JP5862532B2 - 車両運転支援装置 - Google Patents
車両運転支援装置 Download PDFInfo
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- JP5862532B2 JP5862532B2 JP2012213183A JP2012213183A JP5862532B2 JP 5862532 B2 JP5862532 B2 JP 5862532B2 JP 2012213183 A JP2012213183 A JP 2012213183A JP 2012213183 A JP2012213183 A JP 2012213183A JP 5862532 B2 JP5862532 B2 JP 5862532B2
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- 239000000725 suspension Substances 0.000 claims description 37
- 240000004050 Pentaglottis sempervirens Species 0.000 claims description 9
- 235000004522 Pentaglottis sempervirens Nutrition 0.000 claims description 9
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- 238000000034 method Methods 0.000 description 6
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- 238000001514 detection method Methods 0.000 description 2
- 238000003384 imaging method Methods 0.000 description 2
- 230000015572 biosynthetic process Effects 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000002689 soil Substances 0.000 description 1
- 238000003786 synthesis reaction Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D15/00—Steering not otherwise provided for
- B62D15/02—Steering position indicators ; Steering position determination; Steering aids
- B62D15/029—Steering assistants using warnings or proposing actions to the driver without influencing the steering system
- B62D15/0295—Steering assistants using warnings or proposing actions to the driver without influencing the steering system by overlaying a vehicle path based on present steering angle over an image without processing that image
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R1/00—Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
- B60R1/20—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
- B60R1/22—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles for viewing an area outside the vehicle, e.g. the exterior of the vehicle
- B60R1/23—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles for viewing an area outside the vehicle, e.g. the exterior of the vehicle with a predetermined field of view
- B60R1/27—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles for viewing an area outside the vehicle, e.g. the exterior of the vehicle with a predetermined field of view providing all-round vision, e.g. using omnidirectional cameras
-
- 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
- B60W40/02—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 ambient conditions
- B60W40/06—Road conditions
-
- 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
- B60W40/02—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 ambient conditions
- B60W40/06—Road conditions
- B60W40/064—Degree of grip
-
- 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
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/36—Input/output arrangements for on-board computers
- G01C21/3697—Output of additional, non-guidance related information, e.g. low fuel level
-
- 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
- G06V20/588—Recognition of the road, e.g. of lane markings; Recognition of the vehicle driving pattern in relation to the road
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
- B60G2400/20—Speed
- B60G2400/208—Speed of wheel rotation
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
- B60G2400/25—Stroke; Height; Displacement
- B60G2400/252—Stroke; Height; Displacement vertical
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
- B60G2400/40—Steering conditions
- B60G2400/41—Steering angle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
- B60G2400/80—Exterior conditions
- B60G2400/82—Ground surface
- B60G2400/821—Uneven, rough road sensing affecting vehicle body vibration
