EP2861481A1 - Verfahren zur sicherung der steuerung der hinterräder eines kraftfahrzeugs mit einer elektrischen servolenkung - Google Patents

Verfahren zur sicherung der steuerung der hinterräder eines kraftfahrzeugs mit einer elektrischen servolenkung

Info

Publication number
EP2861481A1
EP2861481A1 EP13733391.0A EP13733391A EP2861481A1 EP 2861481 A1 EP2861481 A1 EP 2861481A1 EP 13733391 A EP13733391 A EP 13733391A EP 2861481 A1 EP2861481 A1 EP 2861481A1
Authority
EP
European Patent Office
Prior art keywords
steering
angle sensor
rear wheels
steering wheel
angular position
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Withdrawn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
EP13733391.0A
Other languages
English (en)
French (fr)
Inventor
Gareth Pugsley
Alfred Brunou
Sylvain Facchin
Sandrine CALIXTE
Jérôme UTTER
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.)
Renault SAS
Original Assignee
Renault SAS
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 Renault SAS filed Critical Renault SAS
Publication of EP2861481A1 publication Critical patent/EP2861481A1/de
Withdrawn legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
    • B62D6/002—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits computing target steering angles for front or rear wheels
    • B62D6/003—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits computing target steering angles for front or rear wheels in order to control vehicle yaw movement, i.e. around a vertical axis
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D5/00—Power-assisted or power-driven steering
    • B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
    • B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
    • B62D5/0481—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such monitoring the steering system, e.g. failures
    • B62D5/049—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such monitoring the steering system, e.g. failures detecting sensor failures
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D15/00—Steering not otherwise provided for
    • B62D15/02—Steering position indicators ; Steering position determination; Steering aids
    • B62D15/021—Determination of steering angle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D5/00—Power-assisted or power-driven steering
    • B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
    • B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
    • B62D5/046—Controlling the motor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D5/00—Power-assisted or power-driven steering
    • B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
    • B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
    • B62D5/0481—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such monitoring the steering system, e.g. failures
    • B62D5/0493—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such monitoring the steering system, e.g. failures detecting processor errors, e.g. plausibility of steering direction
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
    • B62D6/08—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits responsive only to driver input torque
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D7/00—Steering linkage; Stub axles or their mountings
    • B62D7/06—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins
    • B62D7/14—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering
    • B62D7/148—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering provided with safety devices

