EP2926329B1 - Procédé et dispositif pour sécuriser un changement de voie - Google Patents

Procédé et dispositif pour sécuriser un changement de voie Download PDF

Info

Publication number
EP2926329B1
EP2926329B1 EP13783853.8A EP13783853A EP2926329B1 EP 2926329 B1 EP2926329 B1 EP 2926329B1 EP 13783853 A EP13783853 A EP 13783853A EP 2926329 B1 EP2926329 B1 EP 2926329B1
Authority
EP
European Patent Office
Prior art keywords
vehicle
lane
lane change
response
intended
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
EP13783853.8A
Other languages
German (de)
English (en)
Other versions
EP2926329A1 (fr
Inventor
Sebastian Engel
Claudia Kratzsch
Hendrik Rössler
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.)
Audi AG
Original Assignee
Audi AG
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 Audi AG filed Critical Audi AG
Publication of EP2926329A1 publication Critical patent/EP2926329A1/fr
Application granted granted Critical
Publication of EP2926329B1 publication Critical patent/EP2926329B1/fr
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
    • G08G1/162—Decentralised systems, e.g. inter-vehicle communication event-triggered
    • 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

Definitions

  • the present invention relates to a method for securing a lane change, the method comprising the steps of: detecting a lane change intent of a first vehicle from a first lane to a destination lane and reporting lane change intent to at least one second vehicle by means of a first Car2Car communication, responses of the second Vehicle to the first vehicle by means of a second Car2Car communication and performing a measure in the first vehicle, which helps to cancel or at least avoid a lane change of the first vehicle, depending on a content of the response of the second vehicle.
  • At least one state and / or environmental date of the second vehicle is communicated to the first vehicle, wherein following the response of the second vehicle in the first vehicle, the following step is performed: second assessing a hazard potential the lane change planned by the first vehicle taking into account the response of the second vehicle.
  • the invention relates to a device for securing a lane change.
  • the invention relates to a vehicle with a device for securing a lane change.
  • ACC Adaptive Cruise Control
  • LKA Lane Keeping Assistant
  • each vehicle participating in the communication process can be made aware of the relative position and speed with respect to other road users.
  • the DE 10 2010 013 402 A1 describes a view of a graphic in a head-up display when a threading maneuver of a second vehicle is imminent.
  • a lane change signal (threading request) of the threading vehicle (corresponding to the first vehicle of the present invention) is monitored by the host vehicle (corresponding to the second vehicle of the present invention).
  • the threading requirement imposed by the threading vehicle is automatically allowed or denied.
  • the DE 10 2010 011 497 A1 describes a method for avoiding or mitigating a collision between a first vehicle traveling on a first lane (corresponding to the second vehicle of the present invention) and a second vehicle traveling on a second lane (corresponding to the first vehicle of the present invention) in a lane change of the second vehicle from the second lane to the first lane.
  • a first distance of the second vehicle to the first vehicle is determined by means of at least one second determination device of the first vehicle. If the distance is less than a first predetermined threshold, the first vehicle automatically issues a warning message to the second vehicle (corresponding to the first vehicle of the present invention).
  • the DE 103 34 203 A1 describes a functional overall context of an accident prevention system in which at least two road users are automatically informed of the current movement of the other each other in direct intercommunication and the information from each view is automatically evaluated with the data obtained, with an automatically determined dangerous situation an automatic Intervention on the driving in the respective vehicle takes place.
  • the DE 101 49 206 A1 describes a method of excluding accidents by detection when vehicles leave their respective current corridor.
  • a second vehicle is informed about evasive maneuvers of a first vehicle.
