JP2011520704A - 運転者援助システム - Google Patents
運転者援助システム Download PDFInfo
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- JP2011520704A JP2011520704A JP2011510850A JP2011510850A JP2011520704A JP 2011520704 A JP2011520704 A JP 2011520704A JP 2011510850 A JP2011510850 A JP 2011510850A JP 2011510850 A JP2011510850 A JP 2011510850A JP 2011520704 A JP2011520704 A JP 2011520704A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T7/00—Brake-action initiating means
- B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
- B60T7/22—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger initiated by contact of vehicle, e.g. bumper, with an external object, e.g. another vehicle, or by means of contactless obstacle detectors mounted on the vehicle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T17/00—Component parts, details, or accessories of power brake systems not covered by groups B60T8/00, B60T13/00 or B60T15/00, or presenting other characteristic features
- B60T17/18—Safety devices; Monitoring
- B60T17/22—Devices for monitoring or checking brake systems; Signal devices
- B60T17/221—Procedure or apparatus for checking or keeping in a correct functioning condition of brake systems
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/86—Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
- G01S13/867—Combination of radar systems with cameras
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T2201/00—Particular use of vehicle brake systems; Special systems using also the brakes; Special software modules within the brake system controller
- B60T2201/02—Active or adaptive cruise control system; Distance control
- B60T2201/022—Collision avoidance systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T2201/00—Particular use of vehicle brake systems; Special systems using also the brakes; Special software modules within the brake system controller
- B60T2201/02—Active or adaptive cruise control system; Distance control
- B60T2201/024—Collision mitigation systems
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/86—Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
- G01S2013/93185—Controlling the brakes
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
- G01S2013/932—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles using own vehicle data, e.g. ground speed, steering wheel direction
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
- G01S2013/9325—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles for inter-vehicle distance regulation, e.g. navigating in platoons
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
- G01S2013/9327—Sensor installation details
- G01S2013/93271—Sensor installation details in the front of the vehicles
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Traffic Control Systems (AREA)
- Regulating Braking Force (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Valves And Accessory Devices For Braking Systems (AREA)
Abstract
本発明によれば、電気制御装置(28)が、次の段階を持つ方法を実施するために、即ち先行車両(15)の先行車両走行データ(A,vVf)の冗長な検出を行い、先行車両走行データ(A,vVf)の冗長な検出が不可能になる場合、先行車両走行データ(A,vVf)の冗長でない検出を行い、冗長でなく検出される走行データを、所定時間(t)内に冗長に検出される先行車両走行データと比較し、冗長でなく検出される先行車両走行データが冗長に検出される先行車両走行データに一致する場合、段階(d)を実施するために冗長でなく検出される先行車両走行データを使用するために設けられている。
【選択図】図1
Description
(a)自動車の走行速度の形の走行データを検出する走行速度検出装置、
