Classifications

• • G—PHYSICS
  • G08—SIGNALLING
  • G08G—TRAFFIC CONTROL SYSTEMS
  • G08G1/00—Traffic control systems for road vehicles
  • G08G1/16—Anti-collision systems
  • G08G1/167—Driving aids for lane monitoring, lane changing, e.g. blind spot detection
• • 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
• • 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
  • G01S2013/9315—Monitoring blind spots
• • 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
  • G01S2013/9316—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles combined with communication equipment with other vehicles or with base stations
• • 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
  • G01S2013/93185—Controlling the brakes
• • 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
  • G01S2013/9323—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
  • G01S2013/9325—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles for inter-vehicle distance regulation, e.g. navigating in platoons
• • 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

Definitions

• the invention relates to a safety device for motor vehicles, with a sensor system for locating objects at least on a side lane next to their own lane.
• a forward-looking safety device for motor vehicles is known, with a front-end sensor system for locating objects in the apron of the vehicle.
• a control unit evaluates the signals from the apron sensor system in order to assess the risk of an imminent collision, and engages in the longitudinal guidance of the vehicle in the event of an acute danger of collision.
• a supplementary sensor system for monitoring the secondary lanes and the rear space of the vehicle, it can be determined whether the traffic on the secondary lanes and the subsequent traffic permit an evasive maneuver.
• the supplementary sensor system comprises sensors arranged laterally on the vehicle, with which objects can be located which are located approximately at the same height to the left and to the right of the driver's own vehicle.
• DE 10 2006 027 326 A1 describes a lane change assistant for motor vehicles with a sensor system for locating vehicles on secondary lanes in the rear space of their own vehicle.
• Such lane change assistants are intended to prevent the driver from switching to an adjacent lane when approaching an overtaking vehicle from behind in this secondary lane so that there would be a risk of collision or at least a hindrance to the overtaking vehicle.
• Safety devices for motor vehicles serve, for example, to protect the driver from driving errors and to warn him in critical situations or, for example, to intervene in the longitudinal guidance of the vehicle.
• brake assistants are known which contribute, for example by automatically initiating a braking operation, to avoid accidents or to reduce their severity.
• a timely detection of a driving error places high demands on the sensor system and on the evaluation algorithm. This raises the problem that an early detection of a driving error, a high benefit of the safety device should be achieved while false alarms should be avoided.
• the object of the invention is to provide a safety device for motor vehicles of the type mentioned, with which the driving safety can be further increased.
• the safety device has a prediction module for predicting a degree of blockage of at least one secondary track, wherein the prediction module is set up to predict a degree of blockage of the secondary track by previously unlocated objects as a function of information about located objects.
• the prediction module can improve the situation understanding of the safety device and thus increase the reliability of the safety device.
• To evaluate a driving situation in a collision avoidance strategy for example, it is not only possible to resort to the instantaneous location data, but also to the prediction of the degree of blocking of the secondary lane by previously unlocated objects.
• the degree of secondary track blocking may indicate how likely it is that the secondary track is blocked. This is particularly advantageous for use in an evaluation strategy, in particular a collision avoidance strategy of a safety device. In particular, a determination of such a probability may be made on the basis of the degree of the blockage.
• the degree of secondary track blocking may indicate a prediction of the likelihood of colliding with an object when changing to the secondary track.
• the information about located objects preferably includes information, in particular location information, about objects currently located on the respective secondary track.
• the information about located objects further includes the previous degree of blocking of the respective secondary track.
• the degree of blocking is a multi-valued value, that is, may take more than two values.
• gradations between the prediction "secondary lane is free” and the prediction "secondary lane is blocked” are possible. The understanding of the situation can be improved.
• the degree of blocking is increased, in particular increased in a pulse-like manner.
• the increases may, for example, be additive, i. the increase is added to the existing value, or the last increase can replace the previously existing value of the degree of blocking.
• second lane denotes a strip corresponding to the vehicle width or lane width next to the own lane. This may in particular be another lane, but also a parking strip next to the traffic lane or an adjacent strip of the terrain with a corresponding width. Such a secondary track can potentially come into question as an alternative path.
• the object is achieved by a method for predicting a degree of blockage of a secondary lane adjacent to the own lane of a motor vehicle, comprising the steps of: locating an object on the secondary lane; Prediction of a degree of blocking of the secondary lane by previously unlocated objects as a function of the object location.
• the sensor system includes, for example, a radar sensor, a lidar sensor, a video sensor and / or a communication device for communication with other vehicles (also referred to as car-to-car or car-to-x communication) to allow objects in the vicinity of the vehicle, in particular, for example, objects on neighboring tracks or on the boundaries of their own ⁇
• the sensor system is preferably set up for locating objects in the form of other road users.