  • a message is sent transmit other vehicles, which then reduce their driving speed to allow the vehicle that wants to change the lane, the change of lane.
  • the DE 101 34 367 A1 describes a method for a lane change, in which a reachability of possible Einscherlücken is displayed graphically and / or acoustically.
  • the DE 10 2006 033 743 A1 describes a method for detecting the surroundings of a vehicle, in which information of other road users about vehicle speed and steering angle are transmitted via radio and forwarded to a steering controller and in which a direction correction for collision avoidance or optimized collision encounter is performed depending on the information.
  • the DE 10 2011 018 159 A1 describes a driver assistance device with an environment sensor for monitoring a monitoring space located laterally of the motor vehicle and with an evaluation unit for estimating a possible danger to the motor vehicle by an object approaching a lane to be traveled by the vehicle.
  • the DE 10 2005 036 714 A1 describes a lane change assistant that recognizes lanes by taking pictures of a road section by means of a camera system and extracting lane markings from the recorded images by means of image processing.
  • the US 2003/025597 A1 describes a method for collision avoidance between two vehicles when changing lanes. Among other things, it is proposed to send a collision hazard with another vehicle, a safety alert via a wireless transmission channel to the other vehicle.
  • the DE 10 2010 052 406 A1 describes a method for avoiding or reducing the consequences of a vehicle collision.
  • lane change information is transmitted via WLAN to a second vehicle located in a lane to which the first one Intended to change vehicle.
  • the second vehicle is automatically accelerated or braked briefly in order to avoid a collision with the first vehicle or at least to reduce consequences of the collision.
  • the intended lane change is identified by an operation of a turn signal lever of the first vehicle or by a steering movement of the first vehicle.
  • DE 10 2010 052 406 A1 known method has the advantage that the second vehicle is actively involved in the collision avoidance, it is questionable whether a safety gain can be achieved with it.
  • For the automatic adaptation of the second vehicle to the behavior of the first vehicle can incite the driver of the first vehicle to a reckless driving style. This is counterproductive to the purported goal of improving road safety.
  • a method for securing a lane change comprises the following steps: detecting a lane change intent of a first vehicle from a first lane to a destination lane, reporting lane change intent to at least one second vehicle by means of a first Car2Car communication.
  • the method comprises the following steps: responses of the second vehicle to the first vehicle by means of a second Car2Car communication.
  • a measure is executed in the first vehicle, which stops or at least avoids a lane change of the first vehicle.
  • At least one status and / or ambient date of the second vehicle is transmitted to the first vehicle, wherein performing the following step of responding to the second vehicle in the first vehicle: secondly assessing a hazard potential of the lane change planned by the first vehicle taking into account the response of the second vehicle.
  • secondly assessing a hazard potential of the lane change planned by the first vehicle taking into account the response of the second vehicle.
  • the object is achieved in that the device is prepared to carry out the method according to the invention.
  • the object is achieved in that the device of the vehicle is prepared to carry out the method according to the invention.
  • the information about the relative vehicle position may include a relative position of the first vehicle with respect to a position of the second vehicle and / or a relative position of the second vehicle with respect to the first vehicle.
  • the information about a relative vehicle speed may include a relative speed of the first vehicle with respect to a speed of the second vehicle and / or a relative speed of the second vehicle with respect to a speed of the first vehicle.
  • the information about the relative vehicle acceleration may include a relative acceleration of the first vehicle with respect to an acceleration of the second vehicle and / or a relative acceleration of the second vehicle with respect to an acceleration of the first vehicle.