Definitions

  • the present invention relates to motor vehicles equipped with four steering wheels and an electric power steering.
  • the steering of the rear wheels of such a vehicle is performed according to the steering of the front wheels, that is to say, the steering wheel of said motor vehicle.
  • a reference model stored in a vehicle memory includes an output of the steering angle values of the rear wheels and the values of the steering speed of the rear wheels as a function of inputs among which:
  • the reference model comprises as input the speed of movement of the vehicle.
  • the output values of the reference model are translated into the steering signal of the rear wheels.
  • the measurement of the angular position of the steering wheel corresponding to the will of the driver, must be particularly reliable.
  • the flying angle sensors that allow the measurement of the angular position and the rotational speed of the steering wheel of the motor vehicle have a good level of measurement, so a first level of security.
  • some electrical or mechanical failures are not detectable directly by this type of sensor, which results in a risk which it is desirable to reduce the level.
  • the present invention aims to overcome these disadvantages by providing a simple and inexpensive solution.
  • the invention relates to a method of securing the steering of the rear wheels of a motor vehicle equipped with an electric power steering and equipped with a rear wheel steering device activated by a driving instruction,
  • a determination step comprising steps of: measuring or calculating at least one of the angular position, speed and angular acceleration of the electric power steering motor, and measuring or calculating at least one of the angular position, the speed and the angular acceleration of the steering wheel.
  • the determining step further comprises a step of calculating, thanks to the engine angle sensor, at least one of the values among the angular position, the speed and the angular acceleration of the steering wheel. of management ;
  • the method further comprising at least one of:
  • the method further comprises, upon reception of the alarm signal, at least one of:
  • a step of securing the steering of the rear wheels which comprises at least one of the following steps:
  • Activation of a visual and / or audible alarm device makes it possible, for example, to alert the driver or a management center to which the alarm signal can be sent.
  • Inhibiting the steering of the steering device of the rear wheels makes it possible to prevent a subsequent steering of the rear wheels.
  • the method comprises a step of processing the alarm signal comprising at least one of the steps in which:
  • the step of inhibiting the steering of the rear wheels is implemented on receipt of the first front of the alarm signal by a computer;
  • the step of inhibiting the steering of the rear wheels is implemented. when the duration of the alarm signal is greater than a threshold value;
  • the step of inhibiting the steering of the rear wheels is implemented when the frequency of the alarm signal is greater than a threshold value
  • the step of inhibiting the steering of the rear wheels is a combination of the second and third type of treatment.
  • the selection of the type of alarm signal processing is performed according to the speed of movement of the vehicle and / or the steering angle of the steering wheel.
  • the first type of treatment can be provided at high speed (above a reference value).
  • the second, third or fourth type of treatment can be provided at a low speed (lower than another reference value).
  • the predetermined threshold value for the error detection step is a variable value which depends at least on one of the values of the speed of movement of the motor vehicle, the steering angle of the front wheels. , frequency the engine angle sensor sampling and the sampling frequency of the steering angle sensor.
  • the method further comprises a step of filtering the measurements of the steering angle sensor, and a step of filtering the measurements of the power steering engine angle sensor.
  • the calculation of the angular position of the steering wheel by means of the engine angle sensor is carried out at least as a function of the gear ratio between the revolutions of the power steering motor and the revolutions of the power steering wheel.
  • column for column assisted steering.
  • steering of the rear wheels to the predetermined position is performed according to a predetermined profile.
  • the invention also relates to a computer program, comprising program code instructions for executing the steps of a method as defined above when said program is executed on a vehicle computer. .
  • FIG. 1 illustrates an embodiment of the method according to the invention
  • FIGS. 2A, 2B and 2C illustrate synchronously according to an arbitrary time unit the evolution of the signal of the steering sensor and the signal of the engine sensor (Figure 2A), the evolution of the comparison of these two signals (Figure 2B) and the evolution of the alarm signal ( Figure 2C).
  • a motor vehicle equipped as conventionally with a steering device for the front wheels, comprising in particular a steering wheel and a steering wheel angle sensor.
  • the steering wheel angle sensor measures the angular position of the steering wheel, hereinafter "steering angle”.
  • a calculator makes it possible to calculate the speed of rotation of the steering wheel, hereinafter "flying speed", as a function of the variation of the value of the measurements of the angular positions of said steering wheel in time.
  • measurements and / or detailed calculations can be recorded on a computer memory.
  • the computer can also calculate the angular acceleration of the steering wheel as a function of the variation over time of the value of the calculated angular rotation speeds.