• the sensor system can also be set up to locate stationary objects.
• the sensor system can have an advance sensor system for locating objects at least on a secondary track in advance of the driver's own vehicle, wherein the prediction module is set up to determine the degree of blocking of the secondary track as a function of objects located on the secondary track by the apron sensor system.
• the apron sensor system can be used both for an Adaptive Cruise Control (ACC) system and for the described safety device if it also detects the neighboring tracks.
• ACC Adaptive Cruise Control
• the prediction module is configured to progressively reduce the degree of blockage, whereas subsequent to locating an object on the side track, subsequently no objects on the secondary track are detected.
• the term "progressively decreasing" includes in particular a gradual or gradual reduction. This has the advantage that in a particularly simple manner to implement a prediction can be made, which takes into account the actually located objects. For example, when on-highway traffic occurs at regular intervals on the adjacent lane, for example, the degree of jamming can always be set to a predetermined value upon detection of an object, and then gradually reduced to be increased again upon detection of the next object , In this way, with sufficiently frequent occurrences of located objects, the blocking of the relevant track can be permanently predicted. This is particularly advantageous for a lane with oncoming traffic, since objects on the opposite lane, for example, are detected only briefly during fast driving and then disappear again from the detection range of the sensor system.
• the progressive reduction of the degree of blocking can be done, for example, linearly or exponentially decaying.
• the reduction can, for example, down to a lower limit of z. B. zero.
• the prediction module is configured to cumulatively increase the degree of blockage on successive locations of multiple objects on the side track. In this way, a fluctuating density of located objects can be taken into account in the prediction.
• Fig. 1 is a block diagram of a safety device for a motor vehicle
• FIG. 2 is a diagram for explaining the operation of the safety device in a traffic situation
• 3 and 4 are diagrams for explaining different operations of the safety device
• Fig. 5 is a block diagram of a predictive safety device
• FIG. 6 is a block diagram of a lane change assistant.
• the safety device shown in FIG. 1 comprises a sensor system 10 in the form of an apron sensor system for locating vehicles ahead of the driver's own vehicle and an evaluation device 12 for evaluating locating information of the sensor system 10.
• the evaluation device 12 comprises a voucher module 14 which is adapted to a To predict degree of blockage of a left side lane by previously unlocated objects depending on information about located objects as well as a degree of blocking the right side lane by so far not Predicting located objects as a function of information about located objects.
• the prediction module 14 is configured to output a signal L based on the left-side lane-lock degree and a signal R based on the right-side lane-determined degree of lock.
• the prediction module 14 accesses write and read memory 16, 18 for information about already located on the respective left and right track objects.
• the information about located objects can be stored, for example, in the form of a current value of the predicted degree of blocking.
• the sensor system can include additional sensors 20, for example sensors for locating objects laterally next to the driver's own vehicle. Further, the sensor system may include a communication device 22 for exchanging or obtaining information about other vehicles or located objects in the vicinity of the own vehicle.
• Such communication systems are referred to, for example, as a car-to-car system or car-to-X system. For example, you can submit information about the position of vehicles with the hazard warning lights on.
• the prediction module 14 may receive data from a navigation system 52 and / or from an internal vehicle sensor 54 to provide information about the nature of the road and / or the roadway in determining the degree of secondary track lock and / or generation of the signals L R, as explained below.
• FIG. 2 shows by way of example a traffic situation on a road with oncoming traffic and in each case one lane in for one's own direction of travel and the opposite direction.
• a equipped with the safety device vehicle 24 moves in the right lane.
• On the immediately adjacent adjacent secondary lane come vehicles 26, 28 counter oncoming traffic.
• the immediately adjacent adjacent secondary lane ie an approximately the vehicle width corresponding strip next to the own lane, is not a lane, but has standing objects 30 and a parking vehicle 32.
• a detection area 34 of the apron sensor system is shown schematically.
• the coverage area includes the own lane as well as the left and right immediately adjacent secondary lanes.
• the standing objects 30 were located at short intervals, while in the current situation shown in Fig. 2, no object is located.
• Fig. 3 schematically shows the prediction of the right side lane blocking degree predicting module 14 over time.
• the degree corresponds to the blocking risk, i. the probability of colliding with an object when switching to the right side lane.
• the situation shown in FIG. 2 may, for example, correspond to the time T1 indicated in FIG. 3 by a vertical dashed line.
• the degree of blocking for the right lane was set to a predetermined value S, respectively.
• the degree of blocking of the prediction module 14 was gradually lowered.
• the reduction is linear.
• the prediction module 14 accesses the current value of the degree of blocking stored in the memory 18 and modifies it. At time T1, there is thus an average blocking risk according to the prediction of the prediction module 14.
