GB2529578A - Method for assisting a driver of a motor vehicle and assisting device - Google Patents

Method for assisting a driver of a motor vehicle and assisting device Download PDF

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Publication number
GB2529578A
GB2529578A GB1519829.4A GB201519829A GB2529578A GB 2529578 A GB2529578 A GB 2529578A GB 201519829 A GB201519829 A GB 201519829A GB 2529578 A GB2529578 A GB 2529578A
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GB
United Kingdom
Prior art keywords
motor vehicle
sensors
detected
driver
traffic
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
GB1519829.4A
Other versions
GB201519829D0 (en
Inventor
Arunraj Sumangaladevi
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.)
Mercedes Benz Group AG
Original Assignee
Daimler 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 Daimler AG filed Critical Daimler AG
Priority to GB1519829.4A priority Critical patent/GB2529578A/en
Publication of GB201519829D0 publication Critical patent/GB201519829D0/en
Publication of GB2529578A publication Critical patent/GB2529578A/en
Withdrawn legal-status Critical Current

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Classifications

    • GPHYSICS
    • G08SIGNALLING
    • G08GTRAFFIC CONTROL SYSTEMS
    • G08G1/00Traffic control systems for road vehicles
    • G08G1/16Anti-collision systems
    • G08G1/166Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT 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
    • B60W30/00Purposes 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, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/08Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B60W30/09Taking automatic action to avoid collision, e.g. braking and steering
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT 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
    • B60W30/00Purposes 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, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/08Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B60W30/095Predicting travel path or likelihood of collision
    • B60W30/0956Predicting travel path or likelihood of collision the prediction being responsive to traffic or environmental parameters
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT 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
    • B60W40/00Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/02Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
    • B60W40/04Traffic conditions
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT 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
    • B60W50/00Details 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
    • B60W50/08Interaction between the driver and the control system
    • B60W50/14Means for informing the driver, warning the driver or prompting a driver intervention
    • GPHYSICS
    • G08SIGNALLING
    • G08GTRAFFIC CONTROL SYSTEMS
    • G08G1/00Traffic control systems for road vehicles
    • G08G1/16Anti-collision systems
    • G08G1/167Driving aids for lane monitoring, lane changing, e.g. blind spot detection
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT 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
    • B60W2420/00Indexing codes relating to the type of sensors based on the principle of their operation
    • B60W2420/42Image sensing, e.g. optical camera
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT 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
    • B60W2420/00Indexing codes relating to the type of sensors based on the principle of their operation
    • B60W2420/54Audio sensitive means, e.g. ultrasound
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT 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
    • B60W2420/00Indexing codes relating to the type of sensors based on the principle of their operation
    • B60W2420/62Laser
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT 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
    • B60W2554/00Input parameters relating to objects

Abstract

A method for assisting a driver of a motor vehicle (V1) wherein sensors (3) are arranged to detect a predetermined area including a front side, a lateral side and a rear side of the motor vehicle. The sensors are couple to at least one control unit (2) which analyses a current traffic situation. When an overtaking manoeuvre of another vehicle (V2) is detected from the rear and objects are detected in the front and/or side of the vehicle (V1) a warning is emitted to the driver. After the warning is given, a countermeasure in the form of applying the brakes to reduce speed is activated to prevent an imminent collision. The sensors may utilise a laser scanner, ultrasonic sensors, stereo cameras or a surround view camera. Figure 1 traffic case C, shows the above defined traffic scenario with vehicle (V1) being overtaken by (V2) and oncoming vehicle (V3) presenting a risk of collision between all traffic participants.

