JP2023071812A - 自転車に接近する車両の追越し操作を確実にするための方法および装置 - Google Patents
自転車に接近する車両の追越し操作を確実にするための方法および装置 Download PDFInfo
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- 238000004590 computer program Methods 0.000 claims description 5
- 230000003213 activating effect Effects 0.000 claims 1
- 238000013459 approach Methods 0.000 description 5
- 230000003044 adaptive effect Effects 0.000 description 3
- 238000004891 communication Methods 0.000 description 3
- 230000006870 function Effects 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
- 230000006399 behavior Effects 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000003203 everyday effect Effects 0.000 description 1
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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
- B60W60/0015—Planning or execution of driving tasks specially adapted for safety
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
- B60Q1/26—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic
- B60Q1/34—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating change of drive direction
- B60Q1/346—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating change of drive direction with automatic actuation
-
- 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
- B60W30/14—Adaptive cruise control
- B60W30/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
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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, 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
- B60W30/18163—Lane change; Overtaking manoeuvres
-
- 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
- B60W40/00—Estimation 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
- B60W40/08—Estimation 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 drivers or passengers
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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
- B60W50/00—Details 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
- B60W50/0097—Predicting future conditions
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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
- B60W50/00—Details 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
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
-
- 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
- B60W50/00—Details 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
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
- B60W50/16—Tactile feedback to the driver, e.g. vibration or force feedback to the driver on the steering wheel or the accelerator pedal
-
- 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
- B60W60/0027—Planning or execution of driving tasks using trajectory prediction for other traffic participants
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- 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
- B60W50/00—Details 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
- B60W50/08—Interaction between the driver and the control system
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- B60W2050/143—Alarm means
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- 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
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- B60W2552/53—Road markings, e.g. lane marker or crosswalk
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- 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
- B60W2554/40—Dynamic objects, e.g. animals, windblown objects
- B60W2554/402—Type
- B60W2554/4026—Cycles
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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
- 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
- B60W2555/00—Input parameters relating to exterior conditions, not covered by groups B60W2552/00, B60W2554/00
- B60W2555/60—Traffic rules, e.g. speed limits or right of way
-
