GB2579237A - Method of autonomous reverse gear activation in critical situation - Google Patents

Method of autonomous reverse gear activation in critical situation Download PDF

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Publication number
GB2579237A
GB2579237A GB1819275.7A GB201819275A GB2579237A GB 2579237 A GB2579237 A GB 2579237A GB 201819275 A GB201819275 A GB 201819275A GB 2579237 A GB2579237 A GB 2579237A
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GB
United Kingdom
Prior art keywords
subject vehicle
lights
environment
critical situation
vehicle
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Withdrawn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
GB1819275.7A
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GB201819275D0 (en
Inventor
Loan Ciucur Radu
Botusescu Adrian
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.)
Continental Automotive GmbH
Continental Automotive Romania SRL
Original Assignee
Continental Automotive GmbH
Continental Automotive Romania SRL
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 Continental Automotive GmbH, Continental Automotive Romania SRL filed Critical Continental Automotive GmbH
Priority to GB1819275.7A priority Critical patent/GB2579237A/en
Publication of GB201819275D0 publication Critical patent/GB201819275D0/en
Publication of GB2579237A publication Critical patent/GB2579237A/en
Withdrawn legal-status Critical Current

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Classifications

    • 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
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • B60W60/007—Emergency override
    • 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
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/10—Conjoint control of vehicle sub-units of different type or different function including control of change-speed gearings
    • 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
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/20—Conjoint control of vehicle sub-units of different type or different function including control of steering systems
    • 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, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
    • 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, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B60W30/095—Predicting travel path or likelihood of collision
    • B60W30/0956—Predicting travel path or likelihood of collision the prediction being responsive to traffic or environmental parameters
    • 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, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/18—Propelling the vehicle
    • B60W30/18009—Propelling the vehicle related to particular drive situations
    • B60W30/18036—Reversing
    • 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, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/18—Propelling the vehicle
    • B60W30/182—Selecting between different operative modes, e.g. comfort and performance modes
    • 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
    • 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
    • G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
    • 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
    • B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
    • B60W2420/40—Photo or light sensitive means, e.g. infrared sensors
    • B60W2420/403—Image sensing, e.g. optical camera
    • 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
    • B60W2554/4044—Direction of movement, e.g. backwards
    • 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
    • B60W2710/00—Output or target parameters relating to a particular sub-units
    • B60W2710/10—Change speed gearings
    • B60W2710/1005—Transmission ratio engaged
    • 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
    • G06V20/584—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads of vehicle lights or traffic lights

Abstract

A method of autonomous reverse gear activation of a subject vehicle in a critical situation, comprising the steps of detecting vehicles in an environment of the subject vehicle and their respective state of movement, monitoring the detected vehicles by their lights, monitoring boundaries and free space in the environment, identifying said critical situation, generating a warning with respect to the environment, automatically switch from manual drive mode to autonomous drive mode, automatically switch from current gear to reverse gear, and start a backward movement of the subject vehicle in the free space. An assistance system for carrying out the method is also provided, wherein the detection and monitoring is achieved via image sensors and processors respectively. Monitored lights may include head lights, rear lights, blinking lights and brake lights, and a critical condition could be the rear lights of a nearby vehicle signaling a change from front drive to rear drive. The backward movement may be accompanied by lateral movements, and the warnings could be acoustic or visual.