Description

Method for assisting a driver of a motor vehicle and assisting device The invention relates to a method for assisting a driver of a motor vehicle and to an assisting device of a motor vehicle.
An overtaking assistant for motor vehicles is known from ER 1 737 695 Bi, wherein the assistant comprises at least one control unit. The control unit establishes a link respectively between at least one data item of -a navigation system; -a record of a driving environment; -a detector for the current vehicle dynamics and/or specifications of a driver of a motor vehicle in the case of a specification of a driver of a motor vehicle detected by the control unit. It is intended that when a driver crosses the centre line or indicates, a warning is issued if the section of road is not suitable for an overtaking manoeuvre according to data from the navigation system.
It is an object of the present invention to provide an improved method for assisting a driver of a motor vehicle and an improved assistance device for a motor vehicle.
The object is achieved by method according to claim 1 and by an assistance device according to claim 4.
Exemplary embodiments of the invention are given in the dependent claims.
The present invention provides a method for assisting a driver of a motor vehicle, wherein an external environment of the motor vehicle is detected in a predetermined range of detection including a front side, a lateral side and a rear side by a number of sensors arranged on the motor vehicle and coupled to at least one control unit. A current traffic is analysed depending on environmental data from the number of sensors of the motor vehicle and a warning is emitted to the driver of the motor vehicle when an overtaking manoeuvre of another motor vehicle from the rear side is detected and when a critical current traffic in the front side and/or lateral side is evaluated at the same time. After emitting the warning, countermeasures are activated, wherein brake force is provided to the motor vehicle if a collision is imminent.
The method provides monitoring the close traffic and, in particular identifying other traffic participants close to the motor vehicle. Preferably, the sensors are configured as non-radar sensors. By using non-radar-sensors, the method can be implemented into the motor vehicle very cost-effectively and is performed in an easy and reliable manner. Thus, the method can be implemented in countries, where radar-frequencies are not licensed for automotive, e. g. India. Preferably, a series of detected object positions from the sensors is used to evaluate a critical current traffic, wherein driving patterns of various objects can be determined in real-time much faster and precisely. These driving patterns can be used as an input for predicting algorithms to evaluate possible collision paths. When a traffic scenario becomes risky, the driver is alerted by providing audible warning and visual indications, wherein the method intervenes and assists the driver in a defensive manner in an attempt to avoid an imminent collision and/or reduce a severity of the imminent Collision.
The present invention will become more fully understood from the detailed description given herein below and the accompanying drawings which are given by way of illustration only, and thus, are not limitative of the present invention, and wherein: Figure 1 is a schematic view of three different traffic cases each including three motor vehicles and an overtaking manoeuvre of one of the motor vehicles, Figure 2 is a block diagram of an exemplary embodiment of an assistant device of a motor vehicle and Figure 3 is a flow chart of a method for assisting a driver of a motor vehicle.
Corresponding parts are marked with the same reference symbols in all figures.
Figure 1 shows three different traffic cases A to C, wherein a road R with two lanes Li, L2 and three motor vehicles Vi to VS are respectively shown.
According to traffic case A, a first lane Li requires a first driving direction y and a second lane L2, which is an oncoming lane of the first lane Li, requires an opposite second driving direction x.
A first motor vehicle Vi drives on the first lane Li in the second driving direction x, thereby projecting to overtake a second motor vehicle V2 that is driving on the second lane L2 in the required second driving direction x as well. A third motor vehicle V3 drives on the first lane Li in the required first driving direction y. Thus, the first motor vehicle Vi is located on the oncoming lane facing the third motor vehicle V3, whereby the first motor vehicle Vi and the third motor vehicle V3 approach each other. This may represent a critical traffic scenario depending on an acceleration of the motor vehicles Vi to V3.
According to traffic case B, the first lane Li and the second lane L2 require the second driving direction x respectively.
Analogous to traffic case A, the first motor vehicle Vi drives on the first lane Li in the second driving direction x, thereby projecting to overtake the second motor vehicle V2 that is driving on the second lane L2 in the second driving direction x too. Unlike traffic case A, the third motor vehicle V3 drives on the first lane Li in the required second driving direction x, thereby acting as a preceding vehicle. Depending on an acceleration of both the first vehicle Vi and the third vehicle V3 the current traffic may represent a normal, non-critical traffic scenario.
According to traffic case C, the first lane Li requires the first driving direction y and the second lane L2, which is an oncoming lane of the first lane Li analogue to traffic case A, requires the opposite first driving direction y.
In contrast to traffic case A, the first motor vehicle Vi drives on the second lane L2 in the second driving direction x and the second motor vehicle V2 drives on the first lane Li in the second driving direction x as well, thereby projecting to overtake the first motor vehicle Vi. The third motor vehicle V3 drives on the first lane Li in the required first driving direction y. Thus, the first motor vehicle Vi is overtaken by the second motor vehicle V2 that is located on the oncoming lane behind the first motor vehicle Vi and facing the third motor vehicle V3, whereby the first motor vehicle Vi and the third motor vehicle V3 approach each other. This may represent a very critical traffic scenario depending on an acceleration of the motor vehicles Vi to V3.