  • a refinement provides that, in the step of first assessing the hazard potential, a hazard potential of the lane change planned by the first vehicle is assessed, with the response transmitting a result of the first assessment of the hazard potential to the first vehicle.
  • At least one state and / or environmental date of the second vehicle is communicated to the first vehicle, wherein following the responses of the second vehicle in the first vehicle, the following step is performed: second assessing a hazard potential of the one planned by the first vehicle Lane change taking into account the response of the second vehicle.
  • the first vehicle is enabled to carry out its own assessment of the hazard potential, taking into account data that is partially captured by the second vehicle and partly by itself.
  • a lane change intent of the second vehicle is taken into account before the answer, provided that such lane change intent is present.
  • the second vehicle can also incorporate its own lane change intention in the evaluation of the hazard potential, if such exists. It is particularly preferred if, during the second evaluation of the hazard potential, an own lane change intent is included, if such exists. It is particularly preferred if the second assessment of the potential hazard after the responses also a lane change intent of the second vehicle is taken into account, if there is such a lane change intent.
  • the first vehicle may also include a lane change intention of the second vehicle in the evaluation of the potential hazard, if such a lane change intent exists.
  • Embodiments provide that the reporting of the lane change intention to the second vehicle by means of a radar or Lidar transmission, using WLAN and / or by means of another type of radio transmission and / or that the responses of the second vehicle to the first vehicle by means of a radar or lidar transmission, by means of WLAN and / or by means of another type of radio transmission.
  • one of these types of Car2Car communication is provided so that it can be shared for the process of securing a lane change.
  • a preferred development provides that the recognition of the lane change intent of the first and / or the second vehicle using a camera-based lane detection system takes place and / or that the lane change intent of the first and / or the second vehicle taking into account a difference of a steering angle minus a curvature of the respective Lane, a yaw angle minus a curvature of the respective lane, a turn signal position of the vehicle and / or a travel recommendation of a navigation system of the vehicle is detected.
  • a yaw rate and / or a number of the lane for calculating the situation can be consulted in order to recognize the risk potential of the lane change of the vehicle as quickly as possible.
  • the methods for recognizing the lane change intention which are not based on a turn signal, have the advantage that a Lane change is detected even if the driver forgets to operate the direction indicator when a lane change.
  • a lane change description is transmitted from the first vehicle to the second vehicle, which contains a lane change direction indication, an identification of the destination lane and / or information about a vehicle state of the first vehicle.
  • the second vehicle may also include a lane change direction indication, an identification of the destination lane and / or information about a vehicle state of the first vehicle in the first assessment of the hazard potential.
  • the method may also be applied when the first lane is identical to a second lane, or when the destination lane is a lane between the first and second lanes and the first or second lane is a passing lane for the destination lane.
  • both vehicles want to drive simultaneously to a same middle lane occurs, for example, when the second vehicle on the second lane (in the right-hand drive system in the left lane) completed an overtaking and the vehicle on the first lane (in the right-hand drive system on the right lane) would like to start with an overtaking process.
  • the execution of the measure for canceling or avoiding a lane change comprises an audible, visual and / or haptic warning to a driver of the first vehicle and / or an automatic steering intervention and / or an automatic accelerator intervention in the first vehicle. If the driver of the first vehicle does not react, an automatic intervention in the driving dynamics can be undertaken in the relevant vehicle, for example braking or accelerating or steering intervention, in order to defuse the situation.
