EP3625725A1 - Method, device, and system for determining a road construction site - Google Patents
Method, device, and system for determining a road construction siteInfo
- Publication number
- EP3625725A1 EP3625725A1 EP18711930.0A EP18711930A EP3625725A1 EP 3625725 A1 EP3625725 A1 EP 3625725A1 EP 18711930 A EP18711930 A EP 18711930A EP 3625725 A1 EP3625725 A1 EP 3625725A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- speed
- construction site
- road construction
- motor vehicle
- determining
- 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.)
- Pending
Links
Classifications
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
- G08G1/0108—Measuring and analyzing of parameters relative to traffic conditions based on the source of data
- G08G1/0112—Measuring and analyzing of parameters relative to traffic conditions based on the source of data from the vehicle, e.g. floating car data [FCD]
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V10/00—Arrangements for image or video recognition or understanding
- G06V10/70—Arrangements for image or video recognition or understanding using pattern recognition or machine learning
- G06V10/768—Arrangements for image or video recognition or understanding using pattern recognition or machine learning using context analysis, e.g. recognition aided by known co-occurring patterns
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/50—Context or environment of the image
- G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
- G06V20/58—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
- G06V20/582—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads of traffic signs
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/50—Context or environment of the image
- G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
- G06V20/588—Recognition of the road, e.g. of lane markings; Recognition of the vehicle driving pattern in relation to the road
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
- G08G1/0125—Traffic data processing
- G08G1/0133—Traffic data processing for classifying traffic situation
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
- G08G1/0137—Measuring and analyzing of parameters relative to traffic conditions for specific applications
- G08G1/0141—Measuring and analyzing of parameters relative to traffic conditions for specific applications for traffic information dissemination
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/052—Detecting movement of traffic to be counted or controlled with provision for determining speed or overspeed
Definitions
- the invention relates to a method, a device and a system for determining a road construction site, which each allow a reliable detection of a road construction site and contribute to a low false detection rate.
- Some motor vehicles have navigation systems, which among other things receive information about construction sites, which by means of so-called real-time traffic information
- RTTI Real Time Traffic Information
- Construction site are registered. Such services may be provided by a manufacturer of a navigation system, a
- Automobile club or the like can be provided.
- the information on construction sites is used in the planning of routes and in the calculation of travel time to suggest a user of a vehicle as short a route as possible. Furthermore, the traffic flow can be accelerated as a whole, if as few vehicles drive a section of a construction site. Depending on
- a method for determining a road construction site for a motor vehicle, to which a sensor system and a communication interface are assigned comprises providing a first measurement signal
- the method further includes providing cartographic data including information about a location-based local speed specification.
- the method also includes detecting a road construction site in response to the actual speed identifier and the mapped data.
- a road construction site is not only based on a
- Road sections for example, from a tunnel or a traffic-calmed area, which usually also one or more speed limits in
- the cartographed data which contain information about a location-specific local speed specification, can in particular be in the form of a road map on an external server unit or by a card manufacturer
- Allow speed information of the actual speed identifier The described method thus realizes, in particular, a geo-referenced fusion of ascertained data with map data at speed limits, so that a reduction of the false detection rate can be achieved.
- the received card information information is typically provided by a card manufacturer, but is typically not updated for a road construction site in the map material.
- Mapped data can be the existence of a
- the data of the determined actual speed identifier with the map information within a tolerance range so the presence of a road construction site can be excluded or at least classified as doubtful.
- the method comprises determining a desired speed identifier in
- the actual speed identifier for example, represents a current location-related condition of the motor vehicle in which a speed command has been taken or detected.
- the associated local desired speed identifier can in the context of the process from a stored
- Speed default are determined or provided as a ready target specification. By comparing the actual speed identifier with the target speed identifier, the presence of a
- the method comprises providing a second measurement signal of the sensor system, which is representative of a signposting of a second
- the determined actual speed identifier may include information about a single traffic sign and / or a plurality of traffic signs forming a speed funnel, which may be a controlled sequence of speed limits
- Target value is limited.
