EP3280625A1 - Steuerungs-system und verfahren zum unterstützen eines sicheren einscherens von kraftfahrzeugen nach einem überholvorgang - Google Patents
Steuerungs-system und verfahren zum unterstützen eines sicheren einscherens von kraftfahrzeugen nach einem überholvorgangInfo
- Publication number
- EP3280625A1 EP3280625A1 EP16714392.4A EP16714392A EP3280625A1 EP 3280625 A1 EP3280625 A1 EP 3280625A1 EP 16714392 A EP16714392 A EP 16714392A EP 3280625 A1 EP3280625 A1 EP 3280625A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- vehicle
- ego
- motor vehicle
- driving situation
- laterally
- 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.)
- Ceased
Links
- 238000000034 method Methods 0.000 title claims description 14
- 230000008859 change Effects 0.000 claims abstract description 23
- 238000012544 monitoring process Methods 0.000 claims description 7
- 230000007613 environmental effect Effects 0.000 claims description 6
- 230000008569 process Effects 0.000 description 6
- 230000001133 acceleration Effects 0.000 description 2
- 238000010008 shearing Methods 0.000 description 2
- 206010039203 Road traffic accident Diseases 0.000 description 1
- 230000003044 adaptive effect Effects 0.000 description 1
- 230000001174 ascending effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000018109 developmental process Effects 0.000 description 1
- 210000005069 ears Anatomy 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000011156 evaluation Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 230000007704 transition Effects 0.000 description 1
- 238000002604 ultrasonography Methods 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q9/00—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling
- B60Q9/008—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling for anti-collision purposes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/18—Propelling the vehicle
- B60W30/18009—Propelling the vehicle related to particular drive situations
- B60W30/18163—Lane change; Overtaking manoeuvres
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/01—Protocols
- H04L67/12—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks
- H04L67/125—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks involving control of end-device applications over a network
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04Q—SELECTING
- H04Q9/00—Arrangements in telecontrol or telemetry systems for selectively calling a substation from a main station, in which substation desired apparatus is selected for applying a control signal thereto or for obtaining measured values therefrom
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2552/00—Input parameters relating to infrastructure
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2554/00—Input parameters relating to objects
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2554/00—Input parameters relating to objects
- B60W2554/40—Dynamic objects, e.g. animals, windblown objects
- B60W2554/404—Characteristics
- B60W2554/4041—Position
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2554/00—Input parameters relating to objects
- B60W2554/80—Spatial relation or speed relative to objects
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2554/00—Input parameters relating to objects
- B60W2554/80—Spatial relation or speed relative to objects
- B60W2554/801—Lateral distance
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2554/00—Input parameters relating to objects
- B60W2554/80—Spatial relation or speed relative to objects
- B60W2554/802—Longitudinal distance
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2554/00—Input parameters relating to objects
- B60W2554/80—Spatial relation or speed relative to objects
- B60W2554/804—Relative longitudinal speed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2554/00—Input parameters relating to objects
- B60W2554/80—Spatial relation or speed relative to objects
- B60W2554/805—Azimuth angle
Definitions
- a control system and method for assisting a safe shearing of a motor vehicle after an overtaking operation are disclosed.
- This system and method is particularly possible by the presence of ACC (Autonomous / Adaptive - Cruise Control) in motor vehicles, especially in trucks (trucks).
- ACC Autonomous / Adaptive - Cruise Control
- An ACC device that reduces the driver's distance to the vehicle ahead and adjusts the speed of his own motor vehicle to the speed of a preceding vehicle is described, for example, in EP-A-0 612 641.
- the question of a safe lane change from the fast lane (back) to the "slower" lane (for example, in continental Europe or the US from the left to the right lane) is not addressed therein.
- Daimler AG offers an Active Blind Spot Assist for their vehicles. Since nobody can see what is happening behind his back, the vehicle's rear and exterior mirrors are provided. Nevertheless, there is always an area that can not be detected even with a look in the mirror: the blind spot. Every year more than 9500 serious traffic accidents occur in Germany because motorists change lanes without taking account of the traffic that follows, or make mistakes when re-registering to the right.