  • the Fig. 1 shows a dangerous traffic situation on a four-lane road 30.
  • two vehicles 10, 20 initially next to each other, but not on lanes that are right next to each other, but on lanes 31, 33, which are only indirectly adjacent. Between the two lanes 31, 33 is a free lane 32.
  • the dangerous traffic situation arises from the fact that both vehicles 10, 20 want to change to the same intervening lane 32 at the same time.
  • a lane change intent of a first vehicle 10 is detected by a first lane 31 in a destination lane 32.
  • the first vehicle 10 notifies the lane change intent to at least one second vehicle 20 by means of a first Car2Car communication.
  • the second vehicle 20 responds to the first vehicle 10 by means of a second Car2Car communication.
  • a measure is executed in the first vehicle 10, which stops or at least prevents a lane change of the first vehicle 10.
  • a broadcast mode may be provided to address the lane change intent to the general public or simultaneously to multiple second vehicles (eg, vehicles of the same manufacturer), thereby more efficiently utilizing transmission resources.
  • the limited radio range of WLAN connections limits the communication in an advantageous manner to those vehicles that are located in the environment of the respective vehicle.
  • a development of the method provides that before the response 130 of the second vehicle 20 in the second vehicle 20 (in a first Judging step 125), a hazard potential of the lane change planned by the first vehicle 10 is judged, and with the response 130, a result of the first judgment 125 of the hazard potential is transmitted to the first vehicle 10.
  • a further development of the method provides that at least one state and / or environmental date of the second vehicle 20 is transmitted to the first vehicle 10 with the responses 130 of the second vehicle 20.
  • the status and / or environmental data may then be used after the response 130 of the second vehicle 20 in the first vehicle 10 (in a second assessment step), a hazard potential of the lane change planned by the first vehicle 10 taking into account the response of the second vehicle 20 to judge.
  • the first judgment 125 of the hazard potential before the response 130 also takes into account a lane change intent of the second vehicle 20, if such a lane change intent exists.
  • a further option provides that the second assessment 135 of the hazard potential after the response 130 also takes into account a lane change intention of the second vehicle 20, if such a lane change intent exists.
  • a further option provides that the lane change intention is reported to the second vehicle 20 by means of a radar or lidar transmission, by means of WLAN and / or by means of another type of radio transmission. It is also possible that the responses 130 of the second vehicle to the first vehicle by means of a radar or Lidar transmission, using WLAN and / or by means of another type of radio transmission.
  • the recognition 110 of the lane change intent of the first 10 and / or the second 20 vehicle can be carried out, for example, using a camera-based lane recognition system.
  • the lane change intent of the first 10 and / or the second vehicle taking into account a difference of a steering angle minus a curvature of the respective lane 31, 32, a yaw angle minus a curvature of the respective lane 31, 32, a turn signal of the vehicle 10, 20 and / or a travel recommendation of a navigation system of the vehicle 10, 20 is detected.
  • a lane change description is transmitted from the first vehicle 10 to the second vehicle 20 containing a lane change direction indication, an identification of the destination lane and / or information about a vehicle state of the first vehicle 10.
  • the first lane 31 may be identical to the second lane 33. As the Fig. 2 shows, it is also possible that the target track is located between the first 31 and the second 33 lane and the first 31 or the second 33 lane for the target lane 32 is a fast lane.
  • Executing 130 the measure to cancel or avoid a lane change may include an audible, visual and / or haptic alert to a driver of the first vehicle 10 and / or an automatic steering intervention and / or an automatic accelerator intervention in the first vehicle 10.