- the second and further speed specifications generally have lower values for a respective speed limit than those which preceded them in each case.
- the motor vehicle from an actual speed of 140 km / h initially to 100 km / h and then decelerate to 80 km / h, so that an associated speed funnel of
- the method can be performed on the motor vehicle, but is due to a variety of
- Motor vehicles can be collected, a
- a respective motor vehicle, the corresponding sensor and communication interface is assigned, thus realizes a mobile measuring station for determining a
- Measuring signals by means of the sensor and transmitting the recorded measurement signals and possibly evaluated data is performed on the motor vehicle side.
- Measuring signals by means of the sensor and transmitting the recorded measurement signals and possibly evaluated data is performed on the motor vehicle side.
- determined speed funnels or the determined actual speed identifier can be sent by means of the communication interface to the external server unit and continue according to the described method
- Development of the method includes determining the
- a plurality of respectively determined actual speed identifiers which are assigned to different motor vehicles. In this way, the detected
- Road construction sites that can be matched and thereby verified with a low false detection rate and that allow the creation of a useful road map with verified road construction sites that can be beneficial to road traffic. Included in the described method
- the received data containing information about a local speed specification for example in the form of a road map, can be provided in a database of the server unit and in the context of the
- data may be received from such a server unit or backend containing information about one or more road construction sites as determined by other vehicles and stored in the database of the server unit or backend.
- data include in particular position information that has been determined, for example, by means of a location system and recognized
- the described method is according to such
- Measured value recording and are capable of determining a road construction site. In this way you can at different
- Positions determined respective road construction sites are transmitted to a back end and made available for further processing.
- the data on the road construction sites are determined by means of a so-called crowd-sourcing method in which the vehicles of the road users generate data for determining the position of the road construction site. This makes it possible to generate current data for road construction sites through a relatively low cost. Furthermore, the current position of hikes can be detected.
- the first speed indication signpost realizes a first traffic sign whose position is detected by a respective motor vehicle and sent to a central unit such as the external server unit or a backend.
- the backend may be part of the described external server unit as a central unit or, alternatively, may be configured as a database separate from the server unit. Based on the collected, mapped
- a road map can be created with plausibility road construction sites and stored in the form of a digital map in a database of the server unit, which in particular advantageous in terms of a travel time on the
- Such a method further comprises determining a lane marking color of a lane marker in FIG.
- the sensors preferably a camera, so that determining the
- determined actual speed identifier which includes, for example, a determined speed funnel
- a comparison with available map data and based on colored lane markings can be done.
- yellow road markings are applied on the roadway in the area of a road construction site which form a different traffic management superordinate to the usual white road markings, so that a road construction site is recognized, verified and identified on the basis of these yellow road markings
- Lane markings in a backend possible By means of such a georeferenced fusion of a determined
- Speed funnels with camera-based information about lane markers can also be used in permanent reduced speed motorway or highway construction
- a misrecognition rate in relation to the determination In a road construction site can therefore be reduced by that the camera-based recognition of lane marking colors is specifically evaluated and georeferenced and sent to the backend.
- road construction sites can be reliably, for example, as follows
- a candidate for a road construction site is made plausible by comparing the determined velocity funnel.
- it is checked whether information about the existence of yellow lane markers following the speed hopper can be found or present in the backend. If the presence of different colored lane markings can be affirmed, the corresponding road section is classified as a road construction site.
- the method may further include providing a fifth measurement signal of the sensor system, which is representative of an ambient brightness.
- Ambient brightness determined which can be involved in particular in the determination of the lane marking color of the lane marking.
- Track mark color may be one, for example white,
- camera-based classification of yellow lane markings can be suppressed or at least reduced.
- a data collection with regard to the determination of a track marking color during the day or from a predetermined threshold for the ambient brightness, which is judged to be sufficient for a reliable color recognition by means of the sensors used.