Description

Description
Method of Autonomous Reverse Gear Activation in Critical Situation The invention relates to a method of autonomous reverse gear activation of a subject vehicle being in manual drive mode in a critical situation.
In motor vehicles, sensors are used to detect the vehicle environment. The information about relevant objects in the surroundings of the vehicle are implemented in driver assistance systems. These systems should assist the driver to avoid accidents, to mitigate the severity of an accident and the consequences of the accident. The driver assistance systems include ACC (Adaptive Cruise Control), pre-crash system and pedestrian collision protection, only to name a few among others. To get reliable information about environment objects, the data from two or more environment detection sensors are merged together.
More specifically, combined sensor systems capable of covering the complete surroundings of the vehicle (panoramic view (360°) around the vehicle) can be used nowadays. The output signals of these sensor systems, which are in the form of detected objects around the vehicle, can be used to perform driver assistance functions, as described for example in W02013034141 Al.
Against this background, recent developments allow to automatically switch from manual drive mode to autonomous drive mode, as well to automatically switch gears between the classic shift positions: "Neutral" N, "Park" F, "Drive" D and "Reverse" R. Such an operating system for a motor vehicle is described for example by W02017001156 Al, wherein the motor vehicle can be operated optionally in a manual driving mode or in an autonomous driving mode, comprising a fully automated longitudinal and transverse guide. The gear selector lever electronics are configured to detect a selection of the autonomous driving shift stage by the driver, and to inform the control unit directly or indirectly via same when the autonomous driving shift stage is selected. In response to said selection, the control unit activates the autonomous driving mode.
Anyway, there are specific situations when a collision would have been mitigated only by performing a fast reverse maneuver. Or, most of the time, human reaction does not match an autonomous reaction.
The present invention addresses the above-mentioned disadvantage.
The underlying technical problem is to recognize the potential critical situation when a vehicle in front of a subject vehicle 20 changes from front drive to rear drive, and to dynamically react in a secure manner.
Thus, the object of the invention is to enable a secure reversing maneuver when a vehicle in front of the subject vehicle changes 25 from front drive to rear drive.
This object is achieved according to the invention by means of a method and a driving assistance system thereof with the technical characteristics mentioned in the independent claims.
Advantageous embodiments and further developments are the subject matter of dependent claims, wherein combinations of individual features are also conceivable.
The invention solves the technical problem by means of a method of autonomous reverse gear activation that comprises: detecting vehicles in an environment of a subject vehicle together with their respective state of movement; monitoring the detected vehicles by their respective lights; monitoring boundaries and free space in the environment; identifying a critical situation when a detected vehicle in front of the subject vehicle start moving backwards. Once the critical situation is identified, a warning with respect to the environment is generated, followed by automatically switching from manual drive mode to autonomous drive mode and automatically switching from current gear to rear gear, and finally start a backward movement of the subject vehicle in the free space.
By using the method according to the invention, efficient, accurate and complex operations are performed in terms of seconds, without human intervention, while it is ensured that any danger is largely ruled out.
The inventive method is preferably employed by an assistance system of a subject vehicle. The inventive assistance system preferably comprises image sensors configured to detect and monitor an environment all around the subject vehicle by means of image data; a driving controller configured to automatically switch from manual drive mode to autonomous drive mode; a transmission gearbox controller configured to automatically switch gears; and a processor.
The advantage of using the assistance system according to the 30 invention is that driving safety by providing a self-reversing function may be enhanced.
Hereinafter, an embodiment is described in detail. In describing the embodiment, detailed descriptions of related known technologies will be omitted because they would obscure the subject of the embodiment disclosed in the present disclosure.
A vehicle mentioned in the specification as subject vehicle is a vehicle that may provide an advanced driver assistance system (ADAS) and an autonomous driving function. For example, the vehicle may provide a lane keeping assist system (LKAS), a lane departure warning system (LDWS), a pre-crash system, an autonomous emergency braking (AEB) function, a blind spot detection (BSD) function, an adaptive cruise control (ACC), pedestrian collision protection, etc. In the following, a driver assistance system that provides an autonomous reverse gear activation is described.
The driving assistance system includes image sensor(s) that captures images around the subject vehicle. Such an image sensor may be, for example, a top-view image sensor, placed on the top of the subject vehicle and able to capture images in all directions to provide an all-around view image (panoramic view or 360' environment).