Landscapes

  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Traffic Control Systems (AREA)

Claims (10)

  1. Procédé (100) servant à sécuriser un changement de voie, le procédé comprenant les étapes qui suivent consistant à :
    - identifier (110) une intention de changement de voie d'un premier véhicule (10) d'une première voie de circulation (31) vers une voie de destination (32) ;
    - notifier (120) l'intention de changement de voie à au moins un deuxième véhicule (20) au moyen d'une première communication Car2Car ;
    - envoyer la réponse (130) du deuxième véhicule (20) au premier véhicule (10) au moyen d'une deuxième communication Car2Car ; et
    - en fonction d'un contenu de la réponse du deuxième véhicule (20), exécuter (140) une mesure dans le premier véhicule (10), qui interrompt un changement de voie du premier véhicule (10) ou du moins aide à l'éviter ;
    au moins une donnée de statut et/ou une donnée d'environnement du deuxième véhicule (20) étant transférée au premier véhicule (10) avec la réponse (130) du deuxième véhicule (20) à la notification (120) du premier véhicule (10), une étape qui suit consistant à évaluer (135) une deuxième fois un danger potentiel lié au changement de voie planifié par le premier véhicule (10) en tenant compte de la réponse (130) du deuxième véhicule (20) étant mise en oeuvre après la réponse (130) du deuxième véhicule (20) dans le premier véhicule (10),
    caractérisé en ce
    que lors de la première évaluation (125) du danger potentiel, une intention de changement de voie du deuxième véhicule (20) est prise en compte avant la réponse (130) du deuxième véhicule (20) tant qu'une intention de changement de voie de ce type est de mise.
  2. Procédé (100) selon la revendication 1, caractérisé en ce qu'un danger potentiel lié au changement de voie planifié par le premier véhicule (10) est évalué lors de l'étape de la première évaluation (125) du danger potentiel, un résultat de la première évaluation (125) du danger potentiel étant transféré au premier véhicule (10) avec la réponse.
  3. Procédé (100) selon la revendication 1 ou 2, caractérisé en ce que lors de la deuxième évaluation (135) du danger potentiel, une intention de changement de voie du deuxième véhicule (20) est également prise en compte après l'envoi de la réponse (130) tant qu'une intention de changement de voie de ce type est de mise.
  4. Procédé (100) selon l'une quelconque des revendications 1 à 3, caractérisé en ce que la notification (120) de l'intention de changement de voie au deuxième véhicule (20) a lieu au moyen d'une transmission radar ou lidar, au moyen d'un WLAN et/ou au moyen d'un autre type de transmission radio, et/ou en ce que l'envoi de la réponse (130) par le deuxième véhicule au premier véhicule est effectué au moyen d'une transmission radar ou lidar, au moyen d'un WLAN et/ou au moyen d'un autre type de transmission radio.
  5. Procédé (100) selon l'une quelconque des revendications 1 à 4, caractérisé en ce que l'identification (110) de l'intention de changement de voie du premier (10) et/ou du deuxième (20) véhicule est effectuée en utilisant un système d'identification de voie assisté par caméra, et/ou en ce que l'intention de changement de voie du premier (10) et/ou du deuxième (20) véhicule est identifiée en tenant compte d'une différence d'un angle de braquage moins une courbe de la voie de circulation (31, 33) respective, d'un angle d'embardée moins une courbe de la voie de circulation (31, 33) respective, d'une position de clignotant du véhicule (10, 20) et/ou d'une recommandation d'itinéraire d'un système de navigation du véhicule (10, 20).
  6. Procédé (100) selon l'une quelconque des revendications 1 à 5, caractérisé en ce que lors de la notification (120) de l'intention de changement de voie, une description du changement de voie est transmise du premier véhicule (10) au deuxième véhicule (20), laquelle comporte une indication de direction de changement de voie, une identification de la voie de destination (32) et/ou une information portant sur un statut de véhicule du premier véhicule (10).
  7. Procédé (100) selon l'une quelconque des revendications 1 à 6, caractérisé en ce que la première voie de circulation (31) est identique à une deuxième voie de circulation (33), ou en ce que la voie de destination (32) est une voie de circulation entre la première (31) et une deuxième (33) voie de circulation, et en ce que la première (31) ou la deuxième (33) voie de circulation est une voie pour doubler pour la voie de destination (32).
  8. Procédé (100) selon l'une quelconque des revendications 1 à 7, caractérisé en ce que l'exécution (130) de la mesure servant à interrompre ou servant à éviter un changement de voie inclut une alerte acoustique, optique et/ou haptique envoyée à un conducteur du premier véhicule (10) et/ou une intervention autonome sur la direction et/ou une intervention autonome sur la pédale de frein dans le premier véhicule (10).
  9. Dispositif servant à sécuriser un changement de voie d'un véhicule,
    caractérisé en ce
    que le dispositif est mis au point pour mettre en oeuvre le procédé (100) selon l'une quelconque des revendications 1 à 8.
  10. Véhicule (10, 20),
    caractérisé en ce
    que le véhicule (10, 20) présente un dispositif selon la revendication 9.
EP13783853.8A 2012-11-28 2013-10-29 Procédé et dispositif pour sécuriser un changement de voie Active EP2926329B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE201210023361 DE102012023361A1 (de) 2012-11-28 2012-11-28 Verfahren und Vorrichtung zum Absichern eines Spurwechsels und Fahrzeug
PCT/EP2013/003242 WO2014082698A1 (fr) 2012-11-28 2013-10-29 Procédé et dispositif pour sécuriser un changement de voie, et véhicule

Publications (2)