(b)自動車の前を走行する先行車両に対する間隔の形の走行データを検出するため、第 1の構成要素としての少なくとも1つのビデオカメラ及び第2の構成要素としての 少なくとも1つの間隔センサを含む先行車両検出装置、
(c)先行車両の先行車両速度を検出する先行車両検出装置及び
(d)所定の制動開始走行データが存在すると自動車の自発制動を開始し、所定の制動中 止走行データが存在すると自動車の自発制動を終了するために設けられている電気 制御装置
を有するものに関する。
Claims (5)
- 自動車用運転者援助システムであって、
(a)自動車(10)の走行速度(vk)の形の走行データを検出する走行速度検出装置 (22)、
(b)自動車(10)の前を走行する先行車両(16)に対する間隔(A)の形の走行デ ータを検出するため、第1の構成要素としての少なくとも1つのビデオカメラ(1 8)及び第2の構成要素としての少なくとも1つの間隔センサ(20)を含む先行 車両検出装置(14)、
(c)先行車両(16)の先行車両速度(vVf)の形の走行データを検出する先行車両 検出装置及び
(d)所定の制動開始走行データが存在すると自動車(10)の自発制動を開始し、所定 の制動中止走行データが存在すると自動車(10)の自発制動を終了するために設 けられている電気制御装置(28)
を有するものにおいて、
(e)電気制御装置(28)が、次の段階を持つ方法を実施するために、即ち
(i) 先行車両(15)の先行車両走行データ(A,vVf)の冗長な検出を行 い、
(ii)先行車両走行データ(A,vVf)の冗長な検出が不可能になる場合、
先行車両走行データ(A,vVf)の冗長でない検出を行い、
冗長でなく検出される先行車両走行データを、所定時間(t)内に冗長に 検出される先行車両走行データと比較し、
冗長でなく検出される先行車両走行データが冗長に検出される先行車両走 行データに一致する場合、段階(d)を実施するために冗長でなく検出さ れる先行車両走行データを使用する
ために設けられている
ことを特徴とする、運転者援助システム。 - 電気制御装置(28)が、次の付加的な段階を持つ方法を実施するために、即ち構成要素(18,20)の少なくとも1つが故障し、従って先行車両走行データ(A,vVf)の検出が不可能になる場合、
(i) 自動車(10)に対して最後に検出される先行車両(16)の間隔が所定の最少 間隔(Amindest)を下回るか否かを確かめ、
(ii)肯定の場合自発制動の中止を差止める
ために構成されている
ことを特徴とする、請求項1に記載の運転者援助システム。 - 電気制御装置が、次の付加的な段階を持つ方法を実施するために、即ち先行車両の冗長な検出後、先行車両検出装置(14)のすべての構成要素(18,20)が故障する場合、
先行車両(16)に対する間隔(A)及び先行車両速度(VVf)を外挿し、かつ段階 (d)を実施するために、外挿される間隔(A)及び/又は外挿される先行車両速度( vVf)を使用する
ために設けられている
ことを特徴とする、先行する請求項の1つに記載の運転者援助システム。 - ビデオカメラ(18)が信号を出しかつ先行車両(16)を検出しないか否かを検出することによって、先行車両検出装置の構成要素の少なくとも1つが故障しているか否かを検出するために、電気制御装置が構成されていることを特徴とする、先行する請求項の1つに記載の運転者援助システム。
- 先行する請求項の1つに記載の運転者援助システムを持つ自動車。
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102008024929.7 | 2008-05-23 | ||
DE102008024929A DE102008024929A1 (de) | 2008-05-23 | 2008-05-23 | Fahrerassistenzsystem |
PCT/EP2009/001280 WO2009141025A1 (de) | 2008-05-23 | 2009-02-24 | Fahrerassistenzsystem |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2011520704A true JP2011520704A (ja) | 2011-07-21 |
JP5597839B2 JP5597839B2 (ja) | 2014-10-01 |
Family
ID=40718668
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2011510850A Active JP5597839B2 (ja) | 2008-05-23 | 2009-02-24 | 運転者援助システム |
Country Status (7)
Country | Link |
---|---|
US (1) | US8423231B2 (ja) |
EP (1) | EP2285632B1 (ja) |
JP (1) | JP5597839B2 (ja) |
CN (2) | CN104554215B (ja) |
DE (1) | DE102008024929A1 (ja) |
PL (1) | PL2285632T3 (ja) |
WO (1) | WO2009141025A1 (ja) |
Families Citing this family (22)
Publication number | Priority date | Publication date | Assignee | Title |
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JP5702400B2 (ja) * | 2010-11-01 | 2015-04-15 | 株式会社日立製作所 | 車載装置および制御方法 |
EP2701134B1 (en) * | 2011-04-18 | 2020-10-07 | Toyota Jidosha Kabushiki Kaisha | Driver condition assessment device |
KR20130009132A (ko) * | 2011-07-14 | 2013-01-23 | 현대자동차주식회사 | 가시광 통신을 이용한 차량 제어 장치 및 그 방법 |
DE102011114072C5 (de) * | 2011-09-22 | 2021-04-22 | Knorr-Bremse Systeme für Nutzfahrzeuge GmbH | Fahrerassistenzsystem mit autonomer Bremsung bis zum Stillstand |
DE102011118551C5 (de) | 2011-11-16 | 2021-07-29 | Continental Teves Ag & Co. Ohg | Verfahren und Vorrichtung für ein Assistenzsystem in einem Fahrzeug zur Durchführung eines autonomen oder teilautonomen Fahrmanövers |
DE102012200126A1 (de) * | 2012-01-05 | 2013-07-11 | Robert Bosch Gmbh | Fahrerassistenzdienst |