Also, such image sensors may include a plurality of cameras, able to generate a panoramic view image around the subject vehicle.
In this respect, the cameras may be disposed on at least one of the front, left, right and rear of the subject vehicle, respectively. When generating the panoramic view image including such a plurality of image regions, boundaries are generated between image regions.
A processor synthesizes the still image or video obtained by the image sensors to extract necessary information concerning detected vehicles, namely their respective state of movement. The state of movement means position and orientation of the detected vehicles. Other possible features associated to the detected vehicles are: speed, size (height, width), type etc. For object classification, the image data of the camera system are evaluated and matched by means of known object recognition algorithms, e.
g. pattern matching. Also, the processor recognizes lights such as head lights, rear lights, braking lights and blinking lights out from the generated images, and interprets the maneuvers following their respective activation (turn right/left, braking, reversing and so on).
In addition to the image sensors, further sensors (such as ultrasonic, radar, Lidar, and laser sensors) maybe used to detect and monitor the environment of the subject vehicle. By merging their data, the relative distance between the detected objects (moving objects, and vehicles in particular) and the subject vehicle may be accurately measured. Objects all-around the subject vehicle are not only detected, their respective trajectory is also tracked, which makes possible the prediction of a probable future path for the detected vehicles. In this case, the processor is included in a fusion module.
However, by merging data provided by the image sensors and other sensors, the free space adjacent to the subject vehicle is determined by calculating the length and the width of such a free space. The calculus considers a predetermined safety threshold, meaning a minimal radius up to which such a reverse maneuver may be performed, as to rule out any danger.
Before reverse gear activation, a warning is issued by means of acoustic and/or visual signals, wherein signaling devices that are present in the subject vehicle (e.g., horn, direction indicator or hazard warning light) as well as additional signaling devices arranged on/in the subject vehicle maybe used. The role of such a warning is to alert mainly the drivers of the vehicles detected in the monitored environment about the intended reversing maneuver.
The said processor may be part of a control unit, for example, 5 an autonomous driving control unit. It is further configured to automatically switch from manual drive mode to autonomous drive mode; also, to provide control signals as to automatically switch gears from a current gear to rear gear. In this respect, the processor is configured to calculate required steering angles for 10 such a backward movement of the vehicle in order to permit the subject vehicle to move in the free space out of the danger and to perform autonomous driving of the vehicle to a calculated backward movement position, as to prevent an accident.
That is, the processor may provide an autonomous reverse gear activation to safely move backwards the subject vehicle.
Identifying a critical situation that requires an urgent reversing maneuver is an essential feature for the present invention. It is not sufficient to detect and monitor the environment to identify a critical situation; the processor must be trained to recognize such a situation. For example, such a case is present when the subject vehicle is placed behind a °receding vehicle, both vehicles are stopped, waiting for a traffic light to change. Suddenly and unexpectedly, the preceding vehicle start moving backwards, from various reasons which are not discussed here. The existence of a critical situation is identified by detecting the rear lights of the preceding vehicle, which are supposed to signal changing from front drive to rear drive. The respective lights are detected by means of the image sensors. Once the critical situation is identified, and the calculated free space permitted, the reverse gear is autonomously activated by means of the present invention, and to prevent an imminent collision with the preceding vehicle.
Another case is when the subject vehicle drives on a slope, the subject vehicle being preceded by another vehicle that suddenly move in an unintended direction by the slope. At this instance, the processor determines the free space around the subject vehicle, especially behind the subject vehicle, and perform the activation of the autonomous reverse gear to prevent an imminent incident.
Also, in all described situations, an autonomous emergency braking function may also operate, even when the subject vehicle moves backward.
Although the invention has been described with reference to an embodiment thereof, it should be understood that numerous other modifications and embodiments can be devised by those skilled in the art that will fall within the spirit and scope of the principles of this disclosure. More particularly, various variations and modifications are possible in the component parts and/or arrangements of the subject combination arrangement within the scope of the disclosure and the appended claims. In addition to variations and modifications in the component parts and/or arrangements, alternative uses will also be apparent to those skilled in the art.