- the Active Blind Spot Assist Daimler to motorists to change lanes safely with support alarm ⁇ zen. Short-range radar sensors located on either side of the rear bumper monitor the area immediately beside and behind the car. The Active Blind Spot Assist helps the driver to monitor poorly visible areas.
- a red warning signal appears in the exterior mirror to warn the driver. If the driver overlooks this indication and presses the turn signal to change lanes, the red warning signal starts to flash and an additional warning tone sounds.
- the active dead In addition to the driver's visual and audible warning, winkel-Assist is intended to help prevent accidents by means of targeted autonomous braking interventions.
- the system displays in the exterior mirror, if objects such as cars or motorcycles are in the blind spot and controls in the event of a hazard, such as when changing lanes, automatically against.
- a control system set up and used for use in a motor vehicle determines, based on environment data obtained from one or more surroundings sensors located on the motor vehicle, a time from which a safe lane change from an overtaking lane to a slower lane next to it is possible.
- the environmental sensors are set up to provide an electronic control of the control system with the area laterally before, laterally next to and / or laterally behind the vehicle environment data.
- the control system is set up and intended, at least during a predetermined period of time or continuously in the electronic control the driving situation of the own vehicle Mige ⁇ Bende driving data from existing in-vehicle-signal encoders to detect.
- the control system is at least configured and determined based on the driving situation of the own vehicle reproducing driving data and the characteristics of the driving situation / s of the / other vehicles to determine whether a safety critical area laterally next to and / or laterally behind the own Vehicle is free of the / the other vehicle / s and this optically, haptically and / or acoustically output for the driver of the own vehicle.
- the control system is at least configured and determined to determine in the electronic control on the basis of the driving situation of the own vehicle reproducing driving data and the parameters on the driving situation / s of the other / the other vehicles the time from which the safe lane change is possible ,
- the control system is at least configured and determined to regard this time as having occurred when the electronic control determines that a trailing edge of the own motor vehicle is a leading edge of the other vehicle to be overtaken and a safety distance adjusted according to legal and / or physical conditions happened.
- the control system can be set up and determined to record further environmental data in one further monitoring area in front of the vehicle with one or more surroundings sensors.
- the vehicle (s) to be overhauled may be detected early and the passing process may be continuously recorded over time and evaluated for its safe operation.
- control system can therefore be set up and determined to additionally evaluate the environment data from the area laterally next to and / or laterally behind the own motor vehicle, in order to determine a point in time from which a safe lane change of the own motor vehicle from an overtaking lane into an adjacent slower lane is possible.
- the proposed solution is based on the realization that a more intensive Auswer ⁇ processing of the driving environment of the driver's vehicle is required. The results of this evaluation of the driving environment are then to be used when driving your own motor vehicle.
- a control method which determines in a motor vehicle based on environment data obtained from one or more environment sensors located on the motor vehicle, a time from which a safe lane change from an overtaking lane to an adjacent slower lane is possible, has the following steps :
- the electronic control Based on the driving situation of the own vehicle reproducing driving data and the characteristics of the driving situation / s of the other / the other vehicles by means of the electronic control to determine the time from which the safe lane change is possible, and this time is considered to have occurred the electronic control determines that a trailing edge of one's own motor vehicle has passed a leading edge of the other vehicle and a safety distance adjusted according to legal and / or physical conditions.
- Fig. 1 shows schematically a first driving situation in which a separate vehicle on a left lane is about to overtake another vehicle in the right lane.
- Fig. La shows schematically the own vehicle of Fig. 1, with its various environment sensors and monitoring areas.
- Fig. 2 shows schematically a second driving situation in which the own vehicle is on the left lane with its leading edge approximately at the same height as the trailing edge of the other vehicle in the right lane.
- Fig. 3 shows schematically a third driving situation in which the own vehicle is on the left lane with its trailing edge approximately at the same height as the leading edge of the other vehicle in the right lane.