- road sections in tunnels can be filtered road map based on the vehicle side or outside the vehicle in the server unit.
- an accuracy or signal-to-noise ratio can be increased by aggregating information of many motor vehicles within a road section.
- the method comprises detecting or providing a sixth measurement signal of the sensor system, which data with information about a current
- Speed of the motor vehicle comprises, and determining a current speed of the motor vehicle in
- Determining the speed of the motor vehicle can determine the speed of the motor vehicle.
- the method can also determine a local velocity profile as a function of a
- False detection rate are kept low. In this way, a further plausibility check can be carried out via crowd sourcing of speeds, so that a particularly reliable verification of the determined or to be determined road construction site with a low
- the plausibility check is preferably carried out by determining a respective average speed of a respective motor vehicle. These are for example the
- Speeds of the associated vehicles are regularly georeferenced sent to the backend. For example, if a speed funnel is detected, which is set up to initiate a departure lane, so is usually a
- Speed profiles are also derived, if a previously recognized road construction site was dissolved again.
- the sensor system has a respective sensor or a respective device which detects a physical parameter
- the sensor system comprises a camera, a position sensor, a speed sensor and / or a camera
- Brightness sensor which is realized for example as a photodiode.
- a further aspect of the invention relates to a device for determining a road construction site, which is set up to carry out one of the methods described above.
- a device is realized, for example, as a server unit or backend and designed for receiving, processing and sending data that are determined or processed in connection with the method.
- a control unit of the motor vehicle may also be capable of detecting a road construction site and performing one of the described methods. But in particular with regard to a plurality of measured signals to be processed, data and information from different motor vehicles is carried out performing the described method preferably in one of the
- System for determining a road construction site which comprises a motor vehicle and an embodiment of the device described above.
- the motor vehicle has the sensors on the communication interface and thus realizes a mobile measuring station for determining a road construction site and allows, in particular in cooperation within a vehicle fleet with a plurality of such vehicles, a recognition of road construction sites with less
- FIG. 1 shows a schematic embodiment of a system for determining a road construction site
- FIG. 2 shows another schematic embodiment of the
- FIG. 3 shows a schematic embodiment of a
- FIG. 4 shows a schematic flow diagram for methods for
- Figure 1 illustrates an embodiment of a system for determining a road construction site 10 with a motor vehicle 1 in a schematic plan view.
- the system has a remote arrangement, comprising a communication interface 5 and a sensor 6, 8, 9, which by means of a
- Control unit 3 of the motor vehicle 1 is signal-technically coupled to the communication interface 5.
- Server unit 7 to communicate and send data to and receive from this.
- Communication interface 5 enables performing a method for determining a road construction site 10 of a road section. As will be explained with reference to the following Figures 2 and 3, the system and the
- the sensor technology makes it possible to acquire measurement signals which comprise data with information that is essential to the traffic, or at least information that relates to the determination of the traffic information
- Road construction site 10 can affect.
- the sensor system comprises a camera 6, by means of which a respective signage 11 of traffic signs can be recognized.
- first, second and third measuring signals are detected, the data with information on a respective sign 11 for a first, a second and a third speed specification 21, 22 and 23 (see Figure 3).
- Further signpostings 11, which illustrate, for example, a construction site sign 110 or a resolution sign 170, can also be detected by means of the camera 6 (see FIG.
- the camera 6 can be used in particular for determining a lane marking color of a lane marking 24, 25, for example by detecting a fourth measuring signal which comprises data with information about a lane marking color.
- the sensor system may also include a brightness sensor 8 for detecting a fifth measurement signal which
- an ambient brightness is representative of an ambient brightness, so that depending on the fifth measurement signal, an ambient brightness can be determined, which should be taken into account in particular with regard to the determination of a lane marking color.
- the sensor system may include a speed sensor 9 for detecting a sixth measurement signal and for determining a current speed of the motor vehicle 1.
- the senor preferably comprises a
- Position sensor 4 which information about a current
- Position of the motor vehicle 1, in particular when receiving a respective measurement signal can deliver.
