JP2019507440A - ブレーキ動作に対する残り距離の決定を含む自動車両を操作するための方法、制御ユニット、運転者支援システム、及び自動車両 - Google Patents
ブレーキ動作に対する残り距離の決定を含む自動車両を操作するための方法、制御ユニット、運転者支援システム、及び自動車両 Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/08—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
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
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- 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
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- B60—VEHICLES IN GENERAL
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- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/08—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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/08—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
- B60W30/0953—Predicting travel path or likelihood of collision the prediction being responsive to vehicle dynamic parameters
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/08—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
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- 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
- B60W60/001—Planning or execution of driving tasks
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
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- 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
- B60W2530/00—Input parameters relating to vehicle conditions or values, not covered by groups B60W2510/00 or B60W2520/00
- B60W2530/18—Distance travelled
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- 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
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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
- B60Y2400/00—Special features of vehicle units
- B60Y2400/81—Braking systems
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Abstract
Description
Claims (13)
- 自動車両(1)を操作するための方法であって、前記自動車両(1)を操作するための軌道が決定され、前記自動車両(1)を前記軌道に沿って操作する際に、前記軌道のターニングポイントまでの距離を表す通知距離(DTH)と、前記自動車両(1)の周囲(7)にある物体(8)までの距離を表す衝突距離(DTC)とが決定され、前記通知距離(DTH)及び前記衝突距離(DTC)に基づいて、前記自動車両(1)のブレーキシステムの作動までの残り距離(R)が決定される方法であって、
前記通知距離(DTH)の時間曲線における変動に基づいて、補正通知距離(DTHk)が継続的な態様で決定され、
前記衝突距離(DTC)の時間曲線における変動に基づいて、補正衝突距離(DTCk)が継続的な態様で決定され、
前記残り距離(R)は、前記補正通知距離(DTHk)及び前記補正衝突距離に基づいて決定される、方法。 - 前記補正通知距離(DTHk)及び/又は前記補正衝突距離(DTCk)を決定するために、前記通知距離(DTH)の時間曲線における及び/又は前記衝突距離(DTC)の時間曲線におけるジャンプ(9、10)が変動として検出される、請求項1に記載の方法。
- 前記通知距離(DTH)及び/又は前記衝突距離(DTC)の時間曲線における正ジャンプ(9)が変動として検出され、且つ前記正ジャンプ(9)のレベルが所定の閾値を下回る場合、前記補正通知距離(DTHk)及び/又は前記補正衝突距離(DTCk)は一定とされる、請求項1又は2に記載の方法。
- 前記通知距離(DTH)及び/又は前記衝突距離(DTC)の時間曲線における正ジャンプ(9)が変動として検出され、且つ前記正ジャンプ(9)のレベルが所定の閾値を超える場合、前記補正通知距離(DTHk)及び/又は前記補正衝突距離(DTCk)は上昇させられる、請求項1乃至3のいずれか一項に記載の方法。
- 負ジャンプ(10)が前記通知距離(DTH)の時間曲線における変動として検出された場合、所定の値が前記通知距離(DTH)の時間曲線に付加されて前記補正通知距離(DTHk)が決定される、請求項1乃至4のいずれか一項に記載の方法。
- 負ジャンプが前記衝突距離(DTC)の時間曲線における変動として検出された場合、前記衝突距離は前記補正衝突距離(DTCk)として採用される、請求項1乃至5のいずれか一項に記載の方法。
- 前記補正通知距離(DTHk)が前記補正衝突距離(DTCk)より大きい場合、前記残り距離(R)は、前記補正通知距離(DTHk)及び前記補正衝突距離(DTCk)の最小値に基づいて決定される、請求項1乃至6のいずれか一項に記載の方法。
- 前記補正通知距離(DTHk)及び/又は前記補正衝突距離(DTCk)を決定するために、前記通知距離(DTH)の時間曲線と前記衝突距離(DTC)の時間曲線との間のジャンプがスムージングされる、請求項1乃至7のいずれか一項に記載の方法。
- 前記自動車両(1)の操作中に前記通知距離(DTH)を超えた場合、通知が出力される、請求項1乃至8のいずれか一項に記載の方法。
- 前記補正通知距離(DTHk)及び前記補正衝突距離の決定は、前記自動車両(1)のギアチェンジ後にアップデートされる、請求項1乃至9のいずれか一項に記載の方法。