Claims (7)

  1. Patent claims 1. Method of autonomous reverse gear activation of a subject vehicle being in manual drive mode in a critical situation, particularly the critical situation when a vehicle in front of the subject vehicle changes from front drive to rear drive, the method comprising the following steps: - detecting vehicles in an environment of the subject vehicle together with their respective state of movement; 10 -monitoring the detected vehicles by their respective lights; - monitoring boundaries and free space in the environment; - identifying said critical situation, - once the critical situation is identified, - generating a warning with respect to the environment, -automatically switching from manual drive mode to autonomous drive mode; - automatically switching from current gear to rear gear; - starting a backward movement of the subject vehicle in the free space.
  2. 2. Assistance system, comprising: image sensors configured to detect and monitor an environment all around a subject vehicle by means of image data; a driving controller configured to automatically switch from manual drive mode to autonomous drive mode, a transmission gearbox controller configured to automatically switch gears; at least one processor configured to - process the image data provided by the image sensors and detect 30 the nearby moving objects, vehicles in particular, according to the image data; - process the image data provided by the image sensors and determine the free space adjacent to the subject vehicle, according to the image data; - identify a critical situation when a vehicle in front of a subject vehicle changes from front drive to rear drive, and once the critical situation is identified, - generate a warning with respect to the environment, 5 -control the driving controller to automatically switch from manual drive mode to autonomous drive mode, - control the transmission gearbox controller to automatically switch from current gear to rear gear; and - control the driving controller to start a backward movement of 10 the subject vehicle in the determined free space.
  3. 3. The assistance system according to claim 2, wherein the processor is configured to process image data as to: - detect vehicles in the environment together with their 15 respective state of movement; - monitor the detected vehicles by their respective lights; - monitor boundaries and free space adjacent to the subject vehicle.
  4. 4. The assistance system according to claim 2, wherein the lights of the detected vehicles are head lights, rear lights, blinking lights and/or braking lights.
  5. 5. The assistance system according to claim 2, wherein the 25 critical situation is identified by detecting the rear lights of the vehicle in front of the subject vehicle signal changing from front drive to rear drive.
  6. 6. The assistance system according to claim 2, wherein the 30 processor is further configured to control the driving controller to accompany the backward movement with lateral movements.
  7. 7. The assistance system according to claim 2, wherein the warning is issued by means of acoustic and visual signaling devices of the subject vehicle.
GB1819275.7A 2018-11-27 2018-11-27 Method of autonomous reverse gear activation in critical situation Withdrawn GB2579237A (en)

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Application Number Priority Date Filing Date Title
GB1819275.7A GB2579237A (en) 2018-11-27 2018-11-27 Method of autonomous reverse gear activation in critical situation

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Application Number Priority Date Filing Date Title
GB1819275.7A GB2579237A (en) 2018-11-27 2018-11-27 Method of autonomous reverse gear activation in critical situation

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GB201819275D0 GB201819275D0 (en) 2019-01-09
GB2579237A true GB2579237A (en) 2020-06-17

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP4015326A1 (en) * 2020-12-15 2022-06-22 Vestel Elektronik Sanayi ve Ticaret A.S. Vehicle control system, vehicle and method

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112744212B (en) * 2019-10-30 2022-09-09 比亚迪股份有限公司 Vehicle control method and device and vehicle

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Publication number Priority date Publication date Assignee Title
DE102009025607A1 (en) * 2009-03-17 2010-02-11 Daimler Ag Method for avoiding collision of moving vehicle, involves detecting and estimating object depending periphery conditions determined by vehicle and object, where collision is impended and evasion movement or braking is carried out
GB2496278A (en) * 2011-10-28 2013-05-08 Xerox Corp Vehicle reverse detection method and system via video acquisition and processing
DE102015013043A1 (en) * 2015-10-08 2016-04-28 Daimler Ag Method for avoiding a collision or at least for reducing a collision severity of a vehicle
DE102016010289A1 (en) * 2016-08-24 2017-04-06 Daimler Ag Method for avoiding a collision

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102009025607A1 (en) * 2009-03-17 2010-02-11 Daimler Ag Method for avoiding collision of moving vehicle, involves detecting and estimating object depending periphery conditions determined by vehicle and object, where collision is impended and evasion movement or braking is carried out
GB2496278A (en) * 2011-10-28 2013-05-08 Xerox Corp Vehicle reverse detection method and system via video acquisition and processing
DE102015013043A1 (en) * 2015-10-08 2016-04-28 Daimler Ag Method for avoiding a collision or at least for reducing a collision severity of a vehicle
DE102016010289A1 (en) * 2016-08-24 2017-04-06 Daimler Ag Method for avoiding a collision

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP4015326A1 (en) * 2020-12-15 2022-06-22 Vestel Elektronik Sanayi ve Ticaret A.S. Vehicle control system, vehicle and method

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