- the respective measurement signals can be detected by means of the sensor system and transmitted to the external server unit 7 and / or the backend 300 by means of the communication interface 5 for storage and processing.
- the detection of measurement signals as well as the sending and receiving of data can be controlled by means of the control unit 3.
- a determination Data or characteristics and performing the method is preferably carried out by means of a computing and storage unit of the server unit 7 and / or the backend 300. Alternatively or additionally, method steps can also be performed on the vehicle side in the control unit 3, which is then capable of doing so.
- the server unit 7 and the backend 300 can realize two mutually separate units and be formed as a common central unit.
- FIG. 2 schematically illustrates the system of FIG. 1 on a road having a road construction site 10.
- the motor vehicle 1 has the front-facing camera 6, a position sensor 4, for example, a GNSS sensor according to a satellite-based
- the motor vehicle 1 represents, for example, a
- a road construction site 10 In the area of the road construction site 10 is a first traffic sign 160 which is a first speed limit or
- Speed setting 21 is displayed. Furthermore, a trajectory 107 of the highway in the area of the road construction site 10 changes.
- the camera 6 detects the traffic signs 160 on the one hand and can detect the trajectory 107 of the motor vehicle 1, on the other hand.
- the trajectory 107 of the motor vehicle 1 can also be detected via the position sensor 4.
- the camera 6 may also detect another traffic sign 110 indicating a signage 11 of a construction site.
- the camera 6 may also have a subsequent one Detect traffic sign 170 indicating cancellation of speed limit 160.
- the motor vehicle 1 transmits the detected events, which include, for example, the recognition of the first traffic sign 160, the recognition of the second traffic sign 170, the actual trajectory 107 and / or the detected actual speed by means of the communication interface 5 via a wireless network connection to a receiving device the server unit 7 and / or a receiving device 304 of a remote backend 300, which forwards the acquired and / or determined information about candidates for construction sites from the receiving events.
- the detected events include, for example, the recognition of the first traffic sign 160, the recognition of the second traffic sign 170, the actual trajectory 107 and / or the detected actual speed by means of the communication interface 5 via a wireless network connection to a receiving device the server unit 7 and / or a receiving device 304 of a remote backend 300, which forwards the acquired and / or determined information about candidates for construction sites from the receiving events.
- the events received by the receiving device 304 include the type of event and a position
- Events are forwarded by the receiving device 304 via a communication link 306 to a controller 302, which sends the receiving events via a communication link 308 to a
- Site detection device 310 passes.
- FIG. 3 illustrates a further schematic
- Speed specifications 21, 22 and 23 realize a speed hopper 20, which can be detected by means of the camera 6 and determined in the context of the method for detecting the road construction site 10.
- Velocity hopper 20 can also be determined based on two different speed specifications or on the basis of a speed specification.
- Road marking 25 illustrates, for example, a conventional white traffic guidance, while the road marking 26 a different color, such as yellow,
- Road construction site 10 are applied to the roadway.
- Road construction site 10 may be shown in FIG.
- a first measuring signal is detected with a first speed preset 23, and a speed hopper 20 is determined in comparison with a current actual speed. Due to the determined speed funnel 20, it is suspected that this precedes a road construction site.
- step S3 of the method available data is received from the server unit 7 and / or the backend 300, which card information with local
- Speed specifications include. This data can be used for Example in the form of a digital road map of one
- received map data are compared with each other in a further step S5 to plausibilize the alleged road construction site. If it is determined, for example, that the determined speed hopper 20 also at the
- Road construction site is not classified as a road construction site 10, as such map information is usually not on
- Short-term construction sites are updated and existing speed funnel, for example, traffic-calmed areas or tunnels in the direction of travel are provided. Otherwise, it can not use the map data
- Velocity funnels are found at the position at which the velocity funnel 20 by means of
- Track marking color are plausibilized to contribute to a particularly reliable detection of the road construction site 10 and counteract a misrecognition.