- Fig. 4 shows schematically a fourth driving situation in which the own vehicle is located on the left lane with its trailing edge about a safety distance away from the leading edge of the other vehicle in the right lane.
- the driving situation shown schematically in Fig. 1 is typical for a passing or passing process.
- An own vehicle ego is here on a left lane about to overtake another vehicle old on the right lane.
- the own vehicle ego drives at its own speed v_ego, which is higher than the speed v_alter of the other vehicle alter.
- the own vehicle ego has an electronic control ECU which receives signals which detects and processes environmental data and generates control or output signals.
- a radar sensor /? E which is not explained in detail and is located laterally in front in the corner region of the own vehicle ego, has a first monitoring area Ua.
- a radar sensor Rv located at the front in the central area of the own vehicle ego has a second monitoring area Ub (see also FIG. 1a).
- the radar sensors Rv and Re supply radar signals to the electronic control ECU via the distance r_d / ff and the difference speed v_diff between the own vehicle ego and the other vehicle age, and the side angle o or ß.
- the described here set up for use in a motor vehicle and certain control system has, in addition to the two radar sensors, if necessary, further environment sensors (video, ultrasound, lidar, etc.) for detecting the environment of the own vehicle ego.
- the electronic control C £ / processes the environment data obtained from one or more surroundings sensors (radar sensors Rv, Re) located on the motor vehicle in order to determine a time from which a safe lane change from an overtaking lane to a slower lane next to it is possible.
- the environmental sensors Rv, Re of the electronic control unit ECU of the control system provide the area laterally before, laterally next to and / or laterally behind the vehicle reproducing environment data ready.
- the environment sensors Rv, Re capture during a predetermined period of time which includes, for example, an overtaking process, or continuously one or more participating in traffic other vehicles age laterally in front, laterally beside and / or laterally behind the own motor vehicle ego to determine parameters about the driving situation / of the other vehicle (s). These characteristics include, for example, the speed, location as a function of time, to determine the direction of travel of the / other vehicles age.
- This electronic control unit ECU of the control system can at least be set up and determined during a predetermined period of time, which includes, for example, the over ⁇ holvorgang, or continuously in the electronic control ECUö e driving situation of the own motor vehicle ego reproducing driving data from in the own motor vehicle ego detect existing signalers.
- These signal generators may include, for example, the tachometer or the electronic control system of the brake system (ABS, ESP), which emits a signal representing the speed of its own motor vehicle ego to the electronic control unit ECU.
- the electronic control unit ECU determines, based on the driving data of the own vehicle ego reproducing driving data and the characteristics of the driving situation (s) of the other vehicle (s) whether a safety critical area laterally beside and / or laterally behind the own vehicle ego free of the / the other vehicle / s old Ist and this for the driver of the own vehicle ego visually, haptically and / or acoustically output.
- the electronic control zrCL / set up and determined to determine from the own driving data and the characteristics of the / the other vehicles ateroen time from which the safe lane change is possible. This date is considered to be when the electronic control unit ECU determines that a trailing edge of its own motor vehicle has passed through a leading edge of the other vehicle and has passed a safety margin adapted to legal and / or physical conditions.
- Fig. 2 shows schematically a second driving situation in which the own motor vehicle ego on the left lane with its front edge is approximately at the same height as the trailing edge of the other motor vehicle old on the right lane.
- This state is recognized as present in the configuration shown if the absolute value of the side angle j from the radar sensor Rv is detected to be less than or equal to a specific limit value o / m ' m of the electronic control unit ECU:
- the limit ajim is practically determined to be on the order of 5 °. This corresponds, with a lane width of about 3.5 meters, considered in the direction of travel distance in the order of 30 centimeters between the leading edge of the own motor vehicle ego and the trailing edge of the other motor vehicle old.
- the state shown in Fig. 2 can also be recognized when the absolute value of the distance d between the leading edge of the own motor vehicle ego and the trailing edge of the other motor vehicle old is less than or equal to a certain limit value d_lim ⁇ w of the electronic control unit ECU:
- Fig. 3 is the own motor vehicle eo on the left lane with its trailing edge approximately at the same height as the leading edge of the other motor vehicle is old on the right lane.