• the degree of locking is set to the value S again.
• a certain probability of a collision in the event of a possible change of lane to the right secondary lane also results for the period between the different locations.
• the degree of blocking refers to a blockage by previously unlocated objects.
• a prediction of the probability of future location of previously unlocated objects hit based on information about before located objects, a prediction of the probability of future location of previously unlocated objects hit.
• the representation of the time course of the predicted degree of blocking is schematic, and the representation in FIG. 2 does not represent the corresponding distances of the detected objects to scale and not according to the time course of the degree of blocking in FIG.
• the signal R can correspond directly to the degree of blocking.
• the signal R may also be, for example, a bivalent binary signal and indicate whether the predicted degree of blocking exceeds a certain threshold.
• a threshold value S1 is shown in FIG. 3, for example.
• the predicted degree of blocking of information about previously located objects 30 depends, in particular on the degree of blocking based thereon, which is to be modified step by step.
• the safety device can thus provide additional information in the form of the signal R, which can be used, for example, to evaluate a driving situation.
• the prediction module 14 While, for example, in the situation shown in FIG. 2, while there is no object in the detection area 34 of the apron sensor system, the prediction module 14 nevertheless predicts a middle degree of blocking of the right secondary track.
• the predicted degree of blocking depends at least on a temporal occurrence of a located object 30.
• FIG. 3 shows a linear reduction of the degree of blocking with the passage of time
• a different time profile for the degree of blocking can be determined as well.
• the degree of blockage can be reduced exponentially.
• Fig. 4 shows a corresponding representation of the degree of blocking over time for an example of a different way of calculating the degree of blocking.
• the degree of blocking is increased cumulatively here in successive locations of several objects in the right secondary lane.
• FIG. 4 corresponds to the same time course of object locations as FIG. 3.
• the time point T1 shown in FIG. 2 is shown in FIG. _ g _
• the determination of the degree of blocking can be made according to the functional calculation methods described above.
• the prediction module 14 may, for example, also determine the degree of blocking by means of a trained machine learning method as a function of the time profile of the locations of vehicles.
• a trained machine learning method for example, neural networks (NN), classifiers such as random forest (RF), support vector machines (SVM) or hidden markov models (HMM) can be used as the machine learning method.
• the machine learning method is, for example, previously learned using measurement data, ie a chronological sequence of vehicle locations.
• the machine learning method can also be improved during operation on the basis of current location of vehicles.
• the predictive safety device comprises a control unit 36 with a situation evaluation module 38 to which the signals of the apron sensor system are supplied.
• the situation evaluation module evaluates the signals of the apron sensor system in a manner known per se in order to evaluate the danger of an impending collision.
• the situation evaluation module 38 is set up to output a warning to the driver in the event of a risk of a collision via a driver interface 40.
• the control unit 36 is configured, for example, to take into account the predicted degree of blocking of at least one secondary lane when assessing the risk of collision.
• the situation evaluation module 38 additionally receives the signals L, R from the prediction module 14 based on the respective predicted degree of blocking of the left and right side lanes. It is set up in dependence on the predicted degree of blocking of at least one of the secondary lanes the warning to the driver issue. If, for example, due to the predicted degree of right-side lane blocking, it is likely that the right secondary lane is blocked as the escape path, then one may earlier warning of the driver than with a freely predicted right secondary lane.
• the control unit 36 may have, in a manner known per se, an assistance module 41 for triggering a reaction as a function of the risk of collision.
• the assistance module 41 can be set up to intervene in the vehicle guidance, in particular in the longitudinal guidance of the vehicle, if a risk of collision is detected.
• assisting the vehicle guidance in the form of brake assistance or brake preparation can take place through the assistance module 41 and / or an intervention in the vehicle guidance supporting the vehicle guidance can take place, for example, by initiating a braking process.
• the prediction of the degree of blocking of a secondary track by the predictive safety device thus enables an improved situation assessment of the situation evaluation module.
• it can thus be taken into account that, in the event of a blocked avoidance path, driving onto the object located on the driver's own lane in the front of the vehicle becomes more likely.
• the left and right secondary lanes can enter the evaluation differently. For example, differentiation can be made between oncoming traffic and oncoming traffic.
• the driver assistance system further optionally includes a proximity control system (ACC) 42, which is set up in a manner known per se to automatically control the distance to a vehicle traveling directly in its own lane, and which uses, for example, the apron sensor.
• ACC proximity control system
• the apron sensor may, for example, comprise a long-range radar sensor.
• the lane change assistant 44 comprises a decision module 46, which is connected to a driver interface 48 for issuing a warning to the driver.
• the decision module 46 is connected to the prediction module 14 of the safety device and receives therefrom the signals L, R, which are at the predicted level , I i.