- Such a method therefore uses the fusion of acquired data with received card information and optionally determined token colors and another
- So-called crowd-sourcing verification to enable a particularly reliable determination and plausibility of the road construction site 10 and to contribute to a low false detection rate.
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- Engineering & Computer Science (AREA)
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- General Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- Multimedia (AREA)
- Chemical & Material Sciences (AREA)
- Analytical Chemistry (AREA)
- Artificial Intelligence (AREA)
- Health & Medical Sciences (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Computing Systems (AREA)
- Databases & Information Systems (AREA)
- Evolutionary Computation (AREA)
- General Health & Medical Sciences (AREA)
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Abstract
Description
Claims
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102017208124.4A DE102017208124B4 (en) | 2017-05-15 | 2017-05-15 | Method, apparatus and system for determining a road construction site |
PCT/EP2018/056685 WO2018210468A1 (en) | 2017-05-15 | 2018-03-16 | Method, device, and system for determining a road construction site |
Publications (1)
Publication Number | Publication Date |
---|---|
EP3625725A1 true EP3625725A1 (en) | 2020-03-25 |
Family
ID=61691508
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP18711930.0A Pending EP3625725A1 (en) | 2017-05-15 | 2018-03-16 | Method, device, and system for determining a road construction site |
Country Status (5)
Country | Link |
---|---|
US (1) | US11170237B2 (en) |
EP (1) | EP3625725A1 (en) |
CN (1) | CN110431561B (en) |
DE (1) | DE102017208124B4 (en) |
WO (1) | WO2018210468A1 (en) |
Families Citing this family (13)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP3570206B1 (en) * | 2018-05-15 | 2023-12-06 | Aptiv Technologies Limited | A device and a method for searching for a lane on which a vehicle can drive |
US11341845B2 (en) * | 2018-12-12 | 2022-05-24 | Here Global B.V. | Methods and systems for roadwork zone identification |
US11322025B2 (en) * | 2018-12-12 | 2022-05-03 | Here Global B.V. | Method and system for validating existence of roadwork |
DE102019202591A1 (en) * | 2019-02-26 | 2020-08-27 | Volkswagen Aktiengesellschaft | Method for operating a driver information system in an ego vehicle and driver information system |
DE102019202581B4 (en) | 2019-02-26 | 2021-09-02 | Volkswagen Aktiengesellschaft | Method for operating a driver information system in an ego vehicle and driver information system |
DE102019202588A1 (en) | 2019-02-26 | 2020-08-27 | Volkswagen Aktiengesellschaft | Method for operating a driver information system in an ego vehicle and driver information system |
US11255692B2 (en) * | 2019-03-19 | 2022-02-22 | Here Global B.V. | System and method for identification of a roadwork zone |
CN111275974B (en) * | 2020-02-25 | 2021-08-10 | 长安大学 | Method for calculating dynamic speed limit recommended value of expressway construction area |
US11527161B2 (en) | 2020-04-27 | 2022-12-13 | Here Global B.V. | Methods and systems for detecting a speed funnel in a region |
CN113256971B (en) * | 2021-05-07 | 2022-08-19 | 公安部第三研究所 | Highway sealing control system and method |
JP2023072128A (en) * | 2021-11-12 | 2023-05-24 | 本田技研工業株式会社 | Vehicle control device |
US20230152800A1 (en) * | 2021-11-17 | 2023-05-18 | Here Global B.V. | Method, apparatus and computer program product for identifying road work within a road network |
EP4198919A1 (en) | 2021-12-14 | 2023-06-21 | Bayerische Motoren Werke Aktiengesellschaft | Method and device for detecting a construction site for an automated vehicle |