Publication Number Publication Date
EP2926329A1 EP2926329A1 (fr) 2015-10-07
EP2926329B1 true EP2926329B1 (fr) 2016-06-29

Family

ID=49513898

Family Applications (1)

Application Number Title Priority Date Filing Date
EP13783853.8A Active EP2926329B1 (fr) 2012-11-28 2013-10-29 Procédé et dispositif pour sécuriser un changement de voie

Country Status (3)

Country Link
EP (1) EP2926329B1 (fr)
DE (1) DE102012023361A1 (fr)
WO (1) WO2014082698A1 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
RU2760046C1 (ru) * 2018-07-16 2021-11-22 Ниссан Мотор Ко., Лтд. Способ помощи при вождении и устройство помощи при вождении

Families Citing this family (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9550528B1 (en) * 2015-09-14 2017-01-24 Ford Global Technologies, Llc Lane change negotiation
DE102016205141A1 (de) 2015-11-04 2017-05-04 Volkswagen Aktiengesellschaft Verfahren und Fahrzeugkommunikationssystem zum Bestimmen einer Fahrintention für ein Fahrzeug
DE102016122686B4 (de) 2016-11-24 2021-01-07 Henrik Stiewe Verfahren zum Informieren eines Verkehrsteilnehmers über eine Verkehrssituation
JP6859931B2 (ja) * 2017-11-15 2021-04-14 トヨタ自動車株式会社 自動運転システム
US10377383B2 (en) 2017-12-11 2019-08-13 Ford Global Technologies, Llc Vehicle lane change
DE102018202469A1 (de) * 2018-02-19 2019-08-22 Audi Ag Verfahren zur Höhenbestimmung eines Kraftfahrzeuges und Kraftfahrzeug
US11548511B2 (en) 2019-06-14 2023-01-10 GM Global Technology Operations LLC Method to control vehicle speed to center of a lane change gap
FR3105961B1 (fr) * 2020-01-08 2022-08-12 Psa Automobiles Sa Procédé et dispositif de détermination d’un indicateur de changement de voie pour véhicule
CN111942405B (zh) * 2020-09-24 2021-10-15 北京百度网讯科技有限公司 车辆控制方法、装置、车辆、电子设备及存储介质
CN114980031A (zh) * 2021-08-18 2022-08-30 长城汽车股份有限公司 多车变道交互控制方法、装置、系统、存储介质及车辆
CN113763750B (zh) * 2021-09-29 2023-06-13 天翼交通科技有限公司 基于5g的智能车路协同系统及方法
FR3132958B1 (fr) * 2022-02-23 2024-01-19 Psa Automobiles Sa Procédé et dispositif de communication de données par sélection d’au moins un radar dans une pluralité de radars d’un véhicule
CN114735075B (zh) * 2022-04-13 2023-06-13 中国第一汽车股份有限公司 车辆转弯状态确定方法、装置、电子设备及存储介质

Family Cites Families (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2373117B (en) * 2000-10-04 2005-02-16 Intelligent Tech Int Inc Method and arrangement for mapping a road and accident avoidance system
DE10134367A1 (de) * 2001-07-14 2003-01-23 Daimler Chrysler Ag Verfahren zur Leithilfe für einen Fahrspurwechsel eines Fahrzeuges
US6882287B2 (en) * 2001-07-31 2005-04-19 Donnelly Corporation Automotive lane change aid
DE10334203A1 (de) * 2003-07-26 2005-03-10 Volkswagen Ag Verfahren zum Betrieb eines interaktiven Verkehrsabwicklungssystemes und interaktives Verkehrsabwicklungssystem selbst
DE102005036714A1 (de) 2005-08-04 2007-02-08 Daimlerchrysler Ag Verfahren zur Unterstützung des Fahrers eines Fahrzeugs bei einem Spurwechsel und Fahrerassistenzsystem zur Durchführung des Verfahrens
DE102006033743A1 (de) * 2006-07-21 2007-10-04 Conti Temic Microelectronic Gmbh Verfahren zur Umgebungserfassung eines Fahrzeugs
US8269652B2 (en) * 2009-04-02 2012-09-18 GM Global Technology Operations LLC Vehicle-to-vehicle communicator on full-windshield head-up display
DE102010011497A1 (de) * 2010-03-16 2011-09-22 GM Global Technology Operations LLC , (n. d. Ges. d. Staates Delaware) Verfahren zur Vermeidung oder Abschwächung einer Kollision, Steuervorrichtung für ein Fahrerassistenzsystem und Fahrzeug
DE102010052406A1 (de) 2010-11-24 2011-07-07 Daimler AG, 70327 Verfahren zur Vermeidung oder Verminderung von Fahrzeugkollisionen
DE102011018159A1 (de) * 2011-04-19 2012-10-25 GM Global Technology Operations LLC (n. d. Gesetzen des Staates Delaware) Vorrichtung und Verfahren zur Fahrerunterstützung