• the lane change assistant 44 is connected in a manner known per se to a device 50 for recognizing a lane change request of the driver and designed, for example, to issue a warning to the driver when, due to the traffic situation or due to actions of the driver such as operation of the direction indicator, steering actions and the like It can be seen that the driver intends to change lanes and there is a risk of collision. Means for detecting such a lane change request of the driver are known as such and will not be described here.
• the warning can be done, for example, optically, acoustically and / or haptically, for example, with a flashing icon, a warning sound, a steering wheel vibration or a Gegenlenkmoment.
• the lane change assistant 44 may have, in a manner known per se, an assistance module 49 connected to the decision module 46 for triggering a reaction as a function of a lane change request and a danger of collision existing in the process.
• the assistance module 49 may be set up to intervene in the vehicle guidance when the lane change request is recognized and the corresponding secondary lane is blocked.
• assisting the vehicle guidance in the form of a supporting intervention in the vehicle guidance, such as a steering assistance, e.g. with a counter-steering torque.
• the decision module 46 considers the signal L or the signal R in deciding whether a warning is issued to the driver and / or the assistance module 49 triggers a reaction.
• the warning to the driver and / or the reaction when an intended lane change is detected on an adjacent lane thus takes place as a function of the predicted degree of blocking of this lane.
• a potentially dangerous overtaking maneuver can be warned.
• the prediction module 14, the situation evaluation module 38 and the decision module 46 are formed, for example, by an electronic data processing system with suitable software.
• the predictor module 14 of the safety device may be further configured to consider, in addition to the predicted degree of blockage of a sub-track, information about the type of road to output a lock-based signal L, R.
• a collision risk for an adjacent lane may be predicted based on the predicted degree of blockage and the nature of the road.
• an increased risk of collision for a secondary lane, in particular a secondary lane next to the road can be assumed in relation to a country lane.
• Information about the type of road may be obtained, for example, from data from a navigation system 52.
• information about the course of the road may also be used, for example the curviness of a road.
• Information about the curvature may be obtained, for example, from the navigation system 52 or from a waveform of an internal vehicle sensor 54, such as a vehicle. from a course of a steering signal of the own vehicle from a steering signal transmitter of the vehicle sensor system 54.
• the prediction module 14 may also be configured to take into account the type of objects in the prediction of the degree of blocking, in particular a length of the objects. For example, a long truck and a subsequent queue of vehicles could be located in oncoming traffic. In such a case, for example, a cumulative increase in the degree of blocking by the successive locations may be particularly limited because these locations are not independent of each other. Thus, a falsification of the prediction of the degree of blocking can be prevented.
• a limitation of the degree of blocking may be effected by an upper barrier S2, for example, as shown in FIG. 4. Similarly, a frequency of successive locations of different objects may be taken into account.
• a very high frequency of located objects on a secondary track may indicate, for example, tightly parked vehicles or a queue behind a truck.
• the features of the examples described can be combined as desired.
• a safety device can optionally include the predictive safety device with the control unit 36 and / or the lane change assistant 44 and optionally be configured to use the apron sensor system of an ACC system 42 for locating objects on the secondary lanes.
• the described examples include a front-end sensor system, based on the signals of which a location of objects takes place, inter alia, on the left and right secondary lanes
• another sensor system can alternatively be used for locating objects in the secondary lanes.
• the sensor system may include, for example, sensors for detecting objects to the left and right of the vehicle, such as the sensors 20.

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• Engineering & Computer Science (AREA)
• Radar, Positioning & Navigation (AREA)
• Remote Sensing (AREA)
• Physics & Mathematics (AREA)
• General Physics & Mathematics (AREA)
• Electromagnetism (AREA)
• Computer Networks & Wireless Communication (AREA)
• Traffic Control Systems (AREA)
• Radar Systems Or Details Thereof (AREA)
• Control Of Driving Devices And Active Controlling Of Vehicle (AREA)

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• 2011
  • 2011-09-05 DE DE102011082126.0A patent/DE102011082126B4/de active Active
• 2012
  • 2012-07-11 WO PCT/EP2012/063561 patent/WO2013034338A1/de active Application Filing
  • 2012-07-11 CN CN201280042939.3A patent/CN103782192B/zh active Active
  • 2012-07-11 US US14/239,717 patent/US20140297172A1/en not_active Abandoned
  • 2012-07-11 JP JP2014527544A patent/JP2014533386A/ja active Pending
  • 2012-07-11 EP EP12735284.7A patent/EP2753953A1/de not_active Withdrawn
  • 2012-07-11 KR KR1020147005903A patent/KR20140057583A/ko not_active Application Discontinuation

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