comparison of the actual state with the
  • Reference state determines whether at least one object 18 to the
  • Motor vehicle 10 has approximated. As a result, both the case is detected that an object 18, which was already in the determination of the reference state in the surrounding area 14 of the motor vehicle 10, has moved to the motor vehicle 10, as well as the case that an object 18, which is in the determination of the reference state was not yet in the surrounding area 14, has moved into the surrounding area 14.
  • step S6 If it is determined in step S6 that at least one object 18 has approached the motor vehicle 10 (alternative "yes" in S6), a
  • Collision hazard detected and issued in step S7 an audible, visual and / or haptic warning to the driver.
  • the method described above is performed here during the operation of the motor vehicle 10 continuously and cyclically. During standstill of the motor vehicle 10, an actual state can thus be repeatedly determined and compared with the reference state.
  • a first warning signal can be output during standstill of the motor vehicle 10 when a risk of collision is detected, and a second warning signal can be output, if in addition still another

Landscapes

  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Human Computer Interaction (AREA)
  • Traffic Control Systems (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)

Abstract

L'invention concerne un procédé de surveillance anti-collision pour un véhicule automobile (10), destiné à surveiller une zone environnante (14) et consistant à : - préparer un état de référence pour au moins un premier objet (18) se trouvant dans la zone environnante (14) en tant qu'objet de référence lors d'un premier processus d'arrêt, l'état de référence contenant une indication de position de référence du premier objet ou des premiers objets (18); - déterminer (S2), lors d'un second processus d'arrêt suivant (S1), si le véhicule automobile (10) a parcouru un trajet minimum prédéterminé et/ou si un temps minimum prédéterminé s'est écoulé entre la première opération d'arrêt et la seconde opération d'arrêt; - s'il est constaté que le véhicule automobile (10) a parcouru un trajet supérieur au trajet minimum prédéterminé et/ou qu'un temps supérieur au temps prédéterminé s'est écoulé entre le premier processus d'arrêt et le second processus d'arrêt, actualiser (S3) l'état de référence à l'aide d'une indication de position d'au moins un second objet (18) se trouvant dans la zone environnante (14) en tant qu'objet de référence; - lors d'une intention de démarrage suivante, déterminer (S5) une indication de position réelle du second objet ou des seconds objets (18) en tant qu'état réel; - et identifier (S6) un risque de collision si l'état réel et l'état de référence présentent un écart supérieur à une valeur prédéterminée.
EP10768006A 2009-10-30 2010-10-12 Surveillance anti-collision pour un véhicule automobile Withdrawn EP2494537A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102009046230A DE102009046230A1 (de) 2009-10-30 2009-10-30 Kollisionsüberwachung für ein Kraftfahrzeug
PCT/EP2010/065259 WO2011051101A1 (fr) 2009-10-30 2010-10-12 Surveillance anti-collision pour un véhicule automobile

Publications (1)

Publication Number Publication Date
EP2494537A1 true EP2494537A1 (fr) 2012-09-05

Family

ID=43447135

Family Applications (1)

Application Number Title Priority Date Filing Date
EP10768006A Withdrawn EP2494537A1 (fr) 2009-10-30 2010-10-12 Surveillance anti-collision pour un véhicule automobile

Country Status (7)

Country Link
US (1) US8862382B2 (fr)
EP (1) EP2494537A1 (fr)
CN (1) CN102576495B (fr)
DE (1) DE102009046230A1 (fr)
IN (1) IN2012DN01318A (fr)
RU (1) RU2543123C2 (fr)
WO (1) WO2011051101A1 (fr)

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CN102576495B (zh) 2014-07-23
RU2543123C2 (ru) 2015-02-27
US20120277989A1 (en) 2012-11-01
RU2012122076A (ru) 2013-12-10
US8862382B2 (en) 2014-10-14
WO2011051101A1 (fr) 2011-05-05
DE102009046230A1 (de) 2011-05-12
IN2012DN01318A (fr) 2015-06-05
CN102576495A (zh) 2012-07-11

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