- 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
- B60W2754/00—Output or target parameters relating to objects
- B60W2754/10—Spatial relation or speed relative to objects
- B60W2754/20—Lateral distance
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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, 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
Abstract
Description
れた装置が得られる。
にのみ、車両がセンターラインを超えて走行することを考慮に入れている。図2のように、センターライン200とサイクリストとの間のスペースが十分でない場合には、自動的な追越し操作を開始することはできない。ラインは画像センサによって検出できる。
Claims (13)
- 自転車(100)に接近する車両(102)の追越し操作を確実にする方法であって、
前記自転車(100)の予想経路(112)との安全間隔(108)をあけることができないときは、前記車両(102)の将来のルート(110)を自動的に変更し、
当該変更されたルート(114)が利用可能な通行空間(116)の内側を通るときは、当該変更されたルート(114)に前記車両を案内する、
ことを特徴とする方法。 - 請求項1に記載の方法であって、前記車両(102)のセンサシステムのセンサ情報に基づいて前記車両(102)の将来のルート(110)を自動的に変更し、前記センサ情報に基づいて前記利用可能な通行空間(116)を自動的に決定する、方法。
- 請求項1および2のいずれかに記載の方法であって、当該変更されたルート(114)が前記利用可能な通行空間(116)の外側を通るときに、前記車両(102)の速度を変更する、方法。
- 請求項3に記載の方法であって、当該変更された速度を使用して前記車両(102)の将来のルート(110)を新たに決定して、当該方法を再び実施する、方法。
- 請求項1から4までのいずれか1項に記載の方法であって、現在の運転者の入力を使用して前記将来のルート(110)を予測する、方法。
- 請求項5に記載の方法であって、前記運転者の入力が、当該変更されたルート(114)および/または当該変更された速度からずれているときは、反対の力によって前記運転者の入力に対抗する、方法。
- 請求項5または6に記載の方法であって、前記運転者の入力が、当該変更されたルート(114)および/または当該変更された速度からずれているときに警告を出力する、方法。
- 請求項1から7までのいずれか1項に記載の方法であって、検出された交通標識を表す交通標識情報および/または検出された路面標識を表す路面標識情報を使用して、前記利用可能な通行空間(116)を決定する、方法。
- 請求項1から8までのいずれか1項に記載の方法であって、検出された対向交通ルートを表す対向交通情報を使用して前記利用可能な通行空間(116)を決定する、方法。
- 請求項1から9までのいずれか1項に記載の方法であって、前記追い越し操作の前および前記追い越し操作の時に、前記車両(102)の方向指示器を動作させる、方法。
- 請求項1から10までのいずれか1項に記載の方法を、対応する複数のデバイスにおいて実行、実施および/または制御するように構成されている装置(100)。
- 請求項1~10のいずれか1項に記載の方法を実行、実施および/または制御するように構成されたコンピュータプログラム製品。
- 請求項12に記載のコンピュータプログラム製品が記憶されている機械読み取り可能な記録媒体。
Applications Claiming Priority (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102018214962.3A DE102018214962A1 (de) | 2018-09-04 | 2018-09-04 | Verfahren und Vorrichtung zum Absichern eines Überholvorgangs eines auf ein Fahrrad auffahrenden Fahrzeugs |
DE102018214962.3 | 2018-09-04 | ||
JP2021536148A JP2021535043A (ja) | 2018-09-04 | 2019-05-27 | 自転車に接近する車両の追越し操作を確実にするための方法および装置 |
PCT/EP2019/063698 WO2020048651A1 (de) | 2018-09-04 | 2019-05-27 | Verfahren und vorrichtung zum absichern eines überholvorgangs eines auf ein fahrrad auffahrenden fahrzeugs |
Related Parent Applications (1)
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JP2021536148A Division JP2021535043A (ja) | 2018-09-04 | 2019-05-27 | 自転車に接近する車両の追越し操作を確実にするための方法および装置 |
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Publication Number | Publication Date |
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JP2023071812A true JP2023071812A (ja) | 2023-05-23 |
JP7467717B2 JP7467717B2 (ja) | 2024-04-15 |
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Application Number | Title | Priority Date | Filing Date |
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JP2021536148A Pending JP2021535043A (ja) | 2018-09-04 | 2019-05-27 | 自転車に接近する車両の追越し操作を確実にするための方法および装置 |
JP2023029128A Active JP7467717B2 (ja) | 2018-09-04 | 2023-02-28 | 自転車に接近する車両の追越し操作を確実にするための方法および装置 |
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JP2021536148A Pending JP2021535043A (ja) | 2018-09-04 | 2019-05-27 | 自転車に接近する車両の追越し操作を確実にするための方法および装置 |
Country Status (6)
Country | Link |
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US (1) | US20210139047A1 (ja) |
EP (1) | EP3847067A1 (ja) |
JP (2) | JP2021535043A (ja) |
CN (1) | CN112654543A (ja) |
DE (1) | DE102018214962A1 (ja) |
WO (1) | WO2020048651A1 (ja) |
Families Citing this family (4)
Publication number | Priority date | Publication date | Assignee | Title |
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DE102019101662A1 (de) * | 2019-01-23 | 2020-07-23 | Bayerische Motoren Werke Aktiengesellschaft | Verfahren und Steuereinheit zum Betrieb eines adaptiven Geschwindigkeitsreglers |
CN111452789A (zh) * | 2020-04-07 | 2020-07-28 | 北京汽车集团越野车有限公司 | 自动驾驶超车控制方法及系统 |