  • the steering wheel angle sensor it is possible to measure the steering wheel speed and / or the angular acceleration of the steering wheel.
  • the motor vehicle also has four steering wheels. Therefore, it has a rear wheel steering device, known per se and which will not be described here.
  • the steering device of the rear wheels is, as conventionally, controlled by a control signal from the steering device of the front wheels.
  • the steering of the rear wheels of such a vehicle is performed according to the steering of the front wheels, that is to say the steering wheel of said motor vehicle, and the speed of movement of said vehicle.
  • the motor vehicle is also equipped with electric power steering, comprising a motor and a motor angle sensor.
  • the power steering can be indifferently column, rack or pinion.
  • a step 100 is provided for determining a number of values described below.
  • the engine angle sensor measures 101 the angular position of the power steering motor, hereinafter "engine angle”.
  • a calculator makes it possible to calculate the engine speed 102, hereinafter "motor speed", as a function of the variation of the value of the measurements of the engine angles in time.
  • the computer can also calculate the angular acceleration of the power steering motor as a function of the variation over time of the value of the engine speeds calculated.
  • the motor angle sensor it is possible to measure the motor speed and / or the angular acceleration of the motor.
  • a step 106 is provided for filtering the measurements of the steering angle sensor, and a step 107 for filtering the measurements of the engine angle sensor.
  • the engine angle sensor may be used to measure 101 the rotational speed or the angular acceleration of the motor of the electric power steering of said motor vehicle.
  • the steering wheel angle sensor can be used to measure the rotational speed or the angular acceleration of the steering wheel of said motor vehicle.
  • the calculated engine angle values 102 or measured 101 by the engine angle sensor make it possible, thanks to known algorithms, to calculate the angular position of the steering wheel, as a function, for example, of the gear ratio between the turns of the power steering motor and rotation turns of the column, for a column assisted steering.
  • this angular position (respectively the speed and the angular acceleration) of the calculated steering wheel 105 thanks to the engine angle sensor,
  • a comparison step 110 is provided.
  • the comparison step 110 comprises at least one of the steps of:
  • An error detection step 120 is then provided consisting in transmitting an alarm signal if the result -typically the absolute value of the result-of at least one of the comparison steps is greater than a predetermined threshold value TRIG.
  • a respective TRIG threshold value is provided, depending on the detection of error in position, speed or angular acceleration.
  • the predetermined threshold value TRIG for the error detection step is a variable value.
  • the value may depend on the speed of movement of the motor vehicle, the steering angle of the front wheels, the sampling frequency of the engine angle sensor and / or the steering angle sensor.
  • a step 130 of activation of a visual and / or auditory alarm device for example a warning light on the dashboard.
  • a step 140 for securing the steering of the rear wheels may be provided, comprising one of the following steps:
  • a predetermined position may for example be the 0 ° reference position in which the rear wheels are parallel to the longitudinal axis of the vehicle.
  • the deflection of the rear wheels to the predetermined position can be carried out according to a predetermined profile, that is to say according to a predetermined rotational speed, depending for example on the difference between the real position of the rear wheels and said predetermined position and / or the speed of movement of the vehicle.
  • the step of securing the steering of the rear wheels is implemented on receipt of the first front of the alarm signal by a computer.
  • a second type of treatment 152 that the step of securing the steering of the rear wheels is implemented when the duration of the alarm signal T_err is greater than a threshold value T_th.
  • the step of securing the piloting of rear wheels is implemented when the frequency of the alarm signal is greater than a threshold value, for example when a number of edges of the alarm signal for a predetermined duration is greater than a predetermined threshold value TF_th, preferably, from the first edge of the alarm signal.
  • the selection of the type of signal processing can be carried out in a predetermined manner, or dynamically, for example depending on the speed of movement of the vehicle, and / or the steering angle of the steering wheel.
  • FIG. 2A illustrates, according to an arbitrary time unit, the synchronous evolution of the signal S103 originating from the steering sensor and the signal S101 from the engine sensor.
  • the two signals are in phase until an ERR error appears, which corresponds to an offset (phase shift) between the two measurements or calculations.
  • the comparison step consists of subtracting a signal from the other, in this case S101-S103.
  • an alarm signal T_err in this case a square signal, and triggered.
  • the duration T_err of the alarm signal in this case the first trigger El, can be compared to a threshold value T_th.
  • the result of this comparison may depend on the implementation (or not) of step 130 of activation of a visual and / or audible alarm device; and step 140 of securing the steering of the rear wheels.
  • the duration of the first trigger E1 or the second slot E2 of the alarm signal is less than the threshold value T_th, the steering of the rear wheels is carried out in a conventional manner.
  • the duration of the third slot E3 is greater than the threshold value T_th and at least one of the steps 130 and 140 is implemented.