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
None *

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
RU2760046C1 (ru) * 2018-07-16 2021-11-22 Ниссан Мотор Ко., Лтд. Способ помощи при вождении и устройство помощи при вождении

Also Published As

Publication number Publication date
DE102012023361A1 (de) 2014-05-28
WO2014082698A1 (fr) 2014-06-05
EP2926329A1 (fr) 2015-10-07

Similar Documents

Publication Publication Date Title
EP2926329B1 (fr) Procédé et dispositif pour sécuriser un changement de voie
DE102016122686B4 (de) Verfahren zum Informieren eines Verkehrsteilnehmers über eine Verkehrssituation
EP2814014B1 (fr) Procédé de coordination du fonctionnement de véhicules automobiles
DE102012222301B4 (de) Verfahren zum Steuern eines Host-Fahrzeugs
DE102008036131B4 (de) Verfahren und Vorrichtung zur Erkennung der Verkehrssituation in einer Fahrzeugumgebung
DE102008049824B4 (de) Verfahren zur Kollisionsvermeidung
EP2620929B1 (fr) Procédé et dispositif de reconnaissance d'une situation particulière dans le trafic routier
EP3830522B1 (fr) Procédé pour estimer la qualité de la localisation lors de la localisation propre d'un véhicule, dispositif pour mettre en oeuvre le procédé, véhicule et programme informatique
EP2987154B1 (fr) Procédé et système permettant d'éviter qu'un véhicule suiveur ne heurte un véhicule immédiatement précédent, ainsi qu'utilisation du système
EP3371022A1 (fr) Procédés et systèmes de régulation pour la détermination d'un intervalle entre deux véhicules pour un changement de file d'un véhicule
DE102017100323A1 (de) Steuerung für die Fahrt eines Fahrzeugs
DE102012023498B4 (de) Verfahren und System zur selbsttätigen und/oder assistierenden Fahrzeugführung
DE102016223579A1 (de) Verfahren zum Ermitteln von Daten einer Verkehrssituation
DE102017114876A1 (de) Fahrerassistenzsystem zur Kollisionsvermeidung mittels Warn- und Interventionskaskade
DE102018101487A1 (de) Systeme und verfahren zur kollisionsvermeidung
WO2010000521A1 (fr) Dispositif et procédé d'aide à la conduite
WO2008061890A1 (fr) Procédé de communication hertzienne entre des véhicules
DE102018219564A1 (de) Fahrzeug und verfahren zum steuern desselben
WO2010037643A1 (fr) Procédé pour faire fonctionner un système d'aide à la conduite
DE102020112686A1 (de) Adaptives autonomes Notbremssystem unter Berücksichtigung des Lenkwegs und Steuerverfahren für selbiges
DE102014211530A1 (de) Überholassistent für Straßen mit Gegenverkehr
DE102017205495A1 (de) Vorrichtung und Verfahren zum Fokussieren von Sensoren im fahrdynamischen Grenzbereich für ein Kraftfahrzeug
DE102010001304A1 (de) Verfahren zum Kontrollieren einer Verkehrssituation
DE112020007365B4 (de) Fahrzeugsteuervorrichtung, fahrzeugsteuerverfahren und programm
DE202013010061U1 (de) Vorrichtung zur Kollisionsvermeidung