- 自動車両(1)の運転者支援システム(2)用の制御ユニット(3)であって、請求項1乃至10のいずれか一項に記載の方法を実施するように設計された制御ユニット(3)。
- 自動車両(1)用の運転者支援システム(2)であって、請求項11に記載の制御ユニット(3)を備える運転者支援システム(2)。
- 請求項12に記載の運転者支援システムを備える自動車両(1)。
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Application Number | Priority Date | Filing Date | Title |
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DE102016103673.0A DE102016103673A1 (de) | 2016-03-01 | 2016-03-01 | Verfahren zum Manövrieren eines Kraftfahrzeugs mit Bestimmung eines Restwegs zur Bremsansteuerung, Steuereinrichtung, Fahrerassistenzsystem sowie Kraftfahrzeug |
DE102016103673.0 | 2016-03-01 | ||
PCT/EP2017/054551 WO2017148884A1 (de) | 2016-03-01 | 2017-02-28 | Verfahren zum manövrieren eines kraftfahrzeugs mit bestimmung eines restwegs zur bremsansteuerung, steuereinrichtung, fahrerassistenzsystem sowie kraftfahrzeug |
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US (1) | US11124183B2 (ja) |
EP (1) | EP3423323B1 (ja) |
JP (1) | JP6772285B2 (ja) |
KR (1) | KR20180104143A (ja) |
CN (1) | CN109070880B (ja) |
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FR3095399B1 (fr) * | 2019-04-26 | 2021-04-02 | Renault Sas | Procédé et système d’aide au stationnement d’un véhicule automobile comprenant un module de régulation de toute discontinuité dans la distance restante à parcourir |
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EP1037760B1 (de) * | 1997-12-15 | 2003-04-02 | Volkswagen Aktiengesellschaft | Verfahren zur regelung von geschwindigkeit und abstand bei überholvorgängen |
US7299126B2 (en) * | 2003-11-03 | 2007-11-20 | International Business Machines Corporation | System and method for evaluating moving queries over moving objects |
CN101980916B (zh) * | 2008-04-03 | 2013-08-14 | 法雷奥开关和传感器有限责任公司 | 用于辅助车辆驾驶员离开停车位的方法和设备 |
DE102010001258A1 (de) * | 2010-01-27 | 2011-07-28 | Robert Bosch GmbH, 70469 | Fahrerassistenzverfahren |
DE102010020206A1 (de) * | 2010-05-12 | 2011-11-17 | Volkswagen Ag | Verfahren zum Einparken oder Ausparken eines Fahrzeugs sowie entsprechendes Assistenzsystem und Fahrzeug |
KR20140039841A (ko) | 2012-09-25 | 2014-04-02 | 현대모비스 주식회사 | 차량 충돌 방지 방법 및 장치 |
CN104111058B (zh) * | 2013-04-16 | 2016-12-28 | 杰发科技(合肥)有限公司 | 车距测量方法及装置、车辆相对速度测量方法及装置 |
GB2518187A (en) * | 2013-09-12 | 2015-03-18 | Ford Global Tech Llc | Collision warning for a driver controlled vehicle |
TW201524813A (zh) * | 2013-12-27 | 2015-07-01 | Hon Hai Prec Ind Co Ltd | 車輛輔助系統及車輛輔助方法 |
DE102014107827A1 (de) * | 2014-06-04 | 2015-12-17 | Valeo Schalter Und Sensoren Gmbh | Verfahren zum Bestimmen einer Position eines Objekts in einer Umgebung eines Kraftfahrzeugs, Fahrerassistenzsystem und Kraftfahrzeug |
DE102014111122A1 (de) * | 2014-08-05 | 2016-02-11 | Valeo Schalter Und Sensoren Gmbh | Verfahren zum zumindest semi-autonomen Manövrieren eines Kraftfahrzeugs, Fahrerassistenzsystem sowie Kraftfahrzeug |
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US11124183B2 (en) | 2021-09-21 |
US20190092319A1 (en) | 2019-03-28 |
CN109070880B (zh) | 2021-10-26 |
DE102016103673A1 (de) | 2017-09-07 |
EP3423323A1 (de) | 2019-01-09 |
CN109070880A (zh) | 2018-12-21 |
JP6772285B2 (ja) | 2020-10-21 |
EP3423323B1 (de) | 2022-11-30 |
WO2017148884A1 (de) | 2017-09-08 |
KR20180104143A (ko) | 2018-09-19 |
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