Landscapes

  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Mathematical Physics (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)
  • Power Steering Mechanism (AREA)
EP13733391.0A 2012-06-14 2013-06-12 Verfahren zur sicherung der steuerung der hinterräder eines kraftfahrzeugs mit einer elektrischen servolenkung Withdrawn EP2861481A1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR1255591A FR2991960B1 (fr) 2012-06-14 2012-06-14 Procede de securisation du pilotage des roues arriere d'un vehicule automobile equipe d'une direction assistee electrique
PCT/FR2013/051375 WO2013186492A1 (fr) 2012-06-14 2013-06-12 Procede de securisation du pilotage des roues arriere d'un vehicule automobile equipe d'une direction assistee electrique

Publications (1)

Publication Number Publication Date
EP2861481A1 true EP2861481A1 (de) 2015-04-22

Family

ID=48746077

Family Applications (1)

Application Number Title Priority Date Filing Date
EP13733391.0A Withdrawn EP2861481A1 (de) 2012-06-14 2013-06-12 Verfahren zur sicherung der steuerung der hinterräder eines kraftfahrzeugs mit einer elektrischen servolenkung

Country Status (6)

Country Link
US (1) US9199666B2 (de)
EP (1) EP2861481A1 (de)
JP (1) JP2015523268A (de)
CN (1) CN104428191A (de)
FR (1) FR2991960B1 (de)
WO (1) WO2013186492A1 (de)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US10807633B2 (en) 2017-05-12 2020-10-20 Ka Group Ag Electric power steering assembly and system with anti-rotation coupler

Families Citing this family (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
BR112017028104A2 (pt) * 2015-07-07 2018-08-28 Nsk Ltd. aparelho de direção elétrica assistida
JP6249145B2 (ja) * 2015-10-08 2017-12-20 日本精工株式会社 車両用舵角検出装置及びそれを搭載した電動パワーステアリング装置
JP2017132346A (ja) * 2016-01-27 2017-08-03 上銀科技股▲分▼有限公司 ハンドル回転角度センサーの故障を検出するシステム
US9751556B1 (en) * 2016-03-03 2017-09-05 GM Global Technology Operations LLC Method and system for fault isolation in an electric power steering system
GB201607816D0 (en) * 2016-05-04 2016-06-15 Trw Ltd Vehicle kinetic control system for a rear wheel of a vehicle
DE102016222206A1 (de) * 2016-11-11 2018-05-17 Ford Global Technologies, Llc Verfahren zum Erfassen von Lenkungsfehlstellungen einer adaptiven Lenkung eines Kraftfahrzeugs
CN108100030A (zh) * 2017-12-20 2018-06-01 东风汽车集团有限公司 基于eps实现方向盘转角校验的方法及系统
KR102585752B1 (ko) * 2018-09-19 2023-10-10 현대자동차주식회사 후륜조향시스템의 제어방법
CN110509989B (zh) * 2019-08-20 2021-04-20 无锡锡梅特种汽车有限公司 针对车轮的回正系统及其方法
CN112441115B (zh) * 2019-09-03 2022-05-24 博世华域转向系统有限公司 一种电动助力转向系统的方向盘角度计算方法
CN115214774B (zh) * 2022-04-01 2023-09-22 广州汽车集团股份有限公司 后轮控制方法、装置、计算机设备及汽车

Family Cites Families (15)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS6078870A (ja) * 1983-10-05 1985-05-04 Mazda Motor Corp 車両の４輪操舵装置
JPH03114973A (ja) * 1990-08-29 1991-05-16 Mazda Motor Corp 車両の４輪操舵装置
JP3055310B2 (ja) * 1992-06-30 2000-06-26 株式会社デンソー 車両の前輪操舵角検出装置
JP2002104211A (ja) * 2000-09-28 2002-04-10 Toyoda Mach Works Ltd 操舵角の異常検出装置
JP3660635B2 (ja) * 2002-03-05 2005-06-15 三菱電機株式会社 電動パワーステアリング制御装置
JP4984598B2 (ja) 2006-03-30 2012-07-25 日本精工株式会社 電動パワーステアリング装置
JP4899677B2 (ja) * 2006-07-14 2012-03-21 日本精工株式会社 電動パワーステアリング装置
JP4329792B2 (ja) * 2006-08-10 2009-09-09 トヨタ自動車株式会社 電動パワーステアリング装置
JP5251067B2 (ja) * 2007-10-16 2013-07-31 株式会社アドヴィックス 車両の操舵制御装置
JP2009096325A (ja) * 2007-10-17 2009-05-07 Honda Motor Co Ltd ステアリング装置の故障検知装置
JP2009143381A (ja) * 2007-12-13 2009-07-02 Toyota Motor Corp 車両の操舵装置
JP4569634B2 (ja) * 2008-01-09 2010-10-27 株式会社デンソー 車両用操舵装置
CN101918265B (zh) * 2008-03-10 2014-01-29 本田技研工业株式会社 后轮转向车辆
JP5054644B2 (ja) * 2008-09-12 2012-10-24 三菱電機株式会社 車両用操舵制御装置
JP2010234841A (ja) * 2009-03-30 2010-10-21 Honda Motor Co Ltd 車両の後輪トー角制御装置

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
See references of WO2013186492A1 *