According to the above described traffic cases A to C, the following accident possibilities may occur: A first possibility comprises that the driver of the overtaking motor vehicle may not have sufficient acceleration and is unaware that the manoeuver could not be safely completed and continues with the insufficient acceleration. A second possibility comprises, that the driver of the overtaking vehicle may not have sufficient acceleration and is aware that the manoeuver could not be safely completed but expects the other traffic participants, in particular the other motor vehicles Vito V3 that are immediately involved into the overtaking manoeuver, to cooperate by slowing down to provide sufficient space for overtaking. A third possibility comprises that a traffic participant deliberately decides to accelerate to provide less or no space for the overtaking vehicle wanting or forcing the driver of the overtaking vehicle to abort overtaking even when the manoeuver could be completed.
In all of the above described three possibilities, a fatal accident involving one or all traffic participants could happen, because the driver of the overtaking vehicle realizes the imminent danger too late. The traffic case C is particularly dangerous as the driver does not have a direct visual of the overtaking vehicle from the rear.
Thus, the invention provides a method to monitor driving dynamics according to the above described traffic scenarios to predict potential dangers like the ones above in split seconds and alert the driver in advance and if needed, partially assist the driver with countermeasures.
Figure 2 shows a block diagram of an assistance device 1 to perform the above mentioned method, which is described in more detail in context with figure 3.
The assistant device 1 comprises a control unit 2 that is coupled to a number of non-radar sensors 3 that may comprise at least one laser scanner 3.1, at least one ultrasonic sensor 3.2, at least one stereo camera 3.3 and/or at least one surround view camera 3.4.
The number of sensors 3 is arranged on or around a motor vehicle Vi in a manner that an external environment of the motor vehicle Vi is detectable in a predetermined range of detection including a front side, a lateral side and a rear side of the motor vehicle Vi. The predetermined range of detection includes in particular a close external environment of the motor vehicle Vi.
Furthermore, the control unit 2 is coupled to a number of vehicle sensors 3.5 that detect and transmit vehicle data, such as acceleration, deceleration, braking force etc. According to the exemplary embodiment, the control unit 2 analyses the data input from the number of non-radar sensors 3 with an implemented first monitoring unit 2.1. A second monitoring unit 2.2 is provided for monitoring vehicle behaviour depending on the data from the number of vehicle sensors 3.5. Both the first monitoring unit 2.1 and the second monitoring unit 2.2 are coupled to a prediction unit 2.3 that predicts driving patterns of the motor vehicle Vi itself in context with driving patterns of other traffic participants (for example motor vehicles V2 and V3) dependent on the data of the first monitoring unit 2.1 and the second monitoring unit 2.2. If a critical and dangerous traffic scenario, i. e. an impending collision, is detected or predicted, a prevention unit 2.4 activates countermeasures. The countermeasures may comprise activating a seatbelt fastener 4.1 and/or a braking controller 4.2. Additionally, an audible warning buzzer 4.3 and/or a visual warning indicator 4.4 may be activated to alert the driver.
The assistant device 1 is suitable especially for overtaking manoeuvers that involve a large amount of making decisions and constant attention of the driver, wherein the workflow is highly vulnerable to human errors. Furthermore, other traffic participants might on rare occasions prove condescending and might perform dangerous measures to make the situation more critical. The described assistant device 1 provides a reliable and low-cost method to assist the driver in traffic as it is explained in more detail in figure 3.
Figure 3 shows a flow chart of the method to assist the driver of a motor vehicle Vi.
When the method is started (indicated with "Start"), a first step Si includes reading data from the sensors 3, 3.5. A second step S2 includes analyzing the read data by the control unit 2, in particular by the first monitoring unit 2.1 and by the second monitoring unit 2.2.
Depending on the analyzed data, the prediction unit 2.3 predicts driving patterns of the motor vehicle Vi itself in context with driving patterns of other traffic participants (for example of the motor vehicles V2 and V3).
In a third step S3, the prediction unit 2.3 decides if a critical traffic scenario is present or expected and if so, controls the prevention unit 2.4 to activate countermeasures in a fourth step S4.
In a fifth step SS; the second monitoring unit 2.2 detects a required deceleration of the motor vehicle Vi. If a deceleration is detected, a following sixth step S6 is performed, wherein a sufficiency of a brake force of the motor vehicle Vi is determined. If no deceleration of the motor vehicle Vi is detected, the method returns back to the third step S3.
In a seventh step S7 following the sixth step S6, it is analysed, if the detected braking force is sufficient and if so, an eighth step SB is performed. In the eighth step SB, it is analysed, if an accident, in particular a collision can be avoided. If it is detected that the detected braking force is not sufficient, a sub-step S9 is performed, in which the brake force will be increased.
The method as described above can independently and quickly analyze undisciplined driving of the driver and/or other traffic participants including the ones from the rear side.
The decisions of the driver and possibilities of human errors are constantly monitored, thus traffic safety may be improved at low cost.
List of References 1 assistant device 2 control unit 2.1 first monitoring unit 2.2 second monitoring unit 2.3 prediction unit 2.4 prevention unit 3 sensor 3.1 laser scanner 3.2 ultrasonic sensor 3.3 stereo camera 3.4 surround view camera 3.5 vehicle sensor 4.1 seatbelt fastener 4.2 braking controller 4.3 audible warning buzzer 4.4 visual warning indicator A to C traffic case Li first lane L2 second lane R road Si to 59 step Vito V3 motor vehicle x second driving direction y first driving direction