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: 20150629

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

RIN1 Information on inventor provided before grant (corrected)

Inventor name: KRATZSCH, CLAUDIA

Inventor name: ENGEL, SEBASTIAN

Inventor name: ROESSLER, HENDRIK

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

INTG Intention to grant announced

Effective date: 20160408

GRAS Grant fee paid

Free format text: ORIGINAL CODE: EPIDOSNIGR3

GRAA (expected) grant

Free format text: ORIGINAL CODE: 0009210

AK Designated contracting states

Kind code of ref document: B1

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

REG Reference to a national code

Ref country code: GB

Ref legal event code: FG4D

Free format text: NOT ENGLISH

REG Reference to a national code

Ref country code: CH

Ref legal event code: EP

REG Reference to a national code

Ref country code: AT

Ref legal event code: REF

Ref document number: 809639

Country of ref document: AT

Kind code of ref document: T

Effective date: 20160715

REG Reference to a national code

Ref country code: IE

Ref legal event code: FG4D

Free format text: LANGUAGE OF EP DOCUMENT: GERMAN

REG Reference to a national code

Ref country code: DE

Ref legal event code: R096

Ref document number: 502013003569

Country of ref document: DE

REG Reference to a national code

Ref country code: FR

Ref legal event code: PLFP

Year of fee payment: 4

REG Reference to a national code

Ref country code: LT

Ref legal event code: MG4D

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: 20160629

Ref country code: NO

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: 20160929

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: 20160629

REG Reference to a national code

Ref country code: NL

Ref legal event code: MP

Effective date: 20160629

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

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: 20160629

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: 20160930

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: 20160629

Ref country code: HR

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: 20160629

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: 20160629

Ref country code: RS

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: 20160629

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

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: 20161029

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: 20160629

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: 20160629

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: 20160629

Ref country code: IT

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: 20160629

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: 20160629

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: 20160629

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: 20160629

Ref country code: BE

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

Effective date: 20161031

Ref country code: SM

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: 20160629

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: 20161031

REG Reference to a national code

Ref country code: DE

Ref legal event code: R097

Ref document number: 502013003569

Country of ref document: DE

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

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: 20160629

REG Reference to a national code

Ref country code: CH

Ref legal event code: PL

26N No opposition filed

Effective date: 20170330

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

REG Reference to a national code

Ref country code: IE

Ref legal event code: MM4A

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: 20161031

Ref country code: LI

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

Effective date: 20161031

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

Ref country code: LU

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

Effective date: 20161029

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: 20160629

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: 20160929

REG Reference to a national code

Ref country code: FR

Ref legal event code: PLFP

Year of fee payment: 5

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: 20161029

REG Reference to a national code

Ref country code: BE

Ref legal event code: MM

Effective date: 20161031

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; INVALID AB INITIO

Effective date: 20131029

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

Ref country code: MT

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: 20160629

Ref country code: MC

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: 20160629

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: 20160629

Ref country code: MK

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: 20160629

REG Reference to a national code

Ref country code: FR

Ref legal event code: PLFP

Year of fee payment: 6

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: 20160629

Ref country code: AL

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: 20160629

REG Reference to a national code

Ref country code: AT

Ref legal event code: MM01

Ref document number: 809639

Country of ref document: AT

Kind code of ref document: T

Effective date: 20181029

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 NON-PAYMENT OF DUE FEES

Effective date: 20181029

P01 Opt-out of the competence of the unified patent court (upc) registered

Effective date: 20230530

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

Ref country code: GB

Payment date: 20231023

Year of fee payment: 11

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

Ref country code: FR

Payment date: 20231024

Year of fee payment: 11

Ref country code: DE

Payment date: 20231031

Year of fee payment: 11