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US10807633B2 (en) 2017-05-12 2020-10-20 Ka Group Ag Electric power steering assembly and system with anti-rotation coupler

Also Published As

Publication number Publication date
FR2991960B1 (fr) 2015-10-16
US9199666B2 (en) 2015-12-01
WO2013186492A1 (fr) 2013-12-19
US20150127221A1 (en) 2015-05-07
JP2015523268A (ja) 2015-08-13
FR2991960A1 (fr) 2013-12-20
CN104428191A (zh) 2015-03-18

Similar Documents

Publication Publication Date Title
WO2013186492A1 (fr) Procede de securisation du pilotage des roues arriere d'un vehicule automobile equipe d'une direction assistee electrique
EP2870052B1 (de) Verbessertes verfahren zur bestimmung der absoluten winkelstellung des lenkrades eines kraftfahrzeugs
EP2507113B1 (de) Vorrichtung zur bestimmung der absoluten winkelposition des lenkrades einer elektrischen servolenksäule eines kraftfahrzeuges mit gewichteten dynamischen parametern des fahrzeuges
FR3086073A1 (fr) Dispositif electronique de determination d'une trajectoire d'arret d'urgence d'un vehicule autonome, vehicule et procede associes
EP2870042B1 (de) Verfahren zur erkennung der fahrtrichtung eines kraftfahrzeugs
FR2864509A1 (fr) Systeme de direction assistee electriquement
FR2959470A1 (fr) Systeme de stationnement de vehicule
EP2439127B1 (de) Servosystem für den Abstand eines Zugfahrzeugs mit Frontantrieb, an das ein Anhänger angehängt ist
EP3083350B1 (de) Verfahren und vorrichtung zur erkennung einer situation, in der ein kraftfahrzeug über eine mangelhafte strassenoberfläche fährt
EP1324889B1 (de) Verfahren zur automatischen ortung von den links- und rechtsrädern eines kraftfahrzeuges
EP1934083A1 (de) Verfahren zum erfassen des griffs an einem lenkrad für kraftfahrzeugservolenkung
FR2876972A1 (fr) Procede pour la determination de la position angulaire du volant de conduite d'une direction assistee electrique de vehicule automobile
WO2009068801A2 (fr) Procede et systeme de desactivation d'un systeme d'orientation d'un train d'atterrissage avant d'un aeronef
WO2014049222A1 (fr) Gestion d'assistance de direction d'un vehicule automobile
FR2977551A1 (fr) Dispositif d'aide aux manœuvres d'un vehicule en fonction d'une estimation d'un temps de reaction global
FR3017095A1 (fr) Procede de suivi de trajectoire d'un vehicule automobile et vehicule associe
FR3086075A1 (fr) Systeme electronique de supervision d'un vehicule autonome, procede et programme d'ordinateur associes
EP4010231A1 (de) Verfahren zur verwaltung einer autonomen notbremsung
EP3077225A1 (de) System und verfahren zum indirekten nachweis von zu niedrigem druck eines reifens
EP3377386B1 (de) Fahrerassistenzverfahren für ein kraftfahrzeug
FR2954256A1 (fr) Procede d'identification d'une phase de perte d'adherence des roues directrice d'un vehicule
CA3073153A1 (fr) Dispositif electronique de bridage, dispositif de surveillance, vehicule automobile autonome, systeme de transport, procede de bridage et produit programme ordinateur associes
FR3102443A1 (fr) Procédé de détection de rond-point
FR2973320A1 (fr) Procede et dispositif d'assistance pour une manoeuvre de stationnement d'un vehicule
EP3867126B1 (de) Verfahren und vorrichtung zur unterstützung des fahrens eines kraftfahrzeugs während des rückwärtsfahrens

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: 20141125

AK Designated contracting states

Kind code of ref document: A1

Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR

AX Request for extension of the european patent

Extension state: BA ME

DAX Request for extension of the european patent (deleted)
GRAP Despatch of communication of intention to grant a patent

Free format text: ORIGINAL CODE: EPIDOSNIGR1

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

Free format text: STATUS: GRANT OF PATENT IS INTENDED

INTG Intention to grant announced

Effective date: 20170125

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

Free format text: STATUS: THE APPLICATION IS DEEMED TO BE WITHDRAWN

18D Application deemed to be withdrawn

Effective date: 20170607