DE102012005074A1 (de) * | 2012-03-13 | 2013-09-19 | Gm Global Technology Operations, Llc | Fahrerassistenzsystem |
US9221396B1 (en) | 2012-09-27 | 2015-12-29 | Google Inc. | Cross-validating sensors of an autonomous vehicle |
KR101449210B1 (ko) * | 2012-12-27 | 2014-10-08 | 현대자동차주식회사 | 자율 주행 차량의 운전모드 전환 장치 및 그 방법 |
CN103264687A (zh) * | 2013-05-31 | 2013-08-28 | 浙江吉利汽车研究院有限公司杭州分公司 | 一种辅助制动方法及装置 |
US9552732B2 (en) * | 2014-04-02 | 2017-01-24 | Robert Bosch Gmbh | Driver assistance system including warning sensing by vehicle sensor mounted on opposite vehicle side |
JP6462328B2 (ja) * | 2014-11-18 | 2019-01-30 | 日立オートモティブシステムズ株式会社 | 走行制御システム |
DE102015012377A1 (de) * | 2015-09-21 | 2017-03-23 | Wabco Gmbh | Verfahren zum Einstellen von Bremsdrücken eines Kraftfahrzeugs, Bremsanlage zur Durchführung des Verfahrens sowie Kraftfahrzeug |
DE102015220355A1 (de) * | 2015-10-20 | 2017-04-20 | Robert Bosch Gmbh | Substitution von Sensormessdaten |
CN105946765A (zh) * | 2016-06-30 | 2016-09-21 | 成都生辉电子科技有限公司 | 一种汽车防撞控制方法 |
CN109591811B (zh) * | 2017-09-28 | 2020-08-14 | 华为技术有限公司 | 车辆制动方法、装置及存储介质 |
CN107656519B (zh) * | 2017-09-30 | 2020-03-10 | 北京新能源汽车股份有限公司 | 电动车辆的驾驶控制方法及装置 |
US10703340B2 (en) * | 2018-02-02 | 2020-07-07 | Ford Global Technologies, Llc | Sensor cleaning system |
JP7163589B2 (ja) * | 2018-02-14 | 2022-11-01 | 株式会社デンソー | 運転支援装置 |
US11699207B2 (en) | 2018-08-20 | 2023-07-11 | Waymo Llc | Camera assessment techniques for autonomous vehicles |
US11227409B1 (en) | 2018-08-20 | 2022-01-18 | Waymo Llc | Camera assessment techniques for autonomous vehicles |
US20220096290A1 (en) * | 2020-09-25 | 2022-03-31 | Rajeev Ramanath | System and method to control multiple inputs provided to a powered wheelchair |
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-
2008
- 2008-05-23 DE DE102008024929A patent/DE102008024929A1/de not_active Withdrawn
-
2009
- 2009-02-24 CN CN201410753483.2A patent/CN104554215B/zh active Active
- 2009-02-24 CN CN2009801184298A patent/CN102036863A/zh active Pending
- 2009-02-24 JP JP2011510850A patent/JP5597839B2/ja active Active
- 2009-02-24 PL PL09749515T patent/PL2285632T3/pl unknown
- 2009-02-24 EP EP09749515.4A patent/EP2285632B1/de active Active
- 2009-02-24 US US12/992,014 patent/US8423231B2/en active Active
- 2009-02-24 WO PCT/EP2009/001280 patent/WO2009141025A1/de active Application Filing
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JPH04276585A (ja) * | 1991-03-04 | 1992-10-01 | Toyota Motor Corp | 車載用測距装置 |
JP2002116255A (ja) * | 2000-10-06 | 2002-04-19 | Nissan Motor Co Ltd | 車間距離設定装置 |
JP2004009831A (ja) * | 2002-06-05 | 2004-01-15 | Nissan Motor Co Ltd | 車間距離制御装置 |
JP2004347471A (ja) * | 2003-05-22 | 2004-12-09 | Fuji Heavy Ind Ltd | 先行車両検出装置 |
JP2007091208A (ja) * | 2005-08-31 | 2007-04-12 | Honda Motor Co Ltd | 車両の走行安全装置 |
Also Published As
Publication number | Publication date |
---|---|
EP2285632A1 (de) | 2011-02-23 |
PL2285632T3 (pl) | 2015-02-27 |
JP5597839B2 (ja) | 2014-10-01 |
CN104554215B (zh) | 2022-04-15 |
DE102008024929A1 (de) | 2009-11-26 |
CN104554215A (zh) | 2015-04-29 |
US8423231B2 (en) | 2013-04-16 |
US20110166746A1 (en) | 2011-07-07 |
EP2285632B1 (de) | 2014-09-24 |
CN102036863A (zh) | 2011-04-27 |
WO2009141025A1 (de) | 2009-11-26 |
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