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2600/00—Indexing codes relating to particular elements, systems or processes used on suspension systems or suspension control systems
- B60G2600/04—Means for informing, instructing or displaying
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2800/00—Indexing codes relating to the type of movement or to the condition of the vehicle and to the end result to be achieved by the control action
- B60G2800/24—Steering, cornering
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2800/00—Indexing codes relating to the type of movement or to the condition of the vehicle and to the end result to be achieved by the control action
- B60G2800/70—Estimating or calculating vehicle parameters or state variables
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/30—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing
- B60R2300/304—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing using merged images, e.g. merging camera image with stored images
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/30—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing
- B60R2300/304—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing using merged images, e.g. merging camera image with stored images
- B60R2300/305—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing using merged images, e.g. merging camera image with stored images merging camera image with lines or icons
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/60—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by monitoring and displaying vehicle exterior scenes from a transformed perspective
- B60R2300/607—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by monitoring and displaying vehicle exterior scenes from a transformed perspective from a bird's eye viewpoint
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/70—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by an event-triggered choice to display a specific image among a selection of captured images
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/80—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement
- B60R2300/8086—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement for vehicle path indication
-
- 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
- B60W2050/146—Display means
-
- 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
- B60W2510/00—Input parameters relating to a particular sub-units
- B60W2510/22—Suspension 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
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/28—Wheel speed
-
- 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
- B60W2540/00—Input parameters relating to occupants
- B60W2540/18—Steering angle
-
- 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
- B60W2552/00—Input parameters relating to infrastructure
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Physics & Mathematics (AREA)
- Multimedia (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Mathematical Physics (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- General Physics & Mathematics (AREA)
- Human Computer Interaction (AREA)
- Theoretical Computer Science (AREA)
- Closed-Circuit Television Systems (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Traffic Control Systems (AREA)
- Vehicle Body Suspensions (AREA)
Description
車両が走行した際の車輪の位置を記憶する車輪位置記憶部と、
前記車両が走行した路面の路面状態を示す路面情報を取得する路面情報取得部と、
前記記憶された車輪の位置に関連する前記路面情報を前記車両に備えられた表示装置に表示する表示画像を生成する表示画像生成部と、
を備えている点にある。
R1=V1/Vr
R2=V2/Vr
R3=V3/Vr
R4=V4/Vr
となり、その値は1.0以上(百分率表示なら100%以上)になる場合もある。なお、経時的に演算出力(演算繰り返し周期は0.5〜1.0秒とする)される基準車輪速Vrから求められる基準車輪速Vrの変化率(加速度)が所定値(例えば1G)以上の場合は、走行路が泥地などで、全車輪が空転しているとみなすようにしてもよい。このようなスリップ情報は、スリップ情報取得部21により演算され取得される。
上記実施形態では、表示画像生成部41が、先行車輪の車輪位置Kに、凹凸情報としてサスペンション情報を重畳して表示画像を生成するとして説明した。しかしながら、本発明の適用範囲はこれに限定されるものではない。先行車輪の車輪位置Kに、車両1が走行した路面の凹凸の状態を示す凹凸情報を重畳して表示画像を生成することも可能である。路面の凹凸は、以下のように求めることができる。