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WO2005064564A1 (en) * | 2003-12-19 | 2005-07-14 | Bayerische Motoren Werke Aktiengesellschaft | Determination of anticipated speed |
DE102004061822B4 (en) * | 2003-12-22 | 2018-10-31 | Volkswagen Ag | Method for detecting lane markings and driver assistance system |
JP4539751B2 (en) * | 2008-04-09 | 2010-09-08 | 株式会社デンソー | Traffic congestion mitigation system with traffic light control device in construction section |
DE102009036433A1 (en) | 2009-08-06 | 2010-05-06 | Daimler Ag | Method for operating driver assistance system, involves recording images adjacent to vehicle, where indicators of hazard- or construction sites are determined by images |
DE112011101376A5 (en) * | 2010-06-15 | 2013-02-21 | Conti Temic Microelectronic Gmbh | METHOD FOR FUSING A TRAFFIC SIGNAL DETECTION SYSTEM AND A TRACE DETECTION SYSTEM OF A MOTOR VEHICLE |
DE102012003632A1 (en) * | 2012-02-24 | 2012-10-04 | Daimler Ag | Method for providing site-related information e.g. number of lanes in construction site, to vehicles, involves providing evaluated and/or processed information to service encoder, and transmitting information to vehicle |
CN102663887B (en) * | 2012-04-13 | 2014-06-11 | 浙江工业大学 | Implementation system and method for cloud calculation and cloud service of road traffic information based on technology of internet of things |
DE102012110219A1 (en) * | 2012-10-25 | 2014-04-30 | Continental Teves Ag & Co. Ohg | Method and device for detecting marked danger and / or construction sites in the area of roadways |
DE102012025159A1 (en) | 2012-12-21 | 2014-06-26 | Continental Teves Ag & Co. Ohg | Method and system for learning traffic events and use of the system |
GB201408474D0 (en) * | 2014-05-13 | 2014-06-25 | Tomtom Int Bv | Methods and systems for detecting a partial closure of a navigable element |
WO2016027270A1 (en) * | 2014-08-18 | 2016-02-25 | Mobileye Vision Technologies Ltd. | Recognition and prediction of lane constraints and construction areas in navigation |
EP3734504A1 (en) * | 2015-02-10 | 2020-11-04 | Mobileye Vision Technologies Ltd. | Sparse map for autonomous vehicle navigation |
US9731726B2 (en) * | 2015-09-02 | 2017-08-15 | International Business Machines Corporation | Redirecting self-driving vehicles to a product provider based on physiological states of occupants of the self-driving vehicles |
DE102016202973B4 (en) * | 2016-02-25 | 2018-05-17 | Bayerische Motoren Werke Aktiengesellschaft | Method for recognizing a road construction site |
CN106527427A (en) * | 2016-10-19 | 2017-03-22 | 东风汽车公司 | Automatic driving sensing system based on highway |
US10442431B2 (en) * | 2017-02-17 | 2019-10-15 | Fca Us Llc | Automatic speed limiter set speed adjustment |
US10816972B2 (en) * | 2017-03-15 | 2020-10-27 | Toyota Research Institute, Inc. | Collective determination among autonomous vehicles |
US10282999B2 (en) * | 2017-03-17 | 2019-05-07 | GM Global Technology Operations LLC | Road construction detection systems and methods |
-
2017
- 2017-05-15 DE DE102017208124.4A patent/DE102017208124B4/en active Active
-
2018
- 2018-03-16 EP EP18711930.0A patent/EP3625725A1/en active Pending
- 2018-03-16 WO PCT/EP2018/056685 patent/WO2018210468A1/en unknown
- 2018-03-16 CN CN201880019245.5A patent/CN110431561B/en active Active
-
2019
- 2019-10-15 US US16/601,877 patent/US11170237B2/en active Active
Also Published As
Publication number | Publication date |
---|---|
DE102017208124B4 (en) | 2019-04-04 |
US11170237B2 (en) | 2021-11-09 |
US20200042807A1 (en) | 2020-02-06 |
WO2018210468A1 (en) | 2018-11-22 |
CN110431561B (en) | 2023-06-06 |
DE102017208124A1 (en) | 2018-11-15 |
CN110431561A (en) | 2019-11-08 |
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