FR3117437A1 (fr) * | 2020-12-16 | 2022-06-17 | Psa Automobiles Sa | Procédé et dispositif de dépassement d’un cycle par un véhicule autonome sans changement de voie. |
FR3123490A1 (fr) * | 2021-06-01 | 2022-12-02 | Psa Automobiles Sa | Procédé de gestion de l’affichage de la distance latérale de sécurité devant être respectée par un véhicule automobile en cas de dépassement d’un usager de la route vulnérable |
Family Cites Families (18)
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JP4211809B2 (ja) * | 2006-06-30 | 2009-01-21 | トヨタ自動車株式会社 | 物体検出装置 |
JP2011006007A (ja) * | 2009-06-29 | 2011-01-13 | Nissan Motor Co Ltd | 追従制御装置および追従制御方法 |
DE102010063420A1 (de) * | 2010-12-17 | 2012-06-21 | Bayerische Motoren Werke Aktiengesellschaft | Fahrerassistenzsystem mit einer Sensoranordnung zur Erfassung des Abstandes des eigenen Fahrzeuges zu einem Fremdobjekt |
US8849515B2 (en) * | 2012-07-24 | 2014-09-30 | GM Global Technology Operations LLC | Steering assist in driver initiated collision avoidance maneuver |
JP5944006B1 (ja) * | 2014-07-30 | 2016-07-05 | 株式会社小松製作所 | 運搬車両、ダンプトラック、及び運搬車両の制御方法 |
US9227632B1 (en) * | 2014-08-29 | 2016-01-05 | GM Global Technology Operations LLC | Method of path planning for evasive steering maneuver |
WO2016031036A1 (ja) * | 2014-08-29 | 2016-03-03 | 日産自動車株式会社 | 走行制御装置および走行制御方法 |
WO2016035199A1 (ja) * | 2014-09-05 | 2016-03-10 | 三菱電機株式会社 | 自動走行管理システム、サーバおよび自動走行管理方法 |
JP2016181260A (ja) * | 2015-03-23 | 2016-10-13 | コンチネンタル オートモーティブ システムズ インコーポレイテッドContinental Automotive Systems, Inc. | 適応型運転者支援 |
DE102015212583A1 (de) * | 2015-07-06 | 2017-01-12 | Conti Temic Microelectronic Gmbh | Fahrerassistenzvorrichtung für ein Kraftfahrzeug, Kraftfahrzeug mit einer solchen Fahrerassistenzvorrichtung sowie ein Verfahren zur Unterstützung eines Kraftfahrzeugführers beim Führen eines Kraftfahrzeugs mit einer solchen Fahrerassistenzvorrichtung |
EP3150465B1 (en) * | 2015-10-01 | 2018-12-12 | Volvo Car Corporation | Method and system for indicating a potential lane shift of a vehicle |
GB201517752D0 (en) * | 2015-10-07 | 2015-11-18 | Trw Ltd | A vehicle safety system |
JP6380920B2 (ja) * | 2016-09-05 | 2018-08-29 | マツダ株式会社 | 車両制御装置 |
DE102016223579A1 (de) * | 2016-11-28 | 2018-05-30 | Robert Bosch Gmbh | Verfahren zum Ermitteln von Daten einer Verkehrssituation |
JP6844234B2 (ja) * | 2016-12-08 | 2021-03-17 | 三菱自動車工業株式会社 | 車両の自動運転装置 |
US10011216B1 (en) * | 2017-04-27 | 2018-07-03 | Toyota Motor Engineering & Manufacturing North America, Inc. | Auto turn signal initiation based on lane change and driver history |
US10589664B2 (en) * | 2017-09-11 | 2020-03-17 | Stanislav D. Kashchenko | System and method for automatically activating turn indicators in a vehicle |
US11940798B2 (en) * | 2018-07-06 | 2024-03-26 | Toyota Research Institute, Inc. | System, method, and computer-readable medium for an autonomous vehicle to pass a bicycle |
-
2018
- 2018-09-04 DE DE102018214962.3A patent/DE102018214962A1/de active Pending
-
2019
- 2019-05-27 EP EP19728362.5A patent/EP3847067A1/de active Pending
- 2019-05-27 WO PCT/EP2019/063698 patent/WO2020048651A1/de unknown
- 2019-05-27 JP JP2021536148A patent/JP2021535043A/ja active Pending
- 2019-05-27 CN CN201980057831.3A patent/CN112654543A/zh active Pending
- 2019-05-27 US US17/047,911 patent/US20210139047A1/en not_active Abandoned
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2023
- 2023-02-28 JP JP2023029128A patent/JP7467717B2/ja active Active
Also Published As
Publication number | Publication date |
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US20210139047A1 (en) | 2021-05-13 |
WO2020048651A1 (de) | 2020-03-12 |
EP3847067A1 (de) | 2021-07-14 |
JP2021535043A (ja) | 2021-12-16 |
DE102018214962A1 (de) | 2020-03-05 |
CN112654543A (zh) | 2021-04-13 |
JP7467717B2 (ja) | 2024-04-15 |
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