5:サスペンション
12:車輪位置記憶部
13:追従車輪指標生成部
14:路面情報取得部
41:表示画像生成部
50:表示装置
100:車両運転支援装置
K:車輪位置(車輪の位置)
M:指標
Claims (11)
- 車両が走行した際の車輪の位置を記憶する車輪位置記憶部と、
前記車両が走行した路面の路面状態を示す路面情報を取得する路面情報取得部と、
前記記憶された車輪の位置に関連する前記路面情報を前記車両に備えられた表示装置に表示する表示画像を生成する表示画像生成部と、
を備え、
前記車輪が、前記車両の進行方向前側に位置する先行車輪である車両運転支援装置。 - 車両が走行した際の車輪の位置を記憶する車輪位置記憶部と、
前記車両が走行した路面の路面状態を示す路面情報を取得する路面情報取得部と、
前記記憶された車輪の位置に関連する前記路面情報を前記車両に備えられた表示装置に表示する表示画像を生成する表示画像生成部と、
前記車両の追従車輪の位置を特定する指標を生成する追従車輪指標生成部を備え、
前記表示画像生成部が、前記追従車輪の位置に前記指標を重畳する車両運転支援装置。 - 車両が走行した際の車輪の位置を記憶する車輪位置記憶部と、
前記車両が走行した路面の路面状態を示す路面情報を取得する路面情報取得部と、
前記記憶された車輪の位置に関連する前記路面情報を前記車両に備えられた表示装置に表示する表示画像を生成する表示画像生成部と、
を備え、
前記車輪が、前記車両の進行方向後側に位置する追従車輪である車両運転支援装置。 - 前記表示画像生成部は、前記記憶された車輪の位置に前記路面情報を重畳する請求項1から3のいずれか一項に記載の車両運転支援装置。
- 前記路面情報が、前記路面の凹凸を示す凹凸情報である請求項1から4のいずれか一項に記載の車両運転支援装置。
- 前記凹凸情報が、前記車輪を懸架するサスペンション機構が有するサスペンションのストローク長を示すサスペンション情報である請求項5に記載の車両運転支援装置。
- 前記路面情報が、前記路面の滑り易さを示す情報である請求項1から6のいずれか一項に記載の車両運転支援装置。
- 前記滑り易さを示す情報が、前記車輪のスリップ状態を示すスリップ情報である請求項7に記載の車両運転支援装置。
- 前記路面情報が、前記車両が走行する路面からボディの下面までの高さを示す高さ情報である請求項1から8のいずれか一項に記載の車両運転支援装置。
- 車両が走行した際の車輪の位置を記憶する車輪位置記憶部と、
前記車両が走行した路面の路面状態を示す路面情報を取得する路面情報取得部と、
前記記憶された車輪の位置に関連する前記路面情報を前記車両に備えられた表示装置に表示する表示画像を生成する表示画像生成部と、
を備え、
前記表示画像生成部は、前記記憶された車輪の走行した位置と前記路面情報とを前記車両の周囲の情景を撮影した撮影画像に基づく周囲画像に合成する車両運転支援装置。 - 前記周囲画像が、前記車両の上方を視点とする鳥瞰画像である請求項10に記載の車両運転支援装置。
Priority Applications (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2012213183A JP5862532B2 (ja) | 2012-09-26 | 2012-09-26 | 車両運転支援装置 |
EP13842835.4A EP2902295B1 (en) | 2012-09-26 | 2013-08-23 | Vehicle drive assist apparatus |
PCT/JP2013/072575 WO2014050388A1 (ja) | 2012-09-26 | 2013-08-23 | 車両運転支援装置 |
CN201380050152.6A CN104661901B (zh) | 2012-09-26 | 2013-08-23 | 车辆驾驶支援装置 |
US14/424,500 US9868396B2 (en) | 2012-09-26 | 2013-08-23 | Vehicle-drive assisting apparatus |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2012213183A JP5862532B2 (ja) | 2012-09-26 | 2012-09-26 | 車両運転支援装置 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2014067299A JP2014067299A (ja) | 2014-04-17 |
JP5862532B2 true JP5862532B2 (ja) | 2016-02-16 |
Family
ID=50387797
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2012213183A Active JP5862532B2 (ja) | 2012-09-26 | 2012-09-26 | 車両運転支援装置 |
Country Status (5)
Country | Link |
---|---|
US (1) | US9868396B2 (ja) |
EP (1) | EP2902295B1 (ja) |
JP (1) | JP5862532B2 (ja) |
CN (1) | CN104661901B (ja) |
WO (1) | WO2014050388A1 (ja) |
Families Citing this family (28)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN104995054B (zh) * | 2013-01-11 | 2018-07-17 | 日产自动车株式会社 | 车辆用显示控制装置和车辆用显示控制方法 |
FR3024572B1 (fr) * | 2014-07-31 | 2016-09-02 | Continental Automotive France | Procede de controle de la suspension d'un vehicule par un traitement d'images d'au moins une camera embarquee |
JP6361382B2 (ja) | 2014-08-29 | 2018-07-25 | アイシン精機株式会社 | 車両の制御装置 |
KR101596751B1 (ko) * | 2014-09-26 | 2016-02-23 | 현대자동차주식회사 | 운전자 맞춤형 사각 영역 표시 방법 및 장치 |
JP6488922B2 (ja) * | 2015-07-06 | 2019-03-27 | 株式会社デンソー | 運転者異常検出装置 |
US10019904B1 (en) | 2016-04-11 | 2018-07-10 | State Farm Mutual Automobile Insurance Company | System for identifying high risk parking lots |
US10247565B2 (en) | 2016-04-11 | 2019-04-02 | State Farm Mutual Automobile Insurance Company | Traffic risk avoidance for a route selection system |
US10233679B1 (en) | 2016-04-11 | 2019-03-19 | State Farm Mutual Automobile Insurance Company | Systems and methods for control systems to facilitate situational awareness of a vehicle |
US10486708B1 (en) | 2016-04-11 | 2019-11-26 | State Farm Mutual Automobile Insurance Company | System for adjusting autonomous vehicle driving behavior to mimic that of neighboring/surrounding vehicles |
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