- the own motor vehicle L_ego by appropriate data input be fed into the cockpit of the tractor. If there is an electronic connection between tractor and semi-trailer or trailer, the length can be fed as a parameter in the electronic control unit ECU.
- Fig. 4 shows schematically a fourth driving situation in which the own motor vehicle ego on the left lane with its trailing edge spaced about a safety distance from the leading edge of the other motor vehicle a / terauf the right lane.
- v_alter v_ego - v_rel
Landscapes
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Mechanical Engineering (AREA)
- Transportation (AREA)
- Human Computer Interaction (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Health & Medical Sciences (AREA)
- Medical Informatics (AREA)
- Computing Systems (AREA)
- Signal Processing (AREA)
- Health & Medical Sciences (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Traffic Control Systems (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Abstract
Description
Claims
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102015004476.1A DE102015004476A1 (de) | 2015-04-07 | 2015-04-07 | Steuerungs-System und Verfahren zum Unterstützen eines sicheren Einscherens von Kraftfahrzeugen nach einem Überholvorgang |
PCT/EP2016/057227 WO2016162282A1 (de) | 2015-04-07 | 2016-04-01 | Steuerungs-system und verfahren zum unterstützen eines sicheren einscherens von kraftfahrzeugen nach einem überholvorgang |
Publications (1)
Publication Number | Publication Date |
---|---|
EP3280625A1 true EP3280625A1 (de) | 2018-02-14 |
Family
ID=55661424
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP16714392.4A Ceased EP3280625A1 (de) | 2015-04-07 | 2016-04-01 | Steuerungs-system und verfahren zum unterstützen eines sicheren einscherens von kraftfahrzeugen nach einem überholvorgang |
Country Status (5)
Country | Link |
---|---|
US (1) | US10235887B2 (de) |
EP (1) | EP3280625A1 (de) |
CN (1) | CN107438546B (de) |
DE (1) | DE102015004476A1 (de) |
WO (1) | WO2016162282A1 (de) |
Families Citing this family (13)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP6575492B2 (ja) * | 2016-11-29 | 2019-09-18 | トヨタ自動車株式会社 | 自動運転システム |
DE102016014379A1 (de) * | 2016-12-02 | 2018-06-07 | Lucas Automotive Gmbh | Steuerungssystem und Steuerungsverfahren zum Führen eines Kraftfahrzeugs |
DE102018113693A1 (de) * | 2017-06-12 | 2018-12-13 | Steering Solutions Ip Holding Corporation | Fahrzeugsicherheitslenkungssystem |
DE102017011140A1 (de) * | 2017-12-01 | 2019-06-06 | Lucas Automotive Gmbh | Steuerungssystem und Steuerungsverfahren zum Führen eines Kraftfahrzeugs und zum Vermeiden einer Kollision mit einem anderen Kraftfahrzeug |
DE102017011920A1 (de) * | 2017-12-21 | 2019-06-27 | Lucas Automotive Gmbh | Ein Steuerungssystem und ein Steuerungsverfahren für das Wenden eines Kraftfahrzeugs |
DE102018117692A1 (de) * | 2018-07-23 | 2020-01-23 | Valeo Schalter Und Sensoren Gmbh | Verfahren zum Durchführen eines Überholmanövers mit Berücksichtigung eines Sicherheitsabstands, Analysekomponente, Fahrerassistenzsystem sowie Fahrzeug |
DE102018009434A1 (de) * | 2018-11-30 | 2020-06-04 | Zf Active Safety Gmbh | Steuerungssystem und -Verfahren für ein Kraftfahrzeug zur Verarbeitung von mehrfach reflektierten Signalen |