Claims (8)

  1. SClaims A method for assisting a driver of a motor vehicle (Vi), characterized in that an external environment of the motor vehicle (Vi) is detected in a predetermined range of detection including a front side, a lateral side and a rear side by a number of sensors (3) arranged on the motor vehicle (Vi) and coupled to at least one control unit (2), whereby -a current traffic is analysed depending on environmental data of the number of sensors (3), -a warning is emitted to the driver of the motor vehicle (Vi) when an overtaking manoeuvre of another motor vehicle (V2) from the rear side is detected and when a critical current traffic in the front side and/or lateral side is evaluated at the same time and -countermeasures are activated after emitting the warning, wherein brake force is provided to the motor vehicle (Vi) if a collision is imminent.
  2. 2. The method according to claim 1, characterized in that objects are detected in the predetermined range of detection, whereby a series of different object positions are detected.
  3. 3. The method according to claim 2, characterized in that traffic patterns are predicted based on the series of detected different object positions.
  4. 4. An assisting device (1) of a motor vehicle (Vi), characterized by at least one control unit (2) that is coupled to a number of sensors (3) arranged in or on the motor vehicle (Vi) such that an external environment of the motor vehicle (Vi) is detectable in a predetermined range of detection on a front side, a lateral side and a rear side, whereby the control unit (2) -analyses a current traffic depending on environmental data detected by the number of sensors (3), -emits a warning to a driver of the motor vehicle (Vi) when an overtaking manoeuvre of another motor vehicle (V2) from the rear side is detected and when a critical current traffic in the front side and/or lateral side is evaluated at the same time and -activates countermeasures after emitting the warning, wherein brake force is provided to the motor vehicle (Vi) if a collision is imminent..
  5. 5. The assisting device (1) according to claim 4, characterized in that the number of sensors (3) comprises at least one laser scanner (3.1).
  6. 6. The assisting device (1) according to claim 4 or 5, characterized in that the number of sensors (3) comprises at least one ultrasonic sensor (3.2).
  7. 7. The assisting device (1) according to any one of the claims 4 to 6, characterized in that the number of sensors (3) comprises at least one stereo camera (3.3).
  8. 8. The assisting device (1) according to any one of the claims 4 to 7, characterized in that the number of sensors (3) comprises at least one surround view camera (3.4).
GB1519829.4A 2015-11-10 2015-11-10 Method for assisting a driver of a motor vehicle and assisting device Withdrawn GB2529578A (en)

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GB2529578A true GB2529578A (en) 2016-02-24

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Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107776525A (en) * 2016-08-26 2018-03-09 北京汽车股份有限公司 Vehicle collision avoidance system, vehicle and its collision-proof method
CN108230680A (en) * 2016-12-13 2018-06-29 腾讯科技(深圳)有限公司 A kind of vehicle behavior information acquisition method, device and terminal
CN108482367A (en) * 2018-03-13 2018-09-04 京东方科技集团股份有限公司 A kind of method, apparatus and system driven based on intelligent back vision mirror auxiliary
CN108538087A (en) * 2018-06-01 2018-09-14 青岛理工大学 Tunnel traffic accident monitoring based on laser scanning location technology and early warning system
WO2019213981A1 (en) * 2018-05-08 2019-11-14 清华大学 Real-time driving risk assessment method employing equivalent force and device thereof

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107776525A (en) * 2016-08-26 2018-03-09 北京汽车股份有限公司 Vehicle collision avoidance system, vehicle and its collision-proof method
CN108230680A (en) * 2016-12-13 2018-06-29 腾讯科技(深圳)有限公司 A kind of vehicle behavior information acquisition method, device and terminal
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WO2019213981A1 (en) * 2018-05-08 2019-11-14 清华大学 Real-time driving risk assessment method employing equivalent force and device thereof
CN108538087A (en) * 2018-06-01 2018-09-14 青岛理工大学 Tunnel traffic accident monitoring based on laser scanning location technology and early warning system
CN108538087B (en) * 2018-06-01 2021-09-03 青岛理工大学 Tunnel traffic accident monitoring and early warning system based on laser scanning positioning technology

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