DE102019000060A1 (de) * | 2019-01-03 | 2020-07-09 | Preh Car Connect Gmbh | Steuern eines Fahrzeugs unter Verwendung eines Steuerungssystems |
CN109878446B (zh) * | 2019-01-22 | 2021-04-06 | 南京工程学院 | 一种基于多雷达的超车辅助预警系统及控制方法 |
CN110040139B (zh) * | 2019-04-16 | 2021-06-04 | 广州小鹏汽车科技有限公司 | 车辆及车辆的控制方法、装置 |
US20220227372A1 (en) * | 2019-05-17 | 2022-07-21 | Volvo Truck Corporation | Method for operating an autonomous vehicle |
DE102021201273A1 (de) * | 2020-02-18 | 2021-08-19 | Continental Engineering Services Gmbh | Sensorsystem zur Erfassung des Umfelds von wenigstens einer ersten und einer zweiten miteinander schwenkbar gekoppelten Fahrzeugeinheit |
CN113386744A (zh) * | 2020-03-13 | 2021-09-14 | 奥迪股份公司 | 车辆辅助系统、方法、车辆以及计算机可读存储介质 |
Family Cites Families (11)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
GB9303434D0 (en) | 1993-02-20 | 1993-04-07 | Lucas Ind Plc | Method of and apparatus for cruise control |
DE4313568C1 (de) | 1993-04-26 | 1994-06-16 | Daimler Benz Ag | Verfahren zur Leithilfe für einen Fahrspurwechsel durch ein Kraftfahrzeug |
DE10218010A1 (de) * | 2002-04-23 | 2003-11-06 | Bosch Gmbh Robert | Verfahren und Vorrichtung zur Querführungsunterstützung bei Kraftfahrzeugen |
DE102005013669A1 (de) * | 2005-03-14 | 2006-09-21 | Walter Ostertag | Verfahren und Vorrichtung zum Betreiben eines Kraftfahrzeugs |
DE102005016086A1 (de) | 2005-04-08 | 2006-10-12 | GM Global Technology Operations, Inc., Detroit | Aktives Sicherheitssystem für ein Kraftfahrzeug mit einer eine Überlagerungslenkung oder ein ?steer by wire? System aufweisenden Fahrzeuglenkung |
DE102006032727A1 (de) * | 2006-07-14 | 2008-01-31 | Lucas Automotive Gmbh | Verfahren und Vorrichtung zur Plausibilitätskontrolle von Messwerten im Kraftfahrzeugumfeld |
DE102007003887A1 (de) * | 2007-01-19 | 2008-07-24 | Endress + Hauser Gmbh + Co. Kg | Verfahren zur Bedienung einer Vorrichtung zur kapazitiven Bestimmung und/oder Überwachung einer Prozessgröße |
DE102007033887A1 (de) * | 2007-07-20 | 2008-09-04 | Vdo Automotive Ag | Fahrerassistenzsystem mit Empfehlung für einen Fahrspurwechsel |
CN103359013B (zh) * | 2012-04-01 | 2016-08-17 | 同济大学 | 一种基于车车通信的换道超车辅助方法及系统 |
CN104118380B (zh) * | 2013-04-26 | 2017-11-24 | 富泰华工业(深圳)有限公司 | 行车侦测系统及方法 |
DE102014014249A1 (de) | 2014-09-26 | 2015-03-26 | Daimler Ag | Verfahren zum Betrieb eines Kraftfahrzeugs, Computerprogrammprodukt sowie Kraftfahrzeug |
-
2015
- 2015-04-07 DE DE102015004476.1A patent/DE102015004476A1/de active Pending
-
2016
- 2016-04-01 WO PCT/EP2016/057227 patent/WO2016162282A1/de active Application Filing
- 2016-04-01 CN CN201680020416.7A patent/CN107438546B/zh active Active
- 2016-04-01 EP EP16714392.4A patent/EP3280625A1/de not_active Ceased
- 2016-04-01 US US15/564,793 patent/US10235887B2/en active Active
Also Published As
Publication number | Publication date |
---|---|
WO2016162282A1 (de) | 2016-10-13 |
US10235887B2 (en) | 2019-03-19 |
US20180114446A1 (en) | 2018-04-26 |
DE102015004476A1 (de) | 2016-10-13 |
CN107438546B (zh) | 2020-03-10 |
CN107438546A (zh) | 